基于增量动态逆的协同轨迹控制方法研究
Research on collaborative trajectory control method based on incremental dynamic inversion
陈改改 1刘小雄 1聂铭涛 1张珊2
作者信息
- 1. 西北工业大学自动化学院,陕西西安 710072;陕西省飞行控制与仿真技术重点实验室,陕西西安 710129
- 2. 空装驻汉中地区军事代表室,陕西汉中 723200
- 折叠
摘要
针对协同飞行飞机的队形保持和轨迹跟踪问题,提出一种基于增量动态逆的协同轨迹控制方法.首先按照时标分离原理,利用增量动态逆设计飞机航迹控制律;然后使用非线性制导法完成复杂轨迹跟踪控制;接着基于一致性理论,设计4架飞机的长机-僚机协同飞行轨迹控制律,长机利用L1轨迹制导跟踪期望飞行轨迹,僚机通过基于一致性协议的协同控制律进行队形变换并跟踪长机.仿真结果表明,该方案能够很好地完成协同队形变换和协同轨迹跟踪控制.
Abstract
To solve the problem of formation maintenance and trajectory tracking of cooperative flight aircraft,this paper proposes a cooperative trajectory control method based on incremental dynamic inversion.Firstly,according to the principle of time scale separation,the aircraft track control law is designed by incremental dynamic inversion.Secondly,the nonlinear guidance method is used to complete the complex trajectory tracking control.Thirdly,based on the consistency theory,the lead-er-follower cooperative flight path control law of four aircrafts is designed.The leader uses L1 trajec-tory guidance to track the desired flight path,and followers use the cooperative control law based on the consistency protocol to transform the formation and track the leader.The simulation results show that the scheme can well accomplish the cooperative formation transformation and cooperative trajec-tory tracking control.
关键词
增量动态逆/L1制导/一致性协议/协同轨迹跟踪Key words
incremental dynamic inversion/L1 guidance/conformance agreement/cooperative trajectory tracking引用本文复制引用
基金项目
国家自然科学基金资助(62073266)
航空科学基金资助(201905053003)
出版年
2024
NETL
NSTL
万方数据