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提出了基于信息一致性的分段式无人机紧密编队集结控制策略,将集结过程分为3步:参考集结点选取和目标集结点分配、形成松散编队以及形成紧密编队。首先,以线切入预定航线的方式计算参考集结点,按照松散编队队形展开生成目标集结点,并利用基于三维距离空间的优化选择算法,将目标集结点快速、准确地分配给每架无人机。然后,使用速度一致性实现向目标集结点定点集结和向松散编队伴航集结,通过非精确的航迹控制快速形成松散编队,提高编队集结的效率。接下来,启动速度、姿态一致性来实现编队最终的精确航迹控制,并逐步压缩编队队形进入紧密编队,避免发生碰撞,完成从松散编队到紧密编队的平稳过渡,同时准确地跟踪预定航线。使用协同修正方法抑制了测量误差、协同误差和通信延迟,提高了紧密编队的稳定性和控制精度。最后,基于MATLAB平台环境对所提三维集结控制策略进行了仿真,验证了其合理性与有效性。 相似文献
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A high cycle fatigue reliability analysis approach to helicopter rotor hub is proposed under working load spectrum. Automatic calculation for the approach is implemented through writing the calculating programs. In the system, the modification of geometric model of rotor hub is controlled by several parameters, and finite element method and S-N curve method are then employed to solve the fatigue life by automatically assigned parameters. A database between assigned parameters and fatigue life is obtained via Latin Hypercube Sampling (LHS) on toler- ance zone of rotor hub. Different data-fitting technologies are used and compared to determine a highest-precision approximation for this database. The parameters are assumed to he independent of each other and follow normal distributions. Fatigue reliability is then computed by the Monte Carlo (MC) method and the mean-value first order second moment (MFOSM) method. Results show that the approach has high efficiency and precision, and is suit- able for engineering application. 相似文献
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