一种相变速率驱动的无人机集群仿鸟群相变控制方法

doi:10.3969/j.issn.1009-086x.2026.03.004

摘要/Abstract

摘要：

针对无人机集群仿鸟群相变控制模型稳定性不足的问题，提出一种基于相变速率的改进方法。通过对照自然鸟群行为与仿鸟群相变控制模型，揭示了相变时间效应对群体稳定性的调控机制；基于领导者 - 跟随者架构构建包含吸引、排斥、对齐及盘旋项的控制协议，以行为控制项系数的动态调整速率量化时间特性，定义为“相变速率”。仿真实验表明，无人机集群在低相变速率条件下，可实现从有序到分散、聚集及盘旋3种行为的稳定转换。对比实验表明，低速相变的序参量高于0.9且稳定区间跨度为高速相变的3.67倍，证实降低相变速率能提升行为转换稳定性；低速相变抑制涡旋相的产生，表明不同相变速率的行为模式存在质的差异。本研究在拓展无人机集群相态数量与提升相变稳定性方面展现出显著优势，不仅验证了相变速率对相变过程的关键调控机制，更为提升无人机集群仿鸟群模型的工程实用性提供了新的理论与方法支撑。

关键词: 无人机集群, 仿鸟群模型, 相变控制, 相变速率, 群体行为控制

Abstract:

To address insufficient stability in the bird-flocking-inspired phase transition control model for UAV swarms， an improved method based on phase transition rate is proposed. By comparing the behavior of natural bird flocks with that of the bird-flocking-inspired phase transition control model， the regulatory mechanism of the temporal effect of phase transition on group stability is revealed. Based on the leader-follower architecture， a control protocol including attraction， repulsion， alignment， and circling terms is constructed. The temporal characteristics are quantified by the dynamic adjustment rate of the coefficients of behavioral control terms， which is defined as the “phase transition rate”. Simulation experiments show that under the condition of a low phase transition rate， UAV swarms can achieve stable transitions from an ordered state to three behaviors： dispersion， aggregation， and circling. Comparative experiments indicate that the order parameter of low-rate phase transition is higher than 0.9， and the span of the stable interval is 3.67 times that of high-rate phase transition， which confirms that reducing the phase transition rate can improve the stability of behavioral transitions. Furthermore， a low phase transition rate inhibits the formation of vortex phases， indicating qualitative differences in behavioral patterns across different phase transition rates. This study demonstrates significant advantages in increasing the number of phase states in UAV swarms and improving phase transition stability. It not only verifies the key regulatory mechanism of phase transition rate on the phase transition process， but also provides new theoretical and methodological support for enhancing the engineering practicability of the bird-flocking-inspired model for UAV swarms.

Key words: UAV swarm, bird-flocking-inspired model, phase transition control, phase transition rate, group behavior control

中图分类号:

TP273.5

吴晶晶, 何明, 韩伟, 刘承卓, 岳涛, 陈浩天. 一种相变速率驱动的无人机集群仿鸟群相变控制方法[J]. 现代防御技术, 2026, 54(3): 38-49.

Jingjing WU, Ming HE, Wei HAN, Chengzhuo LIU, Tao YUE, Haotian CHEN. A Bird-Flocking-Inspired Phase Transition Control Method for UAV Swarms Driven by Phase Transition Rate[J]. Modern Defense Technology, 2026, 54(3): 38-49.

图/表 23

图1 相变宏观模型（相图）

Fig. 1 Macroscopic phase transition model （phase diagram）

图2 相变设计与控制流程

Fig. 2 Phase transition design and control process

图3 鸟群和无人机集群3种群体行为的对照

Fig. 3 Comparison of three group behaviors between bird flocks and UAV swarms

图4 无人机集群控制协议与各行为项示意图

Fig. 4 Schematic diagram of UAV swarm control protocol and various behavior items

图5 无人机集群无序状态

Fig. 5 Disordered state of UAV swarm

图6 无人机集群有序状态

Fig. 6 Ordered state of UAV swarm

图7 无人机集群终止形态

Fig. 7 Final morphology of UAV swarm

图8 无人机集群飞行路线

Fig. 8 Flight trajectory of UAV swarm

图9 序参量变化

Fig. 9 Variation of order parameter

图10 无人机集群飞行路线

Fig. 10 Flight path of UAV swarm

图11 序参量变化

Fig. 11 Variation of order parameter

图12 无人机集群分散行为低速相变相图

Fig. 12 Phase diagram of low-speed phase transition for dispersion behavior of UAV swarm

图13 无人机集群终止状态

Fig. 13 Final state of UAV swarm

图14 无人机集群飞行路线

Fig. 14 Flight path of UAV swarm

图15 序参量变化

Fig. 15 Variation of order parameter

图16 无人机集群聚集行为低速相变相图

Fig. 16 Phase diagram of low-rate phase transition for aggregation behavior of UAV swarm

图17 无人机集群终止状态

Fig.17 Final state of UAV swarm

图18 无人机集群飞行路线

Fig. 18 Flight path of UAV swarm

图19 序参量变化

Fig. 19 Variation of order parameter

图20 无人机集群盘旋行为低速相变相图

Fig. 20 Phase diagram of low-rate phase transition for circling behavior of UAV swarm

图21 不同相变速率的序参量随控制参量变化对比

Fig. 21 Comparison of order parameter variation with control parameters under different phase transition rates

图22 不同相变速率下的临界点与稳定相变范围对比

Fig. 22 Comparison of critical points and stable phase transition ranges under different phase transition rates

图23 盘旋行为的不同相变速率相图对比

Fig. 23 Comparison of phase diagrams of circling behavior under different phase transition rates

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