A joint control method for cooperative high-altitude and long-endurance UAVs

Abstract

The invention relates to a method for the connection control of cooperative high-altitude and long-endurance UAVs, which establishes a motion model for high-altitude and long-endurance UAVs; determines the control amount and constraint conditions; establishes a control model, and researches and completes the consumption of the overall UAV during the connection process Formation S' Minimum Energy E S' The control strategy; consider the energy state of a single UAV and the distribution connection order of the distance from the UAV formation that has been connected; the optimal UAV in the formation after the high-altitude and long-endurance UAV connection is coordinated. Flight speed calculation to ensure flight in the best energy state. Developed an energy-based connection process, using the shortest path planning to achieve energy-saving connections, making the energy distribution within the formation more uniform; the final energy distribution of the formation is not affected by the starting distance, and using the connection priority to determine the connection order can significantly reduce the formation. The final energy distribution within the connection; the overall energy consumption of the UAV formation formed by the connection is significantly lower than that of the unconnected UAV formation, and the flight range is greatly increased.

Description

technical field [0001] The invention relates to a control technology, in particular to a connection control method for a cooperative high-altitude long-endurance UAV. Background technique [0002] In order to improve the endurance of UAVs and improve the efficiency of multi-UAV missions, new UAVs and formation flight control have become research hotspots. Regarding the energy-saving flight of aircraft, there have been related discussions on path planning and thermal dynamics, as well as research on energy-saving technologies for wireless charging, alternation of propulsion sources, and formation flight. Early studies on aircraft energy-saving optimal control mainly focused on time or fuel state. [0003] High-altitude and long-endurance UAV is a new type of UAV. The flight time of high-altitude and long-endurance UAV can reach several months or even years, but its wingspan is tens of meters, which greatly limits the ability to support this kind of UAV. The number of man-ma...

AI Technical Summary

Problems solved by technology

[0005] The present invention is aimed at the problem of unmanned aerial vehicle cooperative operations, and proposes a cooperative high-altitude long-endurance unmanned aerial vehicle connection control method, aiming at high-altitude long-endurance unmanned aerial vehicle connection, forming a tight formation for energy-saving flight control solution

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