Development of cooperative control system for four-axis UAV group
Mechanical and electrical information 2022-05-1921:10
Keywords: formation cooperation system
introduce
With the development of new materials, mechatronics, inertial navigation system and control technology, coupled with the characteristics of low price, flexible operation, stable control performance, strong adaptability to the environment and avoiding casualties, quadcopter has been widely used in military and civilian fields in recent years. However, in the face of complex environment, single machine has some problems, such as limited function, limited load and low efficiency, which affect the execution and completion of various tasks. In recent years, many experts and scholars at home and abroad have found that the above problems can be solved by learning from the coordination mechanism of natural biological groups. Swarm intelligence and robotics developed from it are born from the study of animals. The coordination mechanism used by many animal groups has been proved to be able to solve various complex problems. For example, the design inspiration of intelligent engineering such as ant colony algorithm and particle algorithm comes from biology. The cluster behavior of fish, birds and bees in nature is very enlightening to the flight control of UAV group.
Under this background, this paper focuses on local communication and distributed control to develop the cooperative system of UAV group. By combining biological cluster behavior with robot technology, a system for dynamically adjusting UAV formation is designed, so that multiple UAVs can be independently arranged in a specific structure in three-dimensional space, so that they can maintain a stable queue during flight, and can be dynamically adjusted according to external conditions and mission requirements, thus making the whole fleet coordinated.
In order to further study and develop the cooperative control system of four-axis UAV group, this paper expounds in detail from three aspects: structural design, system development and flight test.
Structural design of 1
In terms of structural design, based on the existing excellent quadcopter structure, this paper makes appropriate improvements and sensor settings to better test and verify the cooperative control system of quadcopter UAV group. As shown in figure 1, it is designed as a miniature four-axis UAV, which is mainly composed of five parts: hollow cup motor, rotor, frame, flight controller and optical flow sensor. Four-axis UAV takes the "X" model as the four-rotor mode and the compass facing the north as the positive flight direction, so unifying the positive flight direction is conducive to better planning the three-dimensional spatial layout of the formation and rapid dynamic adjustment. The 3.7V lithium battery and T0F(TimeofFlight) sensor are embedded in the flight controller, which effectively reduces the size of the aircraft. In order to make the UAV group dynamically adjust according to the law, an optical flow sensor is set directly below the UAV, which can effectively restrain the UAV from drifting and tend to move at a uniform speed in the flight direction.