Ground Demonstration and Verification System for Fault-Tolerant Cooperative Control of Cluster UAVs

Abstract

The present invention relates to a ground demonstration and verification system for fault-tolerant cooperative control of cluster UAVs, comprising: a digital simulation terminal for simulating cluster UAVs; a database of UAVs for storing simulation information of digital simulation UAVs; a data processing and analysis terminal for converting the state of the UAV into an operation instruction recognizable by a flight trajectory display platform; a platform controller for controlling a driver to drive a linear motor platform to operate on three axes; a motor platform for driving a rotating shaft to drive a trajectory display platform to move according to the flight state of the UAV; and a position display terminal for displaying the position of each UAV relative to a leader UAV and the relative position relationship between them. The trajectory display platform of the present invention can intuitively display the trajectory of cluster UAVs in formation flight and when a fault occurs, and can intuitively understand the actual operation effect of the model in a real environment, shortening the development cycle of the cluster UAV fault-tolerant control system and reducing the development cost of the cluster UAV system.

Description

Technical Field

[0001] The present application relates to a fault-tolerant collaborative simulation technology for swarm UAVs, and in particular to a flight trajectory display platform for swarm UAVs. Background Art

[0002] Drones are widely used in complex and dangerous tasks such as agricultural plant protection, power grid inspection, and forest fire monitoring in order to shorten the mission cycle. With their advantages such as long flight time, fast flight speed, and strong carrying capacity, they are widely used in wide-area search, long-distance transportation and other fields. For diverse mission requirements and complex environments, a single drone still has certain limitations. To solve this problem, drones must collaborate in a cluster. Multiple drones collaborate to complete tasks. This method can not only fully utilize the advantages of drones, but also reduce the low efficiency or failure probability caused by the constraints and restrictions of a single drone, improve system reliability, and enhance the efficiency and effectiveness of task execution.

[0003] During the multi-machine collaborative operation, if a UAV fails to deal with a sudden failure in time, it will affect the flight safety of adjacent UAVs and even trigger a chain reaction, causing the faulty UAV to collide with surrounding UAVs or even the entire formation to lose control. To avoid aircraft instability, the fault-tolerant control system needs to adjust the actuator input signal in time according to the mission requirements to keep the UAV system at an acceptable performance level, which brings new challenges to the design of fault-tolerant control systems.

[0004] In previous virtual simulation studies on drones, Matlab, Abaqus, Adams and other related simulation software were mainly used to perform numerical simulation on the model, and most of the simulation results were presented in the form of a single data icon. Although the relevant data can be displayed directly, researchers cannot intuitively understand the actual operation effect of the model in a real environment, and therefore ignore some possible problems in the simulation.

[0005] In response to the above problems, this patent comprehensively considers efficiency, economy and safety, and builds a cluster UAV fault-tolerant collaborative control trajectory display platform to display the flight trajectory of the UAV in real time and test the cluster fault-tolerant collaborative control algorithm, so as to intuitively understand the actual operation effect of the model in a real environment. Summary of the invention

[0006] In response to the above problems and technical requirements, the applicant proposed a cluster UAV fault-tolerant collaborative control trajectory display platform. The main technical solutions adopted in this application are as follows:

[0007] A cluster UAV fault-tolerant collaborative control ground demonstration and verification system, comprising:

[0008] Digital simulation terminal, database for storing status information of each drone, data processing and analysis terminal, platform host computer, platform controller, linear motor platform and position display terminal;

[0009] The digital simulation terminal is used to build and run the simulated UAV model and the designed fault-tolerant control algorithm, and write information to the database of each UAV, simulate the operation process of the cluster UAV, and provide the trajectory platform with the status information required for operation;

[0010] The database is used to store the simulation information of each drone in the cluster obtained by the digital simulation terminal, create a database corresponding to the number of drones according to the digital simulation terminal information, and write status information through wireless SOCKET communication. The stored information serves the trajectory display platform;

[0011] The data processing and analysis terminal obtains the position and speed information of the cluster drones based on the digital simulation terminal by reading the database of each drone, and then sends the status of the drones to the platform host computer; the platform host computer converts the status information into an operating instruction recognizable by the flight trajectory display platform through data processing, and finally sends the operating instruction to the trajectory platform controller through the serial port;

[0012] The platform controller receives the operation instructions from the data processing and analysis terminal, converts them into information such as pulse frequency and quantity through built-in stored logical operations or microprograms, and outputs PWM waves to the linear motor driver to drive the three-axis operation of the linear motor platform;

[0013] The linear motor platform is used to simulate the movement of a real drone, receive the PWM wave of the platform controller, convert the pulse signal into phase current, drive the linear motor to rotate precisely, and make the platform move along the three axes of x, y, and z;

[0014] The position display terminal displays the position of each UAV relative to the leader UAV and the relative position relationship between them according to the operation status of each linear motor platform.

[0015] Furthermore, the digital simulation terminal is provided with a UAV dynamics model and a fault-tolerant control algorithm, and the kinematic model of the UAV is solved by using the fourth-order Runge-Kutta method and the fault-tolerant control algorithm is updated to obtain the state information of the digital aircraft for output to the database;

[0016] The digital simulation terminal can replace the UAV dynamics model and fault-tolerant control algorithm as needed, and can configure parameters for the simulated UAV cluster, set the simulation step length, simulation time, number of simulated UAVs, initial state of each UAV, and formation of the entire cluster;

[0017] The digital simulation terminal is also used to set the fault information of the drones in the cluster. The fault situation includes the fault drone number, fault type, fault severity and fault occurrence time information; the drone status information and fault situation are written into the database of each drone through wireless SOCKET communication for subsequent call.

[0018] Furthermore, the required simulated UAV sorties are set in the digital simulation terminal and passed to the database. The database is created based on MySQL, and the digital simulation terminal stores the simulation data in the database; the saved UAV data is created, accessed, managed, searched and copied through the database; the database information of each UAV includes the insertion time, UAV number, the position and speed of the UAV in the x direction, the position and speed of the UAV in the y direction, and the position and speed of the UAV in the z direction.

[0019] Furthermore, the data processing and analysis terminal reads the database, obtains the position and speed status information of the cluster UAV based on the digital simulation terminal, and transmits the status information of the UAV to the trajectory display platform host computer through the TCP protocol from the data processing and analysis terminal; the host computer converts the status information into an operating instruction recognizable by the flight trajectory display platform after data processing; the platform pre-stores the operating instruction and transmits it to the controller of the corresponding trajectory display platform through serial port communication after processing.

[0020] Furthermore, the platform controller receives the operation instructions from the host computer, converts them to obtain pulse frequency and quantity information, and outputs PWM waves to the linear motor driver to drive the three-axis operation of the linear motor platform.

[0021] Furthermore, in the linear motor platform, limit switches are provided at both ends of the linear motor, and the three axes are connected to form a controlled object of the linear motor; after receiving the PWM wave output by the platform controller, the pulse signal is converted into a phase current to drive the linear motor to rotate precisely, so that the linear motor platform moves along three axes.

[0022] Furthermore, the running distance of the linear motor in the linear motor platform is proportional to the distance of the UAV formation flight, and the motor platform sends a completion flag to the host computer each time after completing an operation instruction, and the host computer sends the next operation instruction after receiving the completion flag.

[0023] Furthermore, the position display terminal is designed and developed based on Qt software, and based on the operation of multiple linear motor platforms, the position of each drone relative to the leader drone and the relative position relationship between them are intuitively displayed in three-dimensional space in the software interface.

[0024] The beneficial technical effects of this application are:

[0025] The present application discloses a cluster UAV fault-tolerant collaborative control trajectory display platform, which can replace the UAV dynamics model and the fault-tolerant control algorithm according to the needs, so that the simulation system has reliability and flexibility; a UAV is composed of a controller, a driver and four motors, which can intuitively display the trajectory of the cluster UAV formation flight and failure; the actual operation effect of the model in the real environment can be intuitively understood, which is convenient for researchers to detect some problems that may exist in the simulation, shortening the development cycle of the cluster UAV fault-tolerant control system and reducing the development cost of the cluster UAV system; the cluster flight and fault-tolerant control algorithm can be tested and studied, and the simulation results finally obtained can be applied to the development of formation collaborative fault-tolerant control systems. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a structural block diagram of a ground demonstration and verification system for fault-tolerant cooperative control of swarm UAVs;

[0027] Figure 2 It is a design flow chart of a cluster UAV fault-tolerant collaborative control trajectory display platform;

[0028] Figure 3 It is a flow chart of digital simulation terminal;

[0029] Figure 4 It is a flow chart of the data processing and analysis terminal;

[0030] Figure 5 It is a signal flow diagram of the fault-tolerant collaborative control trajectory display platform of cluster UAVs;

[0031] Figure 6 It is a diagram of simulation formation and information interaction;

[0032] Figure 7 This is a schematic diagram of the information flow of swarm drones. DETAILED DESCRIPTION

[0033] The specific implementation of the present application is further described below in conjunction with the accompanying drawings.

[0034] The present application discloses a ground demonstration and verification system for fault-tolerant collaborative control of clustered UAVs, comprising:

[0035] Digital simulation terminal, database for storing status information of each drone, data processing and analysis terminal, platform host computer, platform controller, linear motor platform and position display terminal;

[0036] The digital simulation terminal is used to build and run the simulated UAV model and the designed fault-tolerant control algorithm, and write information to the database of each UAV, simulate the operation process of the cluster UAV, and provide the trajectory platform with the status information required for operation;

[0037] The database is used to store the simulation information of each drone in the cluster obtained by the digital simulation terminal, create a database corresponding to the number of drones according to the digital simulation terminal information, and write status information through wireless SOCKET communication. The stored information serves the trajectory display platform;

[0038] The data processing and analysis terminal obtains the position and speed information of the cluster drones based on the digital simulation terminal by reading the database of each drone, and then sends the status of the drones to the platform host computer; the platform host computer converts the status information into an operating instruction recognizable by the flight trajectory display platform through data processing, and finally sends the operating instruction to the trajectory platform controller through the serial port;

[0039] The platform controller receives the operation instructions from the data processing and analysis terminal, converts them into information such as pulse frequency and quantity through built-in stored logical operations or microprograms, and outputs PWM waves to the linear motor driver to drive the three-axis operation of the linear motor platform;

[0040] The linear motor platform is used to simulate the movement of a real drone, receive the PWM wave of the platform controller, convert the pulse signal into phase current, drive the linear motor to rotate precisely, and make the platform move along the three axes of x, y, and z;

[0041] The position display terminal displays the position of each UAV relative to the leader UAV and the relative position relationship between them according to the operation status of each linear motor platform.

[0042] Furthermore, the required simulated UAV sorties are set in the digital simulation terminal and passed to the database. The database is created based on MySQL, and the digital simulation terminal stores the simulation data in the database; the saved UAV data is created, accessed, managed, searched and copied through the database; the database information of each UAV includes the insertion time, UAV number, the position and speed of the UAV in the x direction, the position and speed of the UAV in the y direction, and the position and speed of the UAV in the z direction.

[0043] Furthermore, the data processing and analysis terminal reads the database, obtains the position and speed status information of the cluster UAV based on the digital simulation terminal, and transmits the status information of the UAV to the trajectory display platform host computer through the TCP protocol from the data processing and analysis terminal; the host computer converts the status information into an operating instruction recognizable by the flight trajectory display platform after data processing; the platform pre-stores the operating instruction and transmits it to the controller of the corresponding trajectory display platform through serial port communication after processing.

[0044] Furthermore, the platform controller receives the operation instructions from the host computer, converts them to obtain pulse frequency and quantity information, and outputs PWM waves to the linear motor driver to drive the three-axis operation of the linear motor platform.

[0045] Furthermore, in the linear motor platform, limit switches are provided at both ends of the linear motor, and the three axes are connected to form a controlled object of the linear motor; after receiving the PWM wave output by the platform controller, the pulse signal is converted into a phase current to drive the linear motor to rotate precisely, so that the linear motor platform moves along three axes.

[0046] Furthermore, the running distance of the linear motor in the linear motor platform is proportional to the distance of the UAV formation flight, and the motor platform sends a completion flag to the host computer each time after completing an operation instruction, and the host computer sends the next operation instruction after receiving the completion flag.

[0047] Furthermore, the position display terminal is designed and developed based on Qt software, and based on the operation of multiple linear motor platforms, the position of each drone relative to the leader drone and the relative position relationship between them are intuitively displayed in three-dimensional space in the software interface.

[0048] refer to Figure 1 ,In general, the entire platform includes a digital simulation platform, a ,data processing and analysis terminal and a trajectory display platform.

[0049] 1. The design flow chart of the fault-tolerant collaborative control trajectory display platform of clustered UAVs is as follows: Figure 2 As shown. First, a database is created for each drone in the cluster, and the status information of each drone is stored. Then the data processing and analysis terminal reads the position and speed status information of the drone in the database and scales it down. After the upper computer data is processed and converted into an operating instruction recognizable by the flight trajectory platform, it is transmitted to the platform controller through the serial port. The controller controls the linear motor platform to move along the three axes of space to achieve an intuitive display of the drone trajectory. The linear motor platform in this embodiment is a gantry XYZ type high-precision linear motor platform. Finally, the relative position display software reads the operation status of the platform, and displays the operation trajectory in real time on the software interface.

[0050] 2. Build a digital simulation terminal for cluster drones. Figure 3 This is the flow chart of the digital simulation terminal. The specific design steps are as follows:

[0051] (1) The UAV model used for simulation is written into a digital computer. The dynamic model of the UAV is:

[0052]

[0053] Among them, xi ,y i , z i are the positions of the i-th UAV on the x, y, and z axes in the inertial coordinate system, i∈{1, 2, ..., N}. V i , χ i , γ i Represent speed, heading angle and track angle respectively.

[0054] The force equation is expressed as:

[0055]

[0056] Among them, m i and g are mass and gravitational acceleration respectively. i , D i , L i are thrust, drag and lift respectively. i is the tilt angle.

[0057] The expressions for thrust and drag are as follows:

[0058]

[0059] Among them, T max and δ ti Represents maximum engine thrust and instantaneous thrust throttle settings respectively. represents dynamic pressure, ρ is air density, s i is the wing area, C iD0 Pneumatic parameters.

[0060] (2) Establish a fault model based on the UAV model and fault mechanism, derive the fault-tolerant control law and write it into the controller of the digital simulation terminal.

[0061] This patent considers the actuator efficiency loss and thrust throttle setting deviation faults. The actuator efficiency loss and thrust throttle setting deviation faults are expressed as:

[0062] δ ti =ρ ti δ tOi +δ bi (4)

[0063] Among them, δ ti and δ tOi Represents the applied and commanded thrust and throttle setting input signals respectively. ti ∈(0, 1] represents the control efficiency factor, δ bi Indicates the control signal deviation.

[0064] Take the control input as u ti =[u ti1 ,uti2 ,u ti2 ] T =[δ ti , L i sinφ i , L i cosφ i ] T , take P i =[x i ,y i , z i ] T is the outer ring position vector, substitute equation (4) into equations (1) to (2) and transform into affine form:

[0065]

[0066] Among them, ρ i =diag{ρ ti ,1,1},(0<ρ ti ≤1) is the throttle gain, u bi =[δ bi , 0, 0] T is the actuation deviation, Δ i =G i (ρ i -I)u ti +G i u bi is the fault related item,

[0067]

[0068] u ti1 ,u ti2 ,u ti3 is the virtual control quantity, and the conversion relationship between the actuator command and the virtual control quantity is as follows:

[0069]

[0070] Define the position of each drone relative to the leader as h ir =[x ir ,y ir , z ir ] T , then the expected position of each UAV is P id =P0+h ir , where P0 is the leader position. Define the tracking deviation e of each drone i =P i -P id , define the synchronous tracking deviation E i for

[0071]

[0072] Among them, b1, b2 are the parameters to be designed, a ij is defined as: when the i-th UAV can receive the information of the j-th UAV, a ij > 0, otherwise a ij =0, especially, there is a ii =0.

[0073] According to the modeled UAV fault model, the disturbance observer is designed to detect the fault term Δ i Make observation estimates and design control laws.

[0074] Sliding mold

[0075]

[0076] where δ l =diag{δ l1 , δ l2 , δ l3}, l=1, 2, ∈1>∈2 and 1<∈2≤2 are the parameters to be designed.

[0077] The control law is designed as follows:

[0078]

[0079] in is Δ i The estimated value of k i =diag{k i1 , k i2 , k i3} is the parameter to be designed, θ i1 =δ1+δ2∈1R i1 ,θ i2 =∈2R i2 , E ix , E iy , E iz For E i The three-axis components.

[0080] The designed disturbance observer is:

[0081]

[0082] Among them, Φ i is the internal state of the observer, are the parameters to be designed.

[0083] (3) The UAV model and the derived fault-tolerant control law are written into the digital simulation terminal. The digital simulation terminal will first generate a corresponding number of UAV objects according to the set number of cluster UAVs, and then initialize the database and the status of each UAV. After obtaining the neighbor information from the database through wireless SOCKET communication in the communication network, the controller updates the global control law. If the trajectory platform has completed the previous step of the instruction, the UAV model will request the control law and update the status of the UAV, and then write the updated UAV status information into the database of the corresponding UAV. The database information of each UAV includes the insertion time, UAV number, the position and speed of the UAV in the x direction, the position and speed of the UAV in the y direction, and the position and speed of the UAV in the z direction.

[0084] 3. Build a data processing and analysis terminal. Figure 4 The following is the operation flow chart of the data processing and analysis terminal. The data processing and analysis terminal will first read the status information of the UAV in the database, and then transmit the information to the host computer of the trajectory display platform through TCP. Due to the limitation of the platform size, the data processing and analysis terminal will reduce the flight distance of the UAV in the digital simulation terminal by a certain proportion and transform it into the running distance of the flight trajectory on the linear motor platform. The host computer will convert the received information into an operation instruction that the platform can recognize, because the start and end of the linear motor platform require reaction time, and the platform executes each instruction. The running distance and time are not fixed, and the running instructions need to be pre-stored and processed. Therefore, the host computer will continue to send the next instruction information only after the platform has completed the previous instruction.

[0085] 4. Build a UAV flight trajectory display platform. The flight trajectory display platform is mainly based on a three-axis gantry linear motor platform. Each motor platform displays the flight status of a UAV. Figure 5 This is the signal flow diagram of the fault-tolerant collaborative control trajectory display platform of the entire cluster UAV. The flight trajectory display platform consists of a platform controller, a driver, and a gantry XYZ linear motor platform. The digital simulation terminal interacts with the database and reads and writes the status information of the UAV in the database through wireless SOCKET communication. The data processing and analysis terminal reads the information in the database through the TCP protocol and converts it into an operating instruction that the platform can recognize, and then sends it to the platform controller through the serial port. After receiving the operating instruction, the platform controller will output a PWM wave to the linear motor driver to drive the three-axis operation of the linear motor platform to achieve the display effect of the UAV space formation flight. At the same time, the relative position display terminal will read the motion information of the trajectory platform, and intuitively display the position of each UAV relative to the leader UAV and the relative position relationship between each other in the three-dimensional space in the software interface.

[0086] 5. In order to better understand the above-mentioned cluster UAV fault-tolerant collaborative trajectory display platform, the effectiveness of the proposed simulation platform is demonstrated through a specific simulation example.

[0087] The simulation duration is set to 100 seconds. In the simulation, four drones are set to follow a virtual leader to fly in formation. The formation and information interaction are as follows: Figure 6 The UAV model parameters used for simulation are m i =10kg, g=9.81kg / m 2 ,ρ=1.225kg / m 3 ,s i =1.37m 2 , C iDo =0.02 Sliding mode parameters are δ1=diag{20, 10, 10}, δ2=diag{3, 1, 4}, ∈1=1.9, ∈2=1.8, observer parameters are σ=2.5, controller parameters are b1=2, b2=1, k i =diag{5,7,7}. Each drone is numbered, and the expected horizontal and vertical distances between neighboring drones are 60m. They fly in formation at the same altitude of 1000m to form a square formation. The initial speed of each drone is set to a random value from 24m / s to 27m / s, and the initial yaw angle is set to a random value from -π / 6° to π / 6°. During the drone formation flight, the drone numbered #4 is set to have a thrust loss failure, and the remaining drones fly normally. Each drone maintains the expected relative distance with the virtual leader drone through formation collaborative control. The schematic diagram of the collaborative information flow during the formation process is shown in the figure. Figure 7 shown.

[0088] During the flight, the thrust efficiency of the drone No. 4 is set to 60%. During the simulation, it can be seen on the flight trajectory display platform and the formation relative position display software that the faulty drone No. 4 gradually lags behind the expected formation position after the actuator fault is injected. The position in the x-axis direction lags behind the No. 4 drone in the same row, which is more obvious after flying for a period of time. After the fault-tolerant control algorithm intervenes, the No. 4 drone returns to the expected position in a short time and can maintain a square formation flight with the other three drones. And it is more intuitively displayed on the formation drone relative position software. After the fault occurs, the fault-tolerant algorithm can estimate the value of the fault-related items and compensate them in the control law.

[0089] In summary, this example proves that the above simulation system can effectively simulate the fault-tolerant control algorithm of cluster drones and intuitively display the formation flight of cluster drones and the trajectory when they fail, so that researchers can intuitively understand the actual operation effect of the model in a real environment and easily detect some problems that may exist in the simulation. The platform can also test and study different cluster drone flight and fault-tolerant control algorithms. The drone model and algorithm are both modifiable, which provides a good experimental basis for the actual drone cluster, saves costs, and facilitates the subsequent design of cluster drone fault-tolerant control systems.

[0090] The above is only a preferred embodiment of the present application, and the present application is not limited to the above embodiments. It is understood that other improvements and changes directly derived or associated by those skilled in the art without departing from the spirit and concept of the present application should be considered to be included in the protection scope of the present application.

Claims

1. A ground demonstration and verification system for fault-tolerant collaborative control of clustered UAVs, characterized in that: include: Digital simulation terminal, database for storing status information of each drone, data processing and analysis terminal, platform host computer, platform controller, linear motor platform and position display terminal; The digital simulation terminal is used to build and run the simulated UAV model and the designed fault-tolerant control algorithm, and write information to the database of each UAV, simulate the operation process of the cluster UAV, and provide the trajectory display platform with the status information required for operation; The database is used to store the simulation information of each drone in the cluster obtained by the digital simulation terminal, create a database corresponding to the number of drones according to the information of the digital simulation terminal, and write the status information through wireless SOCKET communication. The stored information serves the trajectory display platform; The data processing and analysis terminal obtains the position and speed information of the cluster drones based on the digital simulation terminal by reading the database of each drone, and then sends the status of the drones to the platform host computer; the platform host computer converts the status information into an operating instruction recognizable by the trajectory display platform through data processing, and finally sends the operating instruction to the platform controller through the serial port; The platform controller receives the operation instructions from the data processing and analysis terminal, converts them into pulse frequency and quantity information through built-in stored logic operations or microprograms, and outputs PWM waves to the linear motor driver to drive the three-axis operation of the linear motor platform; The linear motor platform is used to simulate the movement of a real drone, receive the PWM wave of the platform controller, convert the pulse signal into phase current, drive the linear motor to rotate precisely, and make the platform move along the Three-axis movement; The position display terminal displays the position of each UAV relative to the leader UAV and the relative position relationship between them according to the operation status of each linear motor platform.

2. The ground demonstration and verification system for fault-tolerant collaborative control of swarm UAVs according to claim 1 is characterized in that: The digital simulation terminal is provided with a UAV dynamics model and a fault-tolerant control algorithm, and uses the fourth-order Runge-Kutta method to solve the kinematic model of the UAV and update the fault-tolerant control algorithm to obtain the state information of the digital aircraft for output to the database; The digital simulation terminal can replace the UAV dynamics model and fault-tolerant control algorithm according to the needs, and can configure parameters for the simulated UAV cluster, set the simulation step length, simulation time, number of simulated UAVs, initial state of each UAV and formation of the entire cluster; The digital simulation terminal is also used to set the fault information of the drones in the cluster, and the fault information includes the fault drone number, fault type, fault severity and fault occurrence time information; the drone status information and the fault information are written into the database of each drone through wireless SOCKET communication for subsequent call.

3. The ground demonstration and verification system for fault-tolerant collaborative control of swarm UAVs according to claim 1 is characterized in that: The required simulated UAV sorties are set in the digital simulation terminal and transmitted to the database, the database is created based on MySQL, and the digital simulation terminal stores the simulation data in the database; The stored drone data is created, accessed, managed, searched and copied through the database; each drone database information includes the insertion time, drone number, x Direction The position and speed of the drone, y Direction The position and speed of the drone, z Direction The position and speed of the drone.

4. The ground demonstration and verification system for fault-tolerant collaborative control of swarm UAVs according to claim 1 is characterized in that: The data processing and analysis terminal reads the database, obtains the position and speed status information of the cluster UAV based on the digital simulation terminal, and transmits the status information of the UAV to the host computer through the TCP protocol; the host computer converts the status information into an operation instruction recognizable by the trajectory display platform after data processing; The platform will pre-store the running instructions and transmit them to the corresponding platform controller through serial communication after processing.

5. The ground demonstration and verification system for fault-tolerant collaborative control of swarm UAVs according to claim 1 is characterized in that: The platform controller receives the operation instructions from the host computer, converts them to obtain pulse frequency and quantity information, and outputs PWM waves to the linear motor driver to drive the three-axis operation of the linear motor platform.

6. The ground demonstration and verification system for fault-tolerant collaborative control of swarm UAVs according to claim 1 is characterized in that: In the linear motor platform, there are limit switches at both ends of the linear motor, and the three axes are connected to form a linear motor controlled object; after receiving the PWM wave output by the platform controller, the pulse signal is converted into a phase current to drive the linear motor to rotate precisely, so that the linear motor platform moves along three axes.

7. The ground demonstration and verification system for fault-tolerant collaborative control of swarm UAVs according to claim 1 is characterized in that: The running distance of the linear motor in the linear motor platform is proportional to the distance of the UAV formation flight, and the motor platform sends a completion flag to the host computer each time after completing the running instruction, and the host computer sends the next running instruction after receiving the completion flag.

8. The ground demonstration and verification system for fault-tolerant collaborative control of swarm UAVs according to claim 1 is characterized in that: The position display terminal is designed and developed based on Qt software. Based on the operation status of multiple linear motor platforms, the position status of each drone relative to the leader drone and the relative position relationship between them are intuitively displayed in three-dimensional space in the software interface.

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