無人機編隊飛行的自動回歸調整控制器設計

Design of Auto Regulation Controller for UAVs Formation Flight

蔡添壽(Tain-Sou Tsay)

《國立虎尾科技大學學報》 35卷2期 (2020/11) Pp. 1-13

https://doi.org/10.6425/JNHUST.202011_35(2).0001

摘要

兩架或兩架以上飛機按一定隊形編組或排列飛行。在編隊飛行中，各機之間必須保持規定的距離、間隔和高度差。基本的編隊隊形有楔隊、梯隊、橫隊和縱隊。這些隊形由單機或分隊組成，可加大或減小各機的間隔、距離而成疏開或密集隊形。此外，在飛行表演時還可作編隊特技飛行。編隊飛行的中心問題是保持規定隊形並充分發揮飛機性能。長機在選擇飛行狀態時應給僚機修正偏差的餘地，僚機要與長機密切配合。在飛行中，長機可根據實際需要發出指令改變編隊方案和各機相對位置。編隊飛行要求精度高、紀律嚴、目視能力強，可用於攻擊、轟炸、 偵察、空投、搜索、掩護、防禦、空中攝影、檢閱、表演、軍事演習、訓練等。本文提出一個無人機編隊飛行的自動回歸調整控制器設計；內容包括：（1）無人機隊飛行編組方式開發；（2）無人機隊飛行任務離隊重新編組法則開發；（3）無人機導引控制系統設計；（4）無人機6DOF模擬程式建立；（5）無人機編隊飛行的自動回歸調整控制器設計；（6）無人機編隊飛行數位模擬驗證。由各種不同的編隊模擬驗證結果，可以得知：所開發的編隊法則，性能優異。各種隊形在運動的過程中幾乎保持原來的設定的間距（Spacing），沒有因間距縮小而產生碰撞的危險，這是此項開發技術的最大特點。

關鍵字

無人機 ； 無人機編隊飛行 ； 自動回歸調整控制器

並列摘要

Two or more aircraft are dedicted or arranged in a certain formation. In formation flights, the specified distance, spacing and altitude difference must be maintained between aircraft. The basic formations are wedges, ladders, horizontal teams, and columns. These formations consist of stand-alone or sub-units that can increase or decrease the spacing, distance, or dense formations of each aircraft. In addition, formation stunts can be performed during flight performances. The central issue of formation flight is to maintain the prescribed formation and give full play to the aircraft's performance. Wingman aircraft in the selection of flight status should give the captain aircraft to correct the deviation of the room, Wingman aircraft to work closely with the captain aircraft. During the flight, the captain aircraft can issue instructions according to actual needs to change the formation scheme and the relative position of each aircraft. Formation flight requires high precision, strict discipline and visual capability, and can be used for attack, bombing, reconnaissance, airdrops, search, cover, defense, aerial photography, inspection, performance, military exercises, training, etc. In this literature, the auto regulation controller technology of UAV's formation flight is proposed. It includes (1)formation methodology; (2)reformation methodology; (3)guidance and control laws design for UAV; (4)6DOF simulation program; (5)Auto regulation controller develop for formation flight; (6)digital simulation verification for formation flight.

並列關鍵字

UAV ； UAVs formation flight ； Auto Regulation Control

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