CAJ | 학술논문

无人机编队飞行有着单架无人机无法比拟的优点，但属于较新的研究领域。从无人机未来发展需求出发，根据近距编队的特点，提出了一种近距编队控制方法，并以双机近距编队为基础对控制律设计和算法实现进行了研究。通过建立僚机旋转参考系下的双机编队相对运动模型，同时考虑长机翼尖涡对僚机产生的气动耦合效应，基于PI控制设计了一种无人机近距编队飞行控制器，通过仿真验证和比较分析，证明僚机可以很好地跟随长机的机动保持编队构型，验证了提出的编队飞行控制方法的可行性和有效性。
무인궤편대비행유착단가무인궤무법비의적우점，단속우교신적연구영역。종무인궤미래발전수구출발，근거근거편대적특점，제출료일충근거편대공제방법，병이쌍궤근거편대위기출대공제률설계화산법실현진행료연구。통과건립료궤선전삼고계하적쌍궤편대상대운동모형，동시고필장궤익첨와대료궤산생적기동우합효응，기우PI공제설계료일충무인궤근거편대비행공제기，통과방진험증화비교분석，증명료궤가이흔호지근수장궤적궤동보지편대구형，험증료제출적편대비행공제방법적가행성화유효성。
Unmanned Aerial Vehicle （UAV） close formation flight has the advantage that a single UAV cannot be compared with, which is a relatively new research field. According to the requirements for future UAV and the features of UAV close formation flight, the control of UAV flying in a close-coupled formation and corre- sponding implementing algorithm are studied. A proportional plus integral controller design methodology for use in the trail vehicle in a two-UAV formation is presented. The formation consists of a lead and wing aircraft, where the wing flies in close formation with the lead, such that the lead＇s vortices produce aerodynamic coupling effects. The nonlinear kinematic of formation is modeled in the wing＇s rotating reference frame. It is shown that formation hold autopilots designed with the aerodynamic coupling effects yields satisfactory performance in close formation flight. Simulation results demonstrate that wing aircraft can maintain a desired position relative to a lead aircraft throughout formation maneuvers. Furthermore, the results confirm the feasibility and validity of the method.