دانش و فناوری هوافضا

دانش و فناوری هوافضا

پرواز گروهی پهپادها با آرایش ساختار مجازی با کنترل تلفیقی PID و وارون دینامیک

نوع مقاله : مقاله پژوهشی

نویسندگان
سیدجواد حسینی 1
یوسف عباسی 2
جلال کریمی 2
1 کارشناس ارشد، مجتمع دانشگاهی هوافضا، دانشگاه صنعتی مالک‌اشتر
2 دانشیار، مجتمع دانشگاهی هوافضا، دانشگاه صنعتی مالک‌اشتر
چکیده
در این مقاله به موضوع هدایت گروهی پهپادها با آرایش ساختار مجازی با کمک کنترل تلفیقی PID و وارون دینامیک پرداخته شده است. ابتدا مدل‌سازی یک پهپاد بال ثابت با استفاده از معادلات شش درجه آزادی انجام شده و با توجه به انتخاب روش ساختار مجازی برای پرواز گروهی، سیستم هدایت و کنترل مناسب برای یک پرنده مبتنی بر راهبر مجازی طراحی و شبیه‌سازی شش درجه آزادی انجام شده است. در این راستا فرمان‌های شتاب در دستگاه مختصات اینرسی به فرامین شتاب در دستگاه مختصات بدنی پرنده تبدیل و سپس این فرامین، به فرمان‌های زوایای وضعیت و سرعت تبدیل شده است. با تلفیق کنترل خطی PID و کنترل غیرخطی وارون دینامیک، کنترل­کننده سیستم طراحی و با توجه به نتایج بدست آمده، توانسته به‌خوبی راهبر مجازی را در مسیر مطلوب تعقیب نماید. در ادامه، با مدل‌سازی آرایش ساختار مجازی و بکارگیری کنترلر پیشنهادی، خطای موقعیتی عضوها کنترل شده و نتایج شبیه‌سازی پرواز گروهی نشان می­دهد، عملکرد پهپادها در حفظ آرایش، تعقیب مسیر تعیین شده و حذف خطای موقعیت به‌صورت قابل‌ملاحظه‌ای بهبود یافته است.
کلیدواژه‌ها
شش درجه آزادی
پهپاد
پرواز گروهی
آرایش ساختار مجازی
کنترل تلفیقی
PID
وارون دینامیک

موضوعات

عنوان مقاله English

Group flight of UAVs with virtual structure formation using intergrated PID control and dynamic inversion

نویسندگان English

S.Javad Hossenizade 1
Yosef Abbasi 2
Jalal Karimi 2
1 MSc Student, Faculty of Aerospace, Malek Ashtar University of Technology, Iran.
2 Associate Professor, Faculty of Aerospace, Malek Ashtar University of Technology, Iran
چکیده English

In this article, the matter of group guidance of UAVs with virtual structure formation with the help of integrated PID control and dynamic inversion is explained. First, the modeling of a fixed-wing UAV was done using the equations of six degrees of freedom, and according to the choice of the virtual structure method for group flight, the appropriate guidance and control system for a drone based on the virtual guide was designed and the simulation of six degrees of freedom has been done. In this regard, the acceleration commands in the inertial coordinate system have been converted to the acceleration commands in the body coordinate system of the drone, and then these commands have been converted into position and speed angle commands. By combining PID linear control and dynamic inversion non-linear control, the system controller was designed and according to the obtained results, it was able to follow the virtual guide in the desired direction. According to this, by modeling the formation of the virtual structure and using the proposed controller, the positional error of the unit is controlled and the results of the group flight simulation show that the performance of UAVs in maintaining the formation, following the designated path and eliminating the positional error has been significantly improved.

کلیدواژه‌ها English

Six degrees of freedom
UAV
group flight
virtual structure formation
integrated PID control and dynamic inversion.
[1] S. M. J. Zolanvari, "Centralized, Decentralized and Hybrid Formation Control of a Groupof Moving Robots," Master, School of Mechanical Engineering, shiraz university, 1397.
[2] K.-H. Tan and M. A. Lewis, "Virtual structures for high-precision cooperative mobile robotic control," in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS'96, 1996, vol. 1, pp. 132-139: IEEE.
[3] N. H. Li and H. H. Liu, "Formation UAV flight control using virtual structure and motion synchronization," in 2008 American Control Conference, 2008, pp. 1782-1787: IEEE.
[4] D. Cai, J. Sun, and S. Wu, "UAVs formation flight control based on behavior and virtual structure," in Asian Simulation Conference, 2012, pp. 429-438: Springer.
[5] A. Kahn, J. Marzat, and H. Piet-Lahanier, "Formation flying control via elliptical virtual structure," in 2013 10th IEEE international conference on networking, sensing and control (ICNSC), 2013, pp. 158-163: IEEE.
[6] C. Kownacki, "Multi-UAV flight using virtual structure combined with behavioral approach," acta mechanica et automatica, vol. 10, no. 2, 2016.
[7] Y. Abbasi, S. A. A. Moosavian, and A. B. Novinzadeh, "Guidance and control system design for an aerial robot based on reference trajactory acceleration," ASSTJ, vol. 4, no. 1, pp. 17-31, 2015. (in Persianفارسی )
[8] Y. Abbasi, S. A. A. Moosavian, and A. B. Novinzadeh, "Formation control of aerial robots using virtual structure and new fuzzy-based self-tuning synchronization," Transactions of the Institute of Measurement and Control, vol. 39, no. 12, pp. 1906-1919, 2017.
[9] W. Kan, F. Duan, and Q. Zhang, "Virtual structure in formation flight control of UAVs via NOPSC algorithm," in 2016 2nd Workshop on Advanced Research and Technology in Industry Applications (WARTIA-16), 2016, pp. 956-960: Atlantis Press.
[10] V. S. M. Rosa and E. M. Belo, "Virtual structure formation flight control based on nonlinear mpc," in 2021 International Conference on Unmanned Aircraft Systems (ICUAS), 2021, pp. 1383-1390: IEEE.
[11] Q. Chen, Y. Wang, and Y. Lu, "Formation Control for UAVs based on the Virtual Structure Idea and Nonlinear Guidance Logic," in 2021 6th International Conference on Automation, Control and Robotics Engineering (CACRE), 2021, pp. 135-139: IEEE.
[12] T. F. Cordeiro, J. Y. Ishihara, and H. C. Ferreira, "A Decentralized Low-Chattering Sliding Mode Formation Flight Controller for a Swarm of UAVs," Sensors, vol. 20, no. 11, p. 3094, 2020.
[13] A. Askari, M. Mortazavi, and H. Talebi, "UAV formation control via the virtual structure approach," Journal of Aerospace Engineering, vol. 28, no. 1, p. 04014047, 2015.
[14] P. Dubey, V. Singh, and M. Mangal, "Design and Comparison of Control Schemes for UAV Autopilot," IFAC Proceedings Volumes, vol. 45, no. 1, pp. 103-108, 2012.
[15] A. Ashrafi, M. Mortazavi, A. Askari, and A. Gholami, "Leader-follower formation control OF UAVs by PID-fuzzy," ASSTJ, vol. 6, no. 3(Special Issue), pp. 29-40, 2017. (in Persianفارسی )
[16] L. S. Brian and L. L. Frank, "Aircraft control and simulation," John Wiley & Sons, Inc., Hoboken, New Jersey, 2003.
[17] J. Roskam, Airplane flight dynamics and automatic flight controls. DARcorporation, 1998.
[18] C.-H. Lee, M.-G. Seo, M.-J. Tahk, J.-I. Lee, and B.-E. Jun, "Missile acceleration controller design using pi and time-delay adaptive feedback linearization methodology," arXiv preprint arXiv:1209.0864, 2012.
[19] S. H. Sadati, M. Izadpour, Ed. Flight control system design. Malek Ashtar University of Technology, 1400. (in Persianفارسی )