工业技术与职业教育2024，Vol.22Issue(2)：8-13,6.
基于四旋翼无人机集群协同编队飞行的控制策略转换研究
Research on Control Strategy Conversion for Collaborative Formation Flight of Quadrotor Unmanned Aerial Vehicle Cluster
摘要
Abstract
Based on the establishment of a dynamic model and simulation data of quadcopter unmanned aerial vehicles,the transformation of collaborative formation flight strategy for quadcopter unmanned aerial vehicles was studied.Firstly,the model of group collaborative formation flight using the pilot-following structure method for quadcopter unmanned aerial vehicles was studied and relevant simulations were conducted.Due to the shortcomings of poor robustness and reliance on signal stability in this structure method,the conversion of collaborative formation flight strategy for quadcopter unmanned aerial vehicles was studied.Therefore,a model of quadcopter unmanned aerial vehicles using cross coupling structure method for cluster collaborative formation flight was studied,and relevant simulations were conducted to verify its feasibility.Finally,in order to enhance the stability of collaborative formation of quadcopter unmanned aerial vehicles,a collaborative controller that converts two different flight strategies during flight was studied and its feasibility was verified through simulation.关键词
四旋翼无人机/动力学模型/领航-跟随结构法/交叉耦合结构法/协同控制器Key words
quadcopter unmanned aerial vehicle/dynamics model/pilot-following structure method/cross coupling structure method/collaborative controller分类
航空航天引用本文复制引用
潘持玉,贾磊,宋馨怡,张占一..基于四旋翼无人机集群协同编队飞行的控制策略转换研究[J].工业技术与职业教育,2024,22(2):8-13,6.基金项目
辽宁省教育厅面上项目"航空发动机多油门杆驱动电机的同步控制研究"(项目编号:LJKMZ20220602),主持人贾磊. （项目编号:LJKMZ20220602）
