| As a commonly used complex equipment in military and civil fields,how to control the formation intelligently and accurately is an important research direction.However,most of the existing UAV formation experiments use simulation experiments,which have problems such as low reliability and poor safety in actual flight.As a new technology,digital twinning technology brings the state data of the actual object into the test process during the experimental verification,which shows many application values in intelligent operation and maintenance,abnormal diagnosis,risk prediction and decision-making assistance,and is concerned and discussed by all parties in the world.In this thesis,the digital twin technology is introduced into the intelligent cooperative control of UAV formation,and the following work is carried out.Firstly,this thesis introduces the digital twinning technology into the cooperative experiment of UAV formation,constructs the virtual-real interaction system of UAV formation based on digital twinning,studies the virtual-real interaction framework composed of UAV physical entity,UAV formation virtual entity,twinning data,twinning service and virtual-real interaction connection,and designs each part in detail.Secondly,aiming at the problem of "pilot failure" in the pilotage following control method of UAV formation,a hybrid control method of virtual and real cooperation for UAV formation is studied.Based on the above five-dimensional model,this method monitors the UAV formation controlled by the pilot-following algorithm in real time.When it is monitored that the UAV formation has "pilot failure",the digital twin system takes over the control of the UAV formation by the distributed cooperative control algorithm,and the effectiveness of the method is verified by experiments based on the above system design.Finally,based on UE4 unreal engine,a virtual scene is built which is consistent with the actual experimental scene.Wireless digital radio is used to connect the virtual and the real,and QT software is used to design and implement the interface of the twin service in the twin system.The real-time performance of the system is verified by comparing the system timestamp of the physical entity data of UAV with the data mapped by twin entities.The data of real machine entity,twin entity and simulation entity are compared and analyzed under the same cruise mission.By comparing the trajectory similarity of real machine entity and twin entity,it is better than that of real machine entity and simulation entity,and the consistency of virtual and real data of digital twin system is verified.The cruise experiment of UAV formation is designed in the digital twin system,which verifies the effective control of UAV formation by the mixed control method of virtual and real cooperation when the pilot fails. |
