Research On Flight Control Technology Of Multi-UAV Formation

The Unmanned Aerial Vehicles(UAVs)are gaining more and more applications in military and civilian fields due to their superior characteristics.Research on multi-UAV formation control has also become an important and hot issue in aviation.This thesis focuses on the design of multi-UAV formation controllers and the formation control strategies.Accordingly,in this thesis,the formation controller based on PID control algorithm,anti-collision algorithm based on velocity vector field and the formation swarm,dissolution,transformation strategy are designed to ensure the flight quality and achieve reliable flight.Firstly,based on the detailed description of the overall framework of the control system and the control method,the guidance information calculation method for the leader-follower formation is proposed.Further,the lateral,longitudinal and velocity control laws of the speed/position loop are designed,and the control quality of the controller is analyzed.Secondly,in order to ensure the safety of multi-UAV formation,the leader-follower formation method,Motor Schema structure and velocity vector field method are combined to establish the velocity vector field mathematical model,so that the formation UAV can adjust its movement direction according to the actual flight environment.Thirdly,according to the principle of maximum priority allocation,the assembly point allocation algorithm and the formation swarm strategy are formulated;In the formation maintenance strategy,an improved leader-follower formation structure is constructed in combination with the virtual structure method;In the formation transformation strategy,according to the complexity of the transformation process,the UAVs can choose a suitable strategy to improve the efficiency and safety of the task execution.Finally,the simulation environment is built under the.NET Framework and the simulation of multi-UAV formation flight is completed.The simulation results verify that the formation controller has good control quality and control precision.Also,the results indicate that the velocity vector field can effectively avoid the collisions and the formation control strategy satisfies the requirements which can realize the formation swarm,maintenance and transformation tasks.