Relative Dynamic Modeling And Formation Control Of Multiple Unmanned Helicopters

This paper takes unmanned helicopter as the research object,and studies its single-machine dynamics model,multi-machine formation model and formation control method.The purpose is to establish a relative dynamic model of formation using the “Leader-Follower” formation form,and based on this model to design a formation controller that can ensure the stability and safety of the formation flight.It laid the theoretical foundation for the follow-up of unmanned helicopter formation flying.The main research work of this paper is divided into the following three aspects:1.Unmanned Helicopter Modeling.Firstly,the body structure framework of unmanned helicopter was analyzed.Then the force and moment of each structure are calculated.Then these forces and moments are combined to obtain the nonlinear model of the unmanned helicopter.Ensure that the simulation and actual flight involve the same control and structural parameters.The simulation and actual flight tests of the model were carried out using the "T-REX" 700 and "Raptor" 90 unmanned helicopters as platforms respectively.The obtained Euler Angle data were compared to verify the accuracy of the model.Finally,the nonlinear model of unmanned helicopter is linearized by the small perturbation method to obtain a linear state space model.It lays the foundation for the formation modeling and controller design.2.Relative dynamic modeling of multiple unmanned helicopters.According to the related theories in the coordinate transformation and attitude kinematics in robotics,the position-attitude relationship between the "Leader-Follower" in the formation was analyzed,and the differential relationship between the pose relationship was transformed,and then Newton-Euler was combined.The equations include relative kinetic equations that include relative translational dynamics and relative rotational kinematics.Finally,Unmanned helicopter model and relative dynamics equations are combined to form a Multiple unmanned helicopters relative dynamics model.In this paper,based on the study of the establishment of the relative dynamics model of the two aircrafts,the relative dynamics model of the three unmanned helicopters formation is established.After the simulation analysis of the two unmanned helicopters formation model and the three unmanned helicopters formation model,The relevant laws of multi-machine modeling are summarized.Provides reference for future three unmanned helicopters formation modeling.3.Formation Control of Multiple Unmanned Helicopters.Taking the relative dynamics model of the two aircrafts as the research object,the decoupling transformation is performed,The design of the robust H_∞ controller for the Y-channel and the Z-channel is first followed by integration of the X-channel design controller.Using the Thunder Tiger 90 unmanned helicopter as a platform,its structural parameters and flight data were substituted into the model.Finally,the effectiveness of the controller was verified by MATLAB simulation.