无人作战飞机自主控制分级递阶控制结构 |
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作者单位: | 西北工业大学自动化学院 陕西西安710072 |
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摘 要: | 把智能控制领域的分级递阶控制结构应用于无人作战飞机(UAV)自主控制的结构设计,根据"精度随智能降低而提高(IPDI)"的原则,把该控制系统分为3个层次:执行级、协调级和组织级。执行级完成高精度的局部控制任务;协调级产生航迹及导航信号,并对子系统的工作进行协调;组织级提供决策支持。提出了通过内外回路的方法来实现整个控制系统的硬件。根据每一级的功能需求,提炼出在多任务模式下各级的关键技术,进行了模块化分解,并分析了它们之间的逻辑关系。重点阐述了协调级和组织级的约束条件及实现过程。
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关 键 词: | 自主控制 分级递阶控制结构 内外回路 无人作战飞机 逻辑关系 |
Hierarchical Control Architecture of Autonomous Control for Unmanned Combat Aerial Vehicles |
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Authors: | Chen Hai Wang Xinmin Zhao Kairui |
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Abstract: | The hierarchical control architecture deduced from intelligent control is applied to unmanned combat aerial vehicles(UCAVs).According to the laws of increasing precision with decreasing intelligent(IPDI),the architecture consists of three levels: execution level,coordination level and organization level.The execution level executes part of the exact control the tasks.The coordination level coordinates the work of subsystem and generates navigation sig-nal and trajectory.The organization level performs decision-making support.The inner-outer loop method is em-ployed to achieve the hardware of the whole control architecture.The key technologies for multi-tasks are modular-ized according to the function requirements of every level.The logical relationships of the key technologies are ana-lyzed.The constraint condition and realizations of coordination level and organization level are studied comprehen-sively. |
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Keywords: | autonomous control hierarchical control architecture inner-outer loop UCAV logical relationship |
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