A method for intelligent motion control of marshalling aircraft

Abstract

The invention discloses a method for intelligent motion control of grouped aircrafts. Multiple groups of aircrafts are numbered as a set {1, 2, 3...N}; numbered is the real-time position P of N aircrafts N (t)=(x, y, z), and obtain the real-time speed and select a single aircraft in the aircraft formation as the control aircraft, the master aircraft sends command signals to the rest of the slave aircraft, and performs positioning, the master aircraft works t A After a period of time, transfer the control function and positioning function to other aircraft that have not served as the main control function, and solve the content of the control command signal through the constraint conditions. If the solution in formula (1)-(4) exceeds the maneuvering range of the aircraft, then With the initial position (x 0 ,y 0 ,z 0 ) and the target position (x 1 ,y 1 ,z 1 ) is a circle edge point to make a circle, denoted as circle O, the maximum steering force of the maneuvering steering of the aircraft is that the circle O is tangent, and the aircraft flies to a predetermined angle along the arc of the circle O; in the implementation of the present invention, no negative Feedback adjustment, through one positioning and operation, the operation of flying to the designated position can be completed.

Description

technical field [0001] The invention relates to the field of aircraft intelligent control, in particular to an intelligent motion control method for marshalling aircraft. Background technique [0002] In recent years, the grouping and control of multi-machine cooperative operations of UAVs has attracted international attention. Multi-machine collaborative operation grouping and control refers to the control of multiple UAVs grouping and flying in accordance with a certain control method. In order to achieve mission requirements, any formation is generated, changed and maintained, including path planning and organization of flight missions. It has a detection range. Wide, wide search range, can perform multiple tasks at the same time, reduce power and so on. The grouping and control of multi-machine cooperative operation of UAV is an important trend in the development of UAV flight technology in the future. Foreign countries have a high level of research on multi-machine co...

AI Technical Summary

Problems solved by technology

[0006] However, in the above method, multiple feedback adjustments are still required, which wastes the computing power of the onboard computer and reduces battery life.

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