| 某小型无人机编队控制器设计及试飞验证 |
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| 引用本文： | 梁瑾,宋栋梁,李嘉.某小型无人机编队控制器设计及试飞验证[J].飞行力学,2016(4):73-76. |
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| 作者姓名： | 梁瑾 宋栋梁 李嘉 |
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| 作者单位： | 西安飞行自动控制研究所飞行器控制一体化技术国防科技重点实验室,陕西西安,710065 |
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| 摘 要： | 以某小型固定翼无人机作为研究平台,按前向、侧向和垂直方向3个通道设计僚机编队控制器.利用自动驾驶仪的航路飞行模态简化侧向通道编队控制器的设计,并采用在长机航向角发生较大变化时加入基于视线方位角的方法,使僚机保持编队精度.试验结果表明,所提出的编队算法是可用的,并能够很好地控制无人机的编队飞行精度.
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| 关 键 词： | 小型无人机 编队控制器 视线方位角 自主编队飞行 |
Design and flight test for formation control laws based on small UAVs |
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| Abstract: | The research is based on the small fixed-wing unmanned air vehicles in this paper.Three types of formation control laws are designed,covering forward,lateral and vertical motion respectively.The route flight mode in autopilot system is used in the lateral motion to simplify formation control laws.When leader' s yaw changes a lot,a promoted method on line-of-sight guidance laws are proposed.Flight tests show that the formation control laws promoted in this paper are valid and useful for keeping the accuracy in formation flight. |
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| Keywords: | small UAV formation control laws line-of-sight autonomous formation flight |
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