太阳能无人机群基于通信决策的节能连接控制
Energy-saving connection control of solar-powered UAVs based on communication decision
摘要点击 72  全文点击 67  投稿时间:2018-05-22  修订日期:2019-01-18
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DOI编号  10.7641/CTA.2019.80373
  2019,36(10):1653-1661
中文关键词  太阳能无人机  编队控制  节能  连接  扩展卡尔曼滤波  通信决策
英文关键词  olar-powered unmanned aircraft vehicle  formation control  energy-saving  connection  extended Kalman filter  communication decision
基金项目  国网浙江省电力有限公司科技项目(5211HZ17000F),国家自然科学青年基金资助项目(51405286),上海市自然科学基金资助项目(13ZR1417800),上海市电站自动化技术重点实验室(13DZ2273800)
学科分类代码  
作者单位E-mail
薛阳 上海电力学院 自动化工程学院 xueyang@shiep.edu.cn 
王舒 上海电力学院 自动化工程学院 13601785354@163.com 
张亚飞 上海电力学院 自动化工程学院  
王琳 上海电力学院 自动化工程学院  
俞志程 上海电力学院 自动化工程学院  
中文摘要
      太阳能无人机的展弦比随着续航要求的提高而不断增大, 而拥有大展弦比的无人机不利于快速部署, 针对该问题提出了一种太阳能无人机群基于通信决策的节能连接控制策略, 并给出了确定最优连接顺序的方法, 达到将多架中小型太阳能无人机进行连接, 组成更节能的大展弦比无人机的目的. 首先, 利用扩展卡尔曼滤波对无人机的状态进行估算. 其次, 通过信息熵评估态势对无人机的飞行轨迹和航速进行调整. 最后, 通过仿真演示了虚拟无人机的实时连接过程. 研究结果证明了按最优连接顺序将无人机连接后可以显著降低编队整体的最终能量消耗, 而基于态势感知的通信策略能够有效降低通信频次, 优化编队的连接控制.
英文摘要
      The aspect ratio of solar-powered unmanned aircraft vehicles (UAVs) increases with the improvement of cruise duration. UAVs with large aspect ratio are not conducive to rapid deployment. This paper proposes an energy-saving connection control based on communication decision for solar-powered UAVs. The strategy created a method for determining the connection sequence, which achieves the purpose of connecting multiple small or medium-sized solar-powered UAVs into a larger and more energy-efficient UAV. First, the extended Kalman filter is used to estimate the state of the UAVs. Secondly, the information entropy is used to evaluate the situation and adjust the flight path and speed of the UAVs. Finally, the real-time connection process of the virtual UAVs is demonstrated by simulation. The research results show that connecting the UAVs in the optimal connection order can significantly reduce the final energy consumption of the formation. The situation-aware communication strategy can effectively reduce the communication frequency and optimize the formation control of the formation.