Proportional Plus Integral Control of Aircraft for Automated ManeuveringFormation Flight

摘要

In this study an automated formation control system for a lead and wing aircraftflight is developed. The proposed formation control system is capable of controlling like or dissimilar aircraft in maneuvering formation flight. Thus, two versions of the C-130 aircraft, the C-130A and the C-130B, are modelled. The C-130B has superior performance characteristics to that of the C-130A. The wing aircraft continuously measures lead aircraft position with an ideal on-board relative position sensor, maneuvering to maintain relative position. External formation guidance is assumed to be released in a single data burst, consisting of formation geometry and nominal separation commands for each aircraft in the formation. No continuous communication is assumed between formation aircraft. Simulation of the formation control system reveals that a controller is needed to alleviate the steady state errors in separation distance after a formation maneuver is executed. Hence, a Proportional plus Integral formation system control has been developed, which allows aircraft with differing performance capabilities to safely and effectively execute all maneuvers evaluated in the study. Moreover, the formation control system is shown to satisfactorily operate independent of the aircraft or formation configuration being flown. There is zero steady state error for all maneuver and separation distance responses, and the transients are such that no collision occurs between the aircraft in the formation. Open loop and controlled time responses, as well as flight path responses, are presented for comparison.