On-line Configuration Identification and Control of Modular Reconfigurable Flight Array

Bin Ren; Jianhui Liu; Simin Zhang; Chunxi Yang; Jing Na

doi:10.62762/TIS.2024.681878

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Volume 1, Issue 2, IECE Transactions on Intelligent Systematics

Volume 1, Issue 2, 2024

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Feng Ding

Jiangnan University, China

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IECE Transactions on Intelligent Systematics, 2024, Volume 1, Issue 2: 80-90

Free Access | Research Article | 29 September 2024

On-line Configuration Identification and Control of Modular Reconfigurable Flight Array

Bin Ren 1,2

Jianhui Liu 1,2

Simin Zhang 1,2

Chunxi Yang 1,2 *

Jing Na 1,2

1 Faculty of Mechanical and Electrical Engineering, Kunming University of Science and Technology, Kunming 650500, China

2 Yunnan Key Laboratory of Intelligent Control and Application, Kunming University of Science and Technology, Kunming 650500, China

* Corresponding author: Chunxi Yang, email: ycx@kmust.edu.cn

DOI: 10.62762/TIS.2024.681878

Received: 15 September 2024, Accepted: 26 September 2024, Published: 29 September 2024

Abstract

With the increasing complexity of the working environment and the diversification of mission requirements of UAVs, traditional UAVs have a fixed structure and single function. It is difficult to be applied in occasions with complex environments and changing load demands. The modular reconfigurable flight array (MRFA) is composed of no less than four isomorphic unit modules that are freely spliced together. By adding or removing flight unit modules and adjusting the arrangement of flight unit modules, the configuration of the MRFA can be changed, so that it can adapt to complex environments and then complete different flight missions. In the process of MRFA research and development, online configuration identification has become one of important problem to be solved. In this paper, a configuration recognition algorithm is designed based on the breadth-first searching method to identify the online structure of MRFA firstly. Then, the dynamic model of the aircraft is carried out according to the obtained configuration information. At the same time, the mathematical model and configuration information of the MRFA are combined to establish an optimization control allocation mechanism to allocate suitable rotational speed for multiple rotors. Finally, several examples are carried out to show that the proposed technology can recognize the configuration with 100% recognition rate and average online recognition time 569.4ms. Then a cascade PID controller is designed to realize the flight control of the irregular MRFA with faster tracking performance of no more than 40 seconds.

Graphical Abstract

On-line Configuration Identification and Control of Modular Reconfigurable Flight Array

Keywords

The modular reconfigurable flight array

Breadth-first search

Configuration recognition

Dynamic modeling

Control allocation

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APA Style

Ren, B., Liu, J., Zhang, S., Yang, C., & Na, J. (2024). On-line Configuration Identification and Control of Modular Reconfigurable Flight Array. IECE Transactions on Intelligent Systematics, 1(2), 80–90. https://doi.org/10.62762/TIS.2024.681878

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