A cluster leader-follower control method of leader machine active speed regulation cooperation

Abstract

The application discloses a kind of cluster leader-follower control methods of initiative speed regulation coordination of leading machine, for the problems such as lack of initiative coordination of leading machine in traditional leader-follower control, low efficiency of formation dynamic adjustment and leading machine command easy oscillation, the relative position deviation of multiple slaves obtained by the leading machine node is obtained by the application, the overall acceleration / deceleration trend of slave subgroup is judged, the leading machine speed regulation coordination command is fed back and solved, and the monotone adjustment mechanism is introduced to avoid command oscillation: slave calculates the speed expectation of coordination and is shared to leading machine with relative position deviation;Leading machine converts the deviation into equivalent speed expectation, and the number of acceleration / deceleration slave nodes is cyclically counted, and the leading machine speed regulation state is determined;The number of positive / negative speed regulation nodes and the speed expectation sum are accumulated, and the constant speed is reset according to the zero value condition or the leading machine coordination speed expectation is calculated and periodically closed loop executed.The application can be distributed in leading machine and slave node calculation, can effectively improve the efficiency of formation dynamic adjustment, and has general application prospect.

Description

Technical Field

[0001] This invention belongs to the field of unmanned aerial vehicle (UAV) swarm systems, specifically relating to a swarm leader-slave control method with leader aircraft actively adjusting speed and coordinating. Background Technology

[0002] Formation coordination in fixed-wing UAV or loitering swarm systems is a direct manifestation of information interaction and behavioral cooperation among multiple nodes, and also the underlying capability foundation for carrying out diverse collaborative tasks. For the control requirements of maintaining formation and adjusting relative positions, leader-follower control strategies are widely used in engineering practice. In these strategies, the leader node typically executes a preset speed expectation, while multiple follower nodes calculate their respective collaborative control commands based on the leader's and their own flight states. Currently, traditional leader-follower control strategies already possess the "one-way" formation adjustment capability of follower subgroups. Further optimization of the leader node's speed adjustment coordination performance is needed to achieve "two-way" cooperation between the leader node and follower subgroups, enabling efficient dynamic formation control. However, traditional leader-follower control strategies have the following shortcomings: First, the leader lacks proactive coordination. When the cluster formation experiences a significant overall positional deviation due to external disturbances or task switching, each slave machine attempts to catch up with the leader through its own control system. However, because the leader's speed is not adjusted accordingly, the overall positional deviation of the formation converges slowly, resulting in low system dynamic response efficiency.

[0003] Secondly, there is a lack of systematic anti-oscillation design for leader commands. In existing methods, if the leader makes coarse adjustments based directly on the discrete instantaneous values ​​of the slave states, it is very easy to cause the leader's speed commands to switch repeatedly between acceleration and deceleration (i.e., command oscillation). This not only reduces flight stability but also increases the scheduling burden on the airborne controller, resulting in low efficiency in dynamic formation adjustments. Summary of the Invention

[0004] The purpose of this invention is to provide a leader-slave control method for cluster systems with active speed adjustment and coordination of the leader aircraft, in order to solve the problems of insufficient active coordination and coordination of the leader aircraft and easy oscillation of the leader aircraft speed adjustment command, so as to realize the active coordination and coordination of the leader aircraft in the leader-slave control of the cluster system and improve the efficiency of dynamic adjustment of the formation.

[0005] To achieve the above objectives, the present invention employs the following technical solution: A cluster leader-slave control method for active speed regulation and coordination of the leader aircraft includes: Step 1: Each node in the cluster determines its own role; if it is a slave node, proceed to Step 2; if it is a master node, proceed to Step 4. Step 2: The slave node obtains the flight status of the leader node, and calculates the expected coordinated speed of the slave node following the leader node's position by combining its own flight status. Step 3: The slave node calculates its own comprehensive relative position deviation based on the expected cooperative speed and the benchmark expected speed of the leader node, and shares it with the leader node through the network. Step 4: The lead node obtains the flight status of each slave node, and combines the lead node's preset speed expectation to convert the comprehensive relative position deviations into the equivalent speed expectations of the slave nodes. Step 5: Based on the expected equivalent speed of each slave node, cyclically count the number of slave nodes that accelerate or decelerate during flight. Step 6: If the master node is in a constant speed state, set the master node to a deceleration or acceleration state according to the relative size of the number of slave nodes that are accelerating or decelerating; otherwise, the master node maintains the speed adjustment state of the previous moment. Step 7: Based on the equivalent speed expectation of each slave node, iteratively calculate the number of slave nodes with positive equivalent speed expectation and the cumulative sum of positive equivalent speed expectation, as well as the number of slave nodes with negative equivalent speed expectation and the sum of negative speed expectation. Step 8: Based on the number of slave nodes with the expected positive or negative equivalent speed, determine whether to reset the master node to constant speed state. Step 9: If the leader node is in a constant speed state, its expected coordinated speed is set to a constant value; otherwise, calculate the expected value of the leader node's active speed adjustment coordinated speed based on the cumulative sum of positive or negative equivalent speed expectations, which is used for the leader node to adjust its speed; return to step 4 for periodic operation.

[0006] Furthermore, the flight status of the leader node is obtained, and combined with its own flight status, the expected coordinated speed of the slave aircraft following the leader's position is calculated, including: The flight status of the lead aircraft node, including its current location, is obtained through inter-aircraft communication. Current speed Turning mode Flight waypoint ; Obtain the flight status of the slave node itself, including its current position. ,speed Turning mode Flight waypoint ; Calculate the expected process variable of the coordinated speed of slave nodes and leader nodes in the same flight segment. The expected value of the cooperative speed of the slave nodes is obtained by performing amplitude limiting processing. : ; In the formula, , The proportional control coefficient and derivative control coefficient are both greater than zero. The preset baseline expected speed for the slave node, and These represent the upper and lower limits of the expected speed for the slave nodes; right The final expected collaborative speed of the slave nodes is obtained by performing extended processing. : ; In the formula, This represents the expected speed of the slave node's final self-execution; where 1 indicates a straight flight segment in the turning mode, and 2 indicates a circular turning segment in the turning mode. Calculated for the previous time step .

[0007] Furthermore, the formula for calculating the comprehensive relative positional deviation of the slave node itself is as follows: ; In the formula, This refers to the comprehensive relative positional deviation of the machine's nodes. This represents the expected collaborative speed of the slave nodes; The baseline expected speed for the lead node; This is the proportional control coefficient; The preset baseline expected speed for the slave node; Each slave node will calculate the result Share the data to the lead node via network; after sharing is complete, return to step 2 to continue the periodic cycle.

[0008] Furthermore, the master node receives the relative position deviations of each slave node from the network communication. Equivalent speed expectation converted to slave node And perform amplitude limiting: ; In the formula, These are process variables in the transformation process; , , The baseline expected speed, upper expected speed limit, and lower expected speed limit of the leader node itself; The expected equivalent speed of the slave node is derived from the baseline expected speed of the master node; This is the proportional control coefficient; Based on the location information of each slave node The update frequency determines the communication link connection status: if the slave node position obtained in the current period... If the condition is met, communication with the slave node is directly denied, and the slave node's expected equivalent speed is forcibly assigned a value. ;in This is the location of the slave node obtained in the previous communication cycle.

[0009] Furthermore, a first threshold factor is set. Perform cyclical statistics: if If the slave node is determined to have an accelerating trend, then the number of accelerating slave nodes is increased. Add 1; otherwise if If the slave node is determined to have a deceleration trend, then the number of decelerating slave nodes is set to [number]. Add 1.

[0010] Furthermore, if the leader node was in a constant speed state at the previous moment, then further based on... and Determine based on the relative size: if > Then assign the speed adjustment status flag of the leader node to the value. This indicates that the leader node has entered an acceleration state; if < Then assign a value If the leader node was not in a constant speed state in the previous moment, then maintain the previous state and assign a value. ;in This is the speed adjustment status flag of the leader node at the previous moment.

[0011] Furthermore, a second threshold factor is set. ,definition , Let the sum of the number of slave nodes and the expected positive equivalent speed be the sum of the expected positive equivalent speed. , The sum of the number of slave nodes and the negative equivalent speed expectation is calculated, and then iteratively accumulated. like Then, assign a value: and Otherwise if Then assign a value and The second threshold factor is less than the first threshold factor.

[0012] Furthermore, if the leader node is currently in a deceleration state and the expected number of slave nodes is positively equivalent to the speed... If the value is 0, the leader node will be reset to constant speed state; If the leader node is currently in an accelerated state and the number of slave nodes is negatively equivalent to the expected speed... If the value is 0, the leader node will be reset to constant speed state; like equal to 0 and If the value is 0, the leader node will be reset to constant speed state.

[0013] Furthermore, if the lead node is in a constant speed state, then the expected coordinated speed of the lead node is directly assigned. ; If the leader node is in an accelerated state, the negative equivalent velocity expectation accumulation sum is used. and the corresponding number of slave machines Calculate the expected process variables of the lead-agent coordinated speed The calculation formula is: ; If the leading node is in a deceleration state, the expected cumulative sum of the positive equivalent velocity is used. and the corresponding number of slave machines Calculate the expected process variables of the lead-agent coordinated speed The calculation formula is: ; Finally, based on the leader's turning flight status... The extension yields the expected value of the final leader node's active speed adjustment and collaborative speed. : like If it equals 1, then assign a value. ;like If the value equals 2, then assign a value. ,in This represents the expected speed of the lead node's proactive speed adjustment and coordination at the previous moment.

[0014] A terminal device includes a processor, a memory, and a computer program stored in the memory; when the processor executes the computer program, it implements the cluster leader-slave control method for leader-driven active speed regulation and coordination.

[0015] A computer-readable storage medium storing a computer program; when executed by a processor, the computer program implements the cluster leader-slave control method for active speed regulation and coordination of the leader machine.

[0016] Compared with the prior art, the present invention has the following technical features: This invention addresses the leader-slave coordination requirements of leader-slave control in swarm systems, enabling the leader node to coordinate speed adjustments based on the overall formation adjustment trend of the slave subgroups. Compared to traditional consensus methods based on weighted averaging of adjacency matrices, this invention's comprehensive handling of relative position deviations among slave nodes by the leader node provides greater fault tolerance for abnormal position deviations of individual slave nodes. This method has been applied to a UAV swarm demonstration project, achieving excellent dense formation coordinated control results. It can also be extended to sparse formation control for tasks such as coordinated reconnaissance and area control, demonstrating broad application prospects. Attached Figure Description

[0017] Figure 1 Block diagram of cluster leader-slave control principle for active speed adjustment and coordination of the leader machine; Figure 2 This is a schematic diagram of the monotonic acceleration and deceleration process of the pilot aircraft. Detailed Implementation

[0018] This invention discloses a leader-slave swarm control method with active speed adjustment and coordination by the leader aircraft. Leader-slave control is a common cooperative formation control strategy for fixed-wing UAV or loitering swarm systems. It achieves the maintenance of a specific formation geometry and control of the relative positional relationships between nodes by calculating and executing control commands from each slave node relative to the leader's flight state. Based on traditional leader-slave control methods, this method statistically accumulates the relative positional deviations of multiple slaves acquired by the leader node, determines the formation adjustment trend of the slave subgroup, and feeds back the speed adjustment and coordination commands from the leader node. Simultaneously, it judges the numerical direction and convergence of the overall positional deviation of the slave subgroup in real time, and then performs monotonic adjustment of the leader's flight state. This method can perform distributed computing at both the leader and slave nodes, improving the dynamic adjustment efficiency of swarm formations and showing promising general application prospects for diverse cooperative tasks.

[0019] See Figure 1 This invention provides a leader-slave cluster control method with active speed adjustment by the leader aircraft. This method operates on a fixed-wing UAV cluster system composed of a leader node and multiple slave nodes. The leader and slave nodes interact and perform distributed computing via an inter-machine communication link. This method is based on the role determination of each node, and is executed independently and collaboratively by the leader node and each slave node on their respective onboard computing units.

[0020] Before step 1 is executed, the cluster system has completed initialization, each node is in a cruise or preset waiting state, the inter-node communication link has been established, each node has the ability to locate and perceive its motion status, and the leader node and each slave node have obtained their respective baseline expected speeds. Speed ​​limit and speed lower limit .

[0021] The kinematic properties of each cluster member node can be represented by a first-order integral system as follows: ; In the formula, For generalized positional variables, For the corresponding generalized velocity variable, the subscript or These respectively represent the leader node or the first There are several slave nodes. Based on inner-loop control, the motion characteristics of the UAV or loitering vehicle are decoupled. The model shown in Equation (1) can characterize the positional degrees of freedom of each node in the cluster without loss of generality. For the slave nodes, the cooperative control command to be designed is the expected cooperative velocity. Used to achieve relative position deviation The convergence; for the leader node, the expected value of the active speed regulation coordinated speed to be designed. It is necessary to track the set benchmark expected speed. At the same time, optimize the overall positional deviation of the slave group. Its convergence performance.

[0022] This method is executed cyclically according to the following steps: Step 1: System startup and node role determination.

[0023] After the system starts, each node in the cluster first determines its own role: if the node is a slave node, it proceeds to step 2; if the node is a master node, it proceeds to step 4.

[0024] Before the first startup of the lead node, system initialization is required: reset the lead node speed adjustment status flag from the previous moment. Initialize to 0; this will be used to count the number of accelerated slave nodes. Number of slave nodes of the speed reducer Initialize to 0; the equivalent velocity accumulation value used for monotonic deviation accumulation. and and the corresponding statistics on the number of slave devices. and Initialize to 0; set the expected collaborative speed of the slave nodes from the previous time step. Initialized to baseline desired speed ; The active speed adjustment command value of the previous moment's leader node Initialize to .

[0025] Step 2: This node is a slave node. It obtains the flight status of the leader node and, in conjunction with its own flight status, calculates the expected coordinated speed of the slave node following the leader's position.

[0026] When this node is a slave node, it obtains the flight status of the leader node through inter-machine communication, including the leader node's current location. Current speed Turning mode Flight waypoint Combined with the slave node's own flight status, including its current location. ,speed Turning mode Flight waypoint The slave node calculates its expected collaborative speed based on the above information, and the specific steps are as follows: Step 2.1: Calculate the expected process variable of the coordinated speed of slave nodes when the slave node and the lead node are in the same flight segment. And perform amplitude limiting to obtain : ; In the formula, The process variable representing the expected collaborative speed of the slave nodes; The preset baseline expected speed for the slave node; The proportional control coefficient is greater than zero; The differential control coefficient is greater than zero; This represents the expected collaborative speed of the slave nodes after amplitude limiting. and These represent the upper and lower limits of the expected speed for this slave node.

[0027] Step 2.2, based on the turning flight status and waypoint differences of each node in the cluster, [the following is done / is performed / etc.]. The final expected collaborative speed of the slave nodes is obtained by performing extended processing. : ; In the formula, This represents the expected collaborative speed of the slave node itself in the final execution. and These are the current waypoint numbers for the slave node and the lead node, respectively. and These represent the current turning modes of the slave node and the leader node (where the straight flight segment is defined as 1 and the turning arc segment is defined as 2); The expected value of the cooperative speed of the slave node calculated at the previous moment. Formula (3) uses a piecewise function to express the logical judgment process. The conditions of each segment are judged in order from top to bottom. The branch that satisfies the first condition outputs the corresponding expected speed value.

[0028] Step 3: The slave nodes calculate the comprehensive relative position deviation and share it in the network.

[0029] The slave node's expected cooperative speed is determined in step 2. and the baseline expected speed of the lead node. Calculate the comprehensive relative positional deviation of the slave node itself. : ; In the formula, This represents the comprehensive relative positional deviation of the slave node, used to quantify the error magnitude of the slave node following the leader node; This is the proportional control coefficient; The preset baseline expected speed for slave nodes.

[0030] Each slave node will calculate the result Share the data to the lead node via network; after sharing is complete, return to step 2 to continue the periodic cycle.

[0031] Step 4: This node is the master node; it obtains the flight status of each slave node. , and ), combined with the preset speed expectation of the leader node ( , , The comprehensive relative position deviations are converted into the expected equivalent speeds of the slave nodes.

[0032] When this node is the master node, it obtains the comprehensive relative position deviation of each slave node through network communication. (in , (Total number of slave nodes), obtain the location of each slave node. and its previous position Combined with the benchmark expected speed of the lead node itself. Speed ​​limit Speed ​​limit The following processing is performed: Step 4.1: The master node receives the relative position deviations of each slave node from the network communication. Equivalent speed expectation converted to slave node And perform amplitude limiting: ; In the formula, These are process variables in the transformation process; The slave equivalent speed expectation derived from the baseline expected speed of the master node ( ); This is the proportional control coefficient.

[0033] Step 4.2, considering the possibility of communication rejection between slave nodes and master nodes, further utilize the location information of each slave node... The update frequency determines the communication link connection status: if the slave node position obtained in the current period... If the condition is met, communication with the slave node is directly denied, and its expected equivalent speed is forcibly assigned a value. ;in The slave node position is obtained in the previous communication cycle; otherwise, the slave equivalent speed expectation calculated by equation (5) is not changed.

[0034] Step 5, based on the equivalent speed expectation of each slave node. The number of slave nodes that accelerate and decelerate during flight is counted in a loop.

[0035] Specifically, a threshold factor is set to detect the macroscopic changing trend of the slave group. Perform cyclical statistics: if If the slave node is determined to have an accelerating trend, then the number of accelerating slave nodes is increased. Add 1; otherwise if If the slave node is determined to have a deceleration trend, then the number of decelerating slave nodes is set to [number]. Add 1.

[0036] Step 6: If the master node is in a constant speed state, set the master node to a deceleration or acceleration state according to the relative size of the number of slave nodes that are accelerating or decelerating; otherwise, the master node maintains the speed adjustment state of the previous moment.

[0037] The specific judgment logic is as follows: if the leader node was in a constant speed state in the previous moment ( If it equals 0), then further according to and Determine based on the relative size: if > Then assign the speed adjustment status flag of the leader node to the value. This indicates that the leader node has entered an acceleration state; if < Then assign a value This indicates that the lead node has entered a deceleration state. If the lead node was not in a constant speed state in the previous moment (i.e., it was currently in an acceleration or deceleration state), then the state of the previous moment remains unchanged, and a value is assigned. ;in, This is a flag indicating the speed control status of the pilot node (0 for constant speed, 1 for acceleration, -1 for deceleration). This is the speed adjustment status flag of the leader node at the previous moment.

[0038] Step 7, based on the equivalent speed expectation of each slave node mentioned above. The number of slave nodes with positive equivalent speed expectation and the cumulative sum of positive equivalent speed expectation are calculated cyclically, as well as the number of slave nodes with negative equivalent speed expectation and the sum of negative speed expectation.

[0039] To accurately capture residual formation deviations, a threshold factor is set. ,definition , Let the sum of the number of slave nodes and the expected positive equivalent speed be the sum of the expected positive equivalent speed. , The sum of the number of slave nodes and the negative equivalent speed expectation is calculated, and then iteratively accumulated. like Then, assign a value: and Otherwise if Then assign a value and The "=" sign represents the assignment operation.

[0040] Step 5 uses a high threshold of 0.9 to judge the significant change trend of the slave subgroup, so as to prevent the frequent oscillation of the speed regulation state of the leader. Step 7 switches to a low threshold of 0.3 to capture the subtle deviation of the slave subgroup, so as to calculate the speed regulation amplitude of the leader node more smoothly and accurately determine the timing of speed regulation exit.

[0041] Step 8: Based on the number of slave nodes with the expected positive or negative equivalent speed, determine whether to reset the master node to constant speed state. The specific decision logic is as follows: If the leader node is currently in a deceleration state ( And the number of slave nodes expected by the positive equivalent speed. If the value is 0, the leader node will be reset to constant speed state. ); If the leader node is currently in an accelerated state ( The number of slave nodes that are equal to 1 and have a negative equivalent speed expectation. If the value is 0, the leader node will be reset to constant speed state. ); like equal to 0 and If the value is 0, the leader node will be reset to constant speed state. ).

[0042] For situations other than the three mentioned above, the leader node will maintain its current speed regulation status.

[0043] This step ensures that the pilot aircraft performs only monotonous acceleration or deceleration motions during active speed adjustment. A schematic diagram of the pilot aircraft's monotonous acceleration and deceleration process is shown below. Figure 2 As shown.

[0044] Step 9: If the lead node is in a constant speed state, its expected coordinated speed is set to a constant value; otherwise, the expected value of the lead node's active speed adjustment coordinated speed is calculated based on the cumulative sum of positive or negative equivalent speed expectations. Specifically: Specifically: if the leader node is in a constant speed state ( If the value is 0, then the expected collaborative speed of the leader node is directly assigned. .

[0045] If the leader node is in an accelerated state ( (equal to 1), using the negative equivalent velocity expected cumulative sum obtained in step 7. and the corresponding number of slave machines Calculate the expected process variables of the lead-agent coordinated speed The calculation formula is: ; If the pilot node is in a deceleration state ( (equal to -1), using the positive equivalent velocity expected cumulative sum obtained in step 7. and the corresponding number of slave machines Calculate the expected process variables of the lead-agent coordinated speed The calculation formula is: ; Finally, based on the leader's turning flight status... The extension yields the expected value of the final leader node's active speed adjustment and collaborative speed. : like If the value equals 1 (straight flight segment), then assign a value. ;like If the value equals 2 (the turning arc segment), then assign a value. ,in This represents the expected speed of the lead node's proactive speed adjustment and coordination at the previous moment.

[0046] Complete the calculation of the expected value of the active speed adjustment and coordinated speed of the leader node, and return to step 4 for periodic loop operation.

[0047] The lead node will use the expected value of the lead node's active speed regulation and coordination speed calculated in step 9. As a speed control command, it is sent to the underlying flight control inner loop module of the leader node. After receiving the command, the underlying module calculates the expected speed value into control surface and thrust commands to drive the leader node to perform the corresponding speed adjustment actions. After execution, the command value from the previous moment is updated. Update the speed adjustment status flag of the leader node at the previous moment. Then return to step 4 to continue the periodic cycle.

[0048] Based on the above scheme, this invention comprehensively processes the relative position deviations of each slave node that can be communicated and obtained, enabling the leader node to judge the overall acceleration and deceleration trends of the slave subgroup, and then improve the dynamic convergence speed of the position coordination deviation between the leader and slave nodes through proactive deceleration and acceleration coordinated control behavior; in addition, a monotonic adjustment mechanism for the leader's flight state is introduced to avoid leader command oscillation caused by the dispersion of the states of multiple slave nodes.

[0049] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A cluster leader-slave control method for active speed regulation and coordination of the leader machine, characterized in that, include: Step 1: Each node in the cluster determines its own role; if it is a slave node, proceed to Step 2; if it is a master node, proceed to Step 4. Step 2: The slave node obtains the flight status of the leader node, and calculates the expected coordinated speed of the slave node following the leader node's position by combining its own flight status. Step 3: The slave node calculates its own comprehensive relative position deviation based on the expected cooperative speed and the benchmark expected speed of the leader node, and shares it with the leader node through the network. Step 4: The lead node obtains the flight status of each slave node, and combines the lead node's preset speed expectation to convert the comprehensive relative position deviations into the equivalent speed expectations of the slave nodes. Step 5: Based on the expected equivalent speed of each slave node, cyclically count the number of slave nodes that accelerate or decelerate during flight. Step 6: If the master node is in a constant speed state, set the master node to a deceleration or acceleration state according to the relative size of the number of slave nodes that are accelerating or decelerating; otherwise, the master node maintains the speed adjustment state of the previous moment. Step 7: Based on the equivalent speed expectation of each slave node, iteratively calculate the number of slave nodes with positive equivalent speed expectation and the cumulative sum of positive equivalent speed expectation, as well as the number of slave nodes with negative equivalent speed expectation and the sum of negative speed expectation. Step 8: Based on the number of slave nodes with the expected positive or negative equivalent speed, determine whether to reset the master node to constant speed state. Step 9: If the leader node is in a constant speed state, its expected coordinated speed is set to a constant value; otherwise, calculate the expected value of the leader node's active speed adjustment coordinated speed based on the cumulative sum of positive or negative equivalent speed expectations, which is used for the leader node to adjust its speed; return to step 4 for periodic operation.

2. The cluster leader-slave control method for active speed regulation and coordination of the leader as described in claim 1, characterized in that, Obtain the flight status of the leader node, and combine it with the slave's own flight status to calculate the expected coordinated speed of the slave following the leader's position, including: The flight status of the lead aircraft node, including its current location, is obtained through inter-aircraft communication. Current speed Turning mode Flight waypoint ; Obtain the flight status of the slave node itself, including its current position. ,speed Turning mode Flight waypoint ; Calculate the expected process variable of the coordinated speed of slave nodes and leader nodes in the same flight segment. The expected value of the cooperative speed of the slave nodes is obtained by performing amplitude limiting processing. : ； In the formula, , The proportional control coefficient and derivative control coefficient are both greater than zero. The preset baseline expected speed for the slave node, and These represent the upper and lower limits of the expected speed for the slave nodes; right The final expected collaborative speed of the slave nodes is obtained by performing extended processing. : ； In the formula, This represents the expected speed of the slave node's final self-execution; where 1 indicates a straight flight segment in the turning mode, and 2 indicates a circular turning segment in the turning mode. Calculated for the previous time step .

3. The cluster leader-slave control method for active speed regulation and coordination of the leader as described in claim 1, characterized in that, The formula for calculating the overall relative positional deviation of the slave node itself is: ； In the formula, This refers to the comprehensive relative positional deviation of the machine's nodes. This represents the expected collaborative speed of the slave nodes. The baseline expected speed for the lead node; This is the proportional control coefficient; The preset baseline expected speed for the slave node; Each slave node will calculate the obtained Share the data to the lead node via network; after sharing is complete, return to step 2 to continue the periodic cycle.

4. The cluster leader-slave control method for active speed regulation and coordination of the leader as described in claim 1, characterized in that, The master node receives the relative position deviations of each slave node from the network communication. Equivalent speed expectation converted to slave node And perform amplitude limiting: ； In the formula, These are process variables in the transformation process; , , The baseline expected speed, upper expected speed limit, and lower expected speed limit of the leader node itself; The expected equivalent speed of the slave node is derived from the baseline expected speed of the master node; This is the proportional control coefficient; Based on the location information of each slave node The update frequency determines the communication link connection status: if the slave node position obtained in the current period... If the condition is met, communication with the slave node is directly denied, and the slave node's expected equivalent speed is forcibly assigned a value. ;in This is the location of the slave node obtained in the previous communication cycle.

5. The cluster leader-slave control method for active speed regulation and coordination of the leader machine according to claim 1, characterized in that, Set the first threshold factor Perform cyclical statistics: if If the slave node is determined to have an accelerating trend, then the number of accelerating slave nodes is increased. Add 1; otherwise if If the slave node is determined to have a deceleration trend, then the number of decelerating slave nodes is set to [number]. Add 1.

6. The cluster leader-slave control method for active speed regulation and coordination of the leader machine according to claim 1, characterized in that, If the leader node was in a constant speed state at the previous moment, then further based on and Determine based on the relative size: if > Then assign the speed adjustment status flag of the leader node to the value. This indicates that the leader node has entered an acceleration state; if < Then assign a value If the leader node was not in a constant speed state in the previous moment, then maintain the previous state and assign a value. ;in This is the speed adjustment status flag of the leader node at the previous moment.

7. The cluster leader-slave control method for active speed regulation and coordination of the leader as described in claim 1, characterized in that, Set a second threshold factor ,definition , Let the sum of the number of slave nodes and the expected positive equivalent speed be the sum of the expected positive equivalent speed. , The sum of the number of slave nodes and the negative equivalent speed expectation is calculated, and then iteratively accumulated. like Then, assign a value: and Otherwise if Then assign a value and ; The second threshold factor is less than the first threshold factor.

8. The cluster leader-slave control method for active speed regulation and coordination of the leader as described in claim 1, characterized in that, If the leader node is currently in a deceleration state and the expected number of slave nodes is positive equivalent speed If the value is 0, the leader node will be reset to constant speed state; If the leader node is currently in an accelerated state and the number of slave nodes is negatively equivalent to the expected speed... If the value is 0, the leader node will be reset to constant speed state; like equal to 0 and If the value is 0, the leader node will be reset to constant speed state.

9. The cluster leader-slave control method for active speed regulation and coordination of the leader as described in claim 1, characterized in that, If the lead node is in a constant speed state, then directly assign the expected coordinated speed of the lead node. ; If the leader node is in an accelerated state, the negative equivalent velocity expectation accumulation sum is used. and the corresponding number of slave machines Calculate the expected process variables of the lead-agent coordinated speed The calculation formula is: ； If the leader node is in a deceleration state, the expected cumulative sum of the positive equivalent velocity is used. and the corresponding number of slave machines Calculate the expected process variables of the lead-agent coordinated speed The calculation formula is: ； Finally, based on the leader's turning flight status... The extension yields the expected value of the final leader node's active speed adjustment and collaborative speed. : like If it equals 1, then assign a value. ;like If the value equals 2, then assign a value. ,in This represents the expected speed of the lead node's proactive speed adjustment and coordination at the previous moment.

10. A terminal device, comprising a processor, a memory, and a computer program stored in the memory; characterized in that, When the processor executes the computer program, it implements the cluster leader-slave control method of leader active speed regulation and coordination as described in any one of claims 1-9.

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