Formation control method for fusing global information and local information

Abstract

The invention discloses a formation control method for fusing global information and local information. The method comprises the following steps: in an aircraft formation control process, firstly, planning a flight path of a lead aircraft in a ground control system, and determining flight parameters such as a desired flight path and a desired speed of the lead aircraft; in an actual flight process, calculating a flight path guide point of the lead aircraft according to a real-time state of a global desired flight path of the lead aircraft, and calculating a flight path guide point of a wing aircraft according to formation parameters; under a local coordinate system of the lead aircraft, calculating a local formation error between the lead aircraft and the wing aircraft in real time; in anaircraft control process, calculating a main control instruction according to the flight path guide point, calculating a secondary correction instruction according to the local formation error, and adding up the two instructions to obtain an actual control instruction of the aircraft, and controlling formation flight. On the basis of guaranteeing formation and realizing global flight path tracking, the formation control method can effectively improve the rapid convergence of formation control, the accuracy of the control process and the safety of tight formation flight, so as to effectively complete a formation flight mission.

Description

technical field [0001] The invention belongs to the technical field of aircraft control, and in particular relates to a formation control method for fusing global information and local information. Background technique [0002] In the existing aircraft formation control methods, a control method of a "leader-wingman" mode is usually adopted. In the process of control, the lead plane mainly tracks the global desired track, and the wingman mainly controls according to the geometric parameters of the formation. In this mode, although various formations can be realized relatively easily, it is difficult to adjust the control parameters for different aircraft and formations. At the same time, due to the adoption of a formation control method based on error feedback, there is often a certain hysteresis in the control process, and it is difficult to effectively guarantee the effect of formation control (especially when there is a certain deviation and uncertainty in the control of...

AI Technical Summary

Problems solved by technology

In this mode, although various formations can be realized relatively easily, it is difficult to adjust the control parameters for different aircraft and formations

At the same time, due to the adoption of a formation control method based on error feedback, there is often a certain hysteresis in the control process, and it is difficult to effectively guarantee the effect of formation control (especially when there is a certain deviation and uncertainty in the control of the aircraft). There may even be a risk of collision

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