One-stop Maintenance Strategy for UAV Swarm with Successive Missions
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摘要: 多架无人机通过协同配合、能力互补和行动协调,实现整体作战效能提升,因此研究战场环境下无人机集群维修具有重要意义。对于执行多次任务的无人机集群,在任务间隙进行维修维护是提高集群作战的稳定性的重要手段。研究战场环境下无人机集群维修,有效地修复无人机的故障模块,短时间内迅速恢复集群战斗力水平,对执行多次连续任务的集群具有重要意义。本文针对无人机集群的特殊性,基于不同维修规模、到达方式和信息可用情况的不同假设,建立基本的维修模型;基于作战环境的特殊要求和约束,提出针对战场环境下大批快速抢修 “一站式”维修策略。以在规定的时间内完成最多的无人机维修数量为目标进行优化,为连续任务的执行提供保障。Abstract: Multiple UAVs can achieve overall combat effectiveness improvement through coordination, capability complementation and action coordination. Therefore, it is of great significance to study the maintenance strategy of UAV clusters in the battlefield environment. For the deployment of UAVs that perform multiple missions successively, maintenance and repairs between missions are an important means to improve the stability of combat operations. Effectively repairing the malfunctioning module and quickly recovering the combat effectiveness of the UAV cluster have a decisive influence on the cluster combat strategy of performing multiple consecutive missions. This study establishes a basic maintenance model based on distinguished assumptions of different maintenance scales, arrival matter and information availability. Based on the special requirements and constraints of the combat environment, a "one-stop" maintenance strategy for rapid repair in a large number of battlefield environments is proposed. With the goal of minimizing maintenance time and maximizing the recovery of combat effectiveness, the optimization problem is solved to provide guarantee for the execution of continuous tasks.
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Key words:
- UAV swarm /
- battlefield environment /
- one-stop maintenance /
- optimization
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表 1 初步维修模型变量
变量名 变量含义 $ {t_s} $ 每拆装一架无人机k所需启动时间 $ {t_c} $ 每检查一个模块所需时间 $ {t_d} $ 每拆一个模块需要的时间 $ {t_k} $ 组装模块k所需时间 $ {t_p} $ 从仓库调用一个备用模块的时间 $ c $ 并行维修组的数量 $ {S_k} $ 模块k的全新备件数量 $T$ 总维修时长 ${T_c}$ 单批次检测总计时长 ${T_d}$ 单批次无人机拆卸模块总计时长 $ {T_k} $ 单批次无人机组装模块总计时长 ${T_s}$ 单批次无人机拆装总计时长 ${T_p}$ 单批次无人机需要从仓库调用备用模块时长 $M$ 单架无人机功能模块数量 $N$ 返航无人机数目 ${C_{\max }}$ 单架无人机最大战斗能力 ${C_{\min }}$ 单架无人机最小战斗能力 ${m_1}$ 需要拆卸无人机数量 ${m_2}$ 需要组装无人机数量 ${q_k}$ 需要更换模块k的无人机数量 表 2 随机批量到达维修模型系统运行指标
指标名称 指标含义 指标值 ${L_s}$ 平均维修批次 $ \dfrac{\lambda }{{\mu - \lambda }} $ ${L_q}$ 等待维修的无人机批次 $ \dfrac{{\rho \lambda }}{{\mu - \lambda }} $ ${W_s}$ 无人机在系统中逗留时间的期望值 $ \dfrac{1}{{\mu - \lambda }} $ ${W_q}$ 无人机在队列中等待的时间的期望值 $ \dfrac{\rho }{{\mu - \lambda }} $ 表 3 维修时长参数
参数名称 参数含义 参数值 ${t_c}$ 检查时间 0.1 ${t_d}$ 拆卸时间 0.5 ${t_k}$ 组装时间 1 ${t_p}$ 调取备件时间 0.1 ${t_s}$ 启动时间 0.3 $c$ 并行组数 1 表 4 确定批量完全维修模型实例结果
模型实例参数 结果值 矩阵规模$N \times M$ 23 × 5 损坏模块数量$Q$ 60 检测时间${T_c}$ 11.5 启动时间${T_s}$ 13.8 组装时间${T_k}$ 60 拆卸时间${T_d}$ 30 调取备件时间${T_p}$ 6 总计维修时长$T$ 121.3 表 5 确定批量完全维修模型准确性检验
$N$ $Q$ ${T_c}$ ${T_s}$ ${T_k}$ ${T_d}$ ${T_p}$ $T$ 5 18 2.5 3 18 9 1.8 34.3 100 248 50 60 248 124 24.8 506.8 1000 2464 500 600 2464 1232 246.4 5042.4 表 6 确定批量不完全维修模型实例结果
模型实例参数 A组结果 B组结果 对照组 矩阵规模$N \times M$ 108 × 5 92 × 5 108 × 5 损坏模块数量$Q$ 170 314 267 检测时间${T_c}$ 10.8 9.2 20.9 启动时间${T_s}$ 64.8 27.6 64.8 组装时间${T_k}$ 170 0 267 拆卸时间${T_d}$ 85 73 193.5 调取备件时间${T_p}$ 22.4 0 22.4 总计时长 353 109.8 568.4 总计维修时长$T$ 462.8 568.4 表 7 模型三实例运算结果
参数 实验一 实验二 实验三 维修的无人机 49 43 46 组装时间${T_k}$ 176 174 175 调用时间${T_p}$ 17.7 16.8 17.3 拆卸时间${T_d}$ 86.4 85 86.5 启动时间${T_s}$ 29.4 28.8 27.6 检测时间${T_c}$ 39 38 37.5 总计维修时间$T$ 348.5 342.6 343.9 -
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