Summary of the invention
The object of the present invention is to provide unmanned plane formation control method and systems, high-precision to control multi rack quadrotor droneIt spends coordinated flight and completes task, improve working efficiency.
To achieve the above object, a kind of unmanned plane formation control method proposed by the present invention, for controlling multiple UAVsFlight, the control method that a kind of quadrotor drone is formed into columns, comprising: leader machine obtains the path of formation flight and eachThe flight information of follower machine；Entire unmanned aerial vehicle group includes group-net communication between earth station；Follower machine receives flight letterBreath；The distance between the control of leader machine and follower machine and direction.
Optionally, the leader machine obtains the path of formation flight and the flight information packet of each follower machineInclude: formation flight path refers to leader machine in the fixation position that should be reached at a moment in time；Flight information refers toFollower machines should be with respect to the distance and angle of leader machine at a moment in time.
Optionally, the leader machine obtains the path of formation flight and the flight information packet of each follower machineInclude: the approach that leader machine obtains formation path and flight information is to be stored in advance in leader machine or ground in flight courseIt stands and leader communications.
Optionally, the entire unmanned aerial vehicle group includes group-net communication between earth station, including leader machine can be real-timeStabilized communication is carried out between earth station and follower machine.
Optionally, the follower machine receives flight information and includes, follower machine real-time reception leader machineThe flight information of location information and follower machine.
Optionally, the distance between leader machine control and follower machine and direction, the power including formationLearn model:
They are the error on X weeks, Y weeks and yaw angle, design control law
So that error is that zero, j represents is some in control errors amount, Δ Kp、ΔKi、ΔKdIt is respectively adaptiveThe adjusting control parameter of fuzzy.
Control algolithm is divided into two control structures, the independent control structure of Z axis, another control structure controls X, Y-axisAnd yaw angle, two different control structures are respectively controlled, the adaptive Fuzzy PID Control parameter between them is mutually notIt influences.
Optionally, the algorithm is divided into two control structures, in the case where formation Z axis controls and stablizes, then carries out waterSquare to i.e. X, Y-axis control preferentially controls Z axis.
The present invention also provides a kind of quadrotor drone form into columns system, which is characterized in that including multiple quadrotors withoutMan-machine flight control assemblies and ground installation, which is characterized in that the quadrotor drone flight control assemblies include:
Quadrotor drone flies control, for controlling quadrotor drone flight attitude and trajectory track, utilizes highly sensingDevice data are merged to realize quadrotor drone height-lock control and hang with Z axis acceleration information in UAV Attitude sensorStop；
Wireless communication network module, for including carrying out group-net communication between earth station between quadrotor drone group,Real-time transmission data；
Light stream sensor locating module, for being positioned to quadrotor drone in horizontal plane；
The ground installation, for calculating the routing information of unmanned plane formation and the flight information of follower machine, andIt is responsible for for the information of change being sent to leader machine in real time, and there is powerful operational capability.
Optionally, the height sensor is data as height is different and has the sensor of regularity variation,Data can be converted the elevation information in space.
Optionally, the constructing communication network module has the module of one-to-one or one-to-many real time communication, works as communicationsWhen the error occurs, it can be retransmitted.
Optionally, the pixel of sustained height horizontal position can be changed and be believed by the light stream sensor locating moduleBreath is converted into the alignment sensor of horizontal displacement information.
Quadrotor drone formation control method provided by the present invention, by wireless communication networking module by multi rack nobodyMachine is connected, and to control unmanned plane, earth station possesses powerful computing capability, can be reached by communication module while be controlled moreThe effect of a unmanned plane.Further, it by calculated unmanned plane during flying path, sends the routing information after change toLeader machine, by formation control method, each follower machine remains a certain distance and yaw angle, passes through positioningModule obtains accurate location information in three-dimensional space, and attitude controller controls unmanned plane and fly according to scheduled target routeRow, so as to reach the target that unmanned plane is formed into columns according to the flight of setting path.Therefore, the scheme of the present embodiment can reach moreThe effect of frame unmanned plane high-precision coordinated flight.
Specific embodiment
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
In subsequent description, using for indicating such as " unmanned plane " of quadrotor drone, " quadrotor drone "Description, be only conducive to explanation of the invention, there is no special differences for itself, all referring to quadrotor drone.
The present embodiment first does simple introduction to realization quadrotor drone of the invention and relevant technology.
1. about a kind of quadrotor drone formation control method:
Fig. 1, step S101 are please referred to, before unmanned plane formation takeoff, leader machine first obtains the path of formation flightWith the flight information of each follower machine, the departure time and landing time of follower machine by leader machine enabling signalControl.
Step S102, unmanned plane are formed into columns before take off, and entire unmanned aerial vehicle group includes that networking is first set up between earth stationCommunication, leader machine send the flight information of follower machine, and follower machine is opened after signal receiving leader machine and take offBegin that takes off
Step S103, in flight course, after earth station issues leader machine flight path information, entirelyThe flight scenario of formation needs to change, then follower machine receives the flight information of leader machine again, does not have in flight pathDuring variation, the location information of follower machine real-time reception leader machine.
Step S104 controls the distance between leader machine and follower machine and direction in flight course, keeps wholeThe formation of a formation is stablized, and when formation needs to convert, flying speed is slack-off, first adjusts formation and carries out flying according to track again.
In step s101, formation flight path is leader machine in the fixation position that should be reached at a moment in time；FlightInformation is that follower machines should be with respect to the distance and angle of leader machine at a moment in time.
In step s 102, leader machine can carry out stabilized communication between earth station and follower machine in real time.
In step s 103, the flight information of the location information of follower machine real-time reception leader machine and itself, whenWhen having flight to change, countermeasures are adjusted in time.
In step S104, a kind of formation control algorithm is devised, the kinetic model including formation,They are the error on X weeks, Y weeks and yaw angle, design mouldSelf-adaptive fuzzy PID control control law
So that error is zero, θrFor aim parameter, control law control is X, Y, Z axis and yaw angle.
Wherein quantizing factor in Fuzzy Adaptive PID, scale factor fuzzy controller module design process are as follows:
(1) input/output variable is selected
Enable the input of the controller for the margin of error e and error rate ec of attitude angle, output quantity is quantizing factor ke、kecWith scale factor ku.It is possible thereby to according to the variation on-line tuning k of e and ece、kec、kuValue.
(2) fuzzy set of input/output variable is defined
Describe input variable and output variable fuzzy subset is defined as: { NB, NM, NS, ZE, PS, PM, PB } wherein, NBThe big, NM that is negative be negative in, NS be negative small, ZE zero, PS be positive small, PM be center, PB is honest.The domain for taking error e is{ NB, NM, NS, ZE, PS, PM, PB }={ -3, -2, -1,0,1,2,3 }, the domain of error rate ec be NB, NM, NS, ZE,PS, PM, PB }={ -3, -2, -1,0,1,2,3 }, the domain of three factors be K={ VB, B, MB, M, MS, S, VS }=4,2,1,0.5,0.25,0.125,0.0625 }.
(3) fuzzy rule of quantized factor and proportional factor is determined
According to 3.3.2 save in table 3.2 determined by fuzzy reasoning table, determine fuzzy output amount.
(4) de-fuzzy
It also needs to carry out sharpening processing by the output quantity that fuzzy reasoning table decision goes out, can just use in real system,Change of scale is carried out to the basic domain of error and error rate.Invention removes mould using Min-max rationalistic method and gravity model appoachGelatinization, available output variable keValue, expression formula isWherein m is the number of output quantization series,viFor the quantization series of output, μv(vi) it is quantization series viCorresponding is subordinate to angle value.In addition, the quantization of error rate becauseThe calculation of sub- kec sharpening is identical as error quantization factor ke calculation, for the value present invention of scale factor kuDirectly it is taken as the inverse of error quantization factor ke.After quantizing factor, scale factor design of Fuzzy Controller are completed, by the moduleOutput again respectively multiplied by e and ec, in this, as the input of next step control, the increment of pid parameter is gone out using inductive decision△ Kp, △ Ki, △ Kd, finally the superposition Jing Guo ratio, integral, differential obtains motor control amount.
Wherein, control algolithm is divided into two control structures, the independent control structure of Z axis, the control of another control structureX, Y-axis and yaw angle, two different control structures are respectively controlled, the adaptive Fuzzy PID Control parameter between themIt does not influence mutually；
When carrying out control parameter adjusting, first in the case where formation Z axis controls and stablizes, then horizontal direction i.e. X is carried out,Y-axis control, preferentially controls Z axis.
2. the system hardware that a kind of quadrotor drone is formed into columns:
Fig. 3 is please referred to, by taking three frame unmanned planes as an example, illustrates the schematic diagram of unmanned plane interior section module.Wherein, nothingMan-machine includes that unmanned plane flies control and ZigBee group-net communication module, light stream sensor locating module, wherein ZigBee moduleFor being communicated between leader machine and earth station between unmanned aerial vehicle group, specific communication protocol is according to ZigBee communication agreementIt carries out.
Quadrotor drone flies control, for controlling quadrotor drone flight attitude and trajectory track, possesses elevation carrectionSensor is merged using height sensor data with Z axis acceleration information in UAV Attitude sensor to realize four rotationsThe height-lock control of wing unmanned plane and hovering.
Light stream sensor locating module can be by sustained height for positioning to quadrotor drone in horizontal planeThe pixel change information of horizontal position is converted into the alignment sensor of horizontal displacement information.
Wherein, ground installation is used to calculate the routing information of unmanned plane formation and the flight information of follower machine, and bearsThe information of change is sent to leader machine by duty in real time, and has powerful operational capability.
Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment sideMethod can be realized by means of software and necessary general hardware platform, naturally it is also possible to by hardware, but in many casesThe former is more preferably embodiment.
The embodiment of the present invention is described with above attached drawing, but the invention is not limited to above-mentioned specificEmbodiment, the above mentioned embodiment is only schematical, rather than restrictive, those skilled in the artUnder the inspiration of the present invention, without breaking away from the scope protected by the purposes and claims of the present invention, it can also make very muchForm, all of these belong to the protection of the present invention.