CAJ | 학술논문

对无人飞行器编队协同干扰式突防问题进行了描述。基于有限状态机设计了管理编队协同突防中离散事件的编队管理器，负责接收外部指令、参考点位置、邻居状态以及无人飞行器自身的状态，并对编队控制律进行切换，对编队协同干扰突防进行分析并确定了自动编队控制的流程。仿真结果表明，所设计的编队管理器能够根据各离散事件自动切换编队控制律，完成编队队形保持与重构之间的转换；实时解算的期望位置满足协同干扰突防所要求的编队构型约束条件，所提出的方法是可行、有效的。
대무인비행기편대협동간우식돌방문제진행료묘술。기우유한상태궤설계료관리편대협동돌방중리산사건적편대관리기，부책접수외부지령、삼고점위치、린거상태이급무인비행기자신적상태，병대편대공제률진행절환，대편대협동간우돌방진행분석병학정료자동편대공제적류정。방진결과표명，소설계적편대관리기능구근거각리산사건자동절환편대공제률，완성편대대형보지여중구지간적전환；실시해산적기망위치만족협동간우돌방소요구적편대구형약속조건，소제출적방법시가행、유효적。
The issue of UAV formation cooperative jamming penetration was studied .A formation manager was designed based on finite machine,mainly for receiving commands,reference point position,neighbor states and its own states .It could manage discrete events in the process of formation cooperative penetration and switch between the formation control laws .The process of formation cooperative penetration was analyzed,and the flow of automatic formation control was confirmed .Simulation results show that the designed formation manager can switch the formation control law automatically according to each discrete event,and accordingly,to achieve changes between formation keeping and formation reconfiguration .The desired position calculated in real time satisfies the constraints for formation in penetration .The proposed method is feasible and effective .