CN108008736B - Aircraft cooperative control method and device, computer readable storage medium and terminal - Google Patents

Aircraft cooperative control method and device, computer readable storage medium and terminal Download PDF

Info

Publication number
CN108008736B
CN108008736B CN201711164429.4A CN201711164429A CN108008736B CN 108008736 B CN108008736 B CN 108008736B CN 201711164429 A CN201711164429 A CN 201711164429A CN 108008736 B CN108008736 B CN 108008736B
Authority
CN
China
Prior art keywords
aircraft
different positions
taking
flight mission
flight
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201711164429.4A
Other languages
Chinese (zh)
Other versions
CN108008736A (en
Inventor
王向华
杨其伟
秦娇
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shandong University of Science and Technology
Original Assignee
Shandong University of Science and Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shandong University of Science and Technology filed Critical Shandong University of Science and Technology
Priority to CN201711164429.4A priority Critical patent/CN108008736B/en
Publication of CN108008736A publication Critical patent/CN108008736A/en
Application granted granted Critical
Publication of CN108008736B publication Critical patent/CN108008736B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Feedback Control In General (AREA)
  • Traffic Control Systems (AREA)

Abstract

Disclosed are a cooperative control method and device for an aircraft, a computer readable storage medium and a terminal, belonging to the technical field of flight control. The method comprises the following steps: acquiring the normal acceleration a of an aircraft taking off from different positions and simultaneously participating in a flight missionn，iSo that: angle of sight λ of each aircraftiAt a specified convergence time TcAt an angle within the envelope, the line-of-sight angular rate λ of each aircraftiAt a specified convergence time TcInner trend is 0 up to 0; obtaining the tangential acceleration a of an aircraft taking off from different positions and simultaneously participating in a flight missiont，iSo that: synergy error xi of each aircraftiAt time TsInner trend is 0 up to 0; according to normal acceleration an，iTangential acceleration at，iAnd controlling the aircrafts which take off from different positions and simultaneously participate in the flight mission so that the aircrafts land to the same designated landing point at the same time. The device, medium and terminal are used for executing the method. The flight control system enables a plurality of aircrafts to execute flight tasks according to preset parameters, and the logic process is simpler.

Description

Aircraft cooperative control method and device, computer readable storage medium and terminal
Technical Field
The invention relates to the technical field of flight control, in particular to an aircraft cooperative control method, an aircraft cooperative control device and a computer readable storage medium.
Background
In this case, the same control signal and/or control condition can only control a single aircraft, and in the process of cooperative action of multiple aircraft, because the control logic is relatively complex, the control conditions are diversified, so in the prior art, it is relatively difficult to look at the process control of cooperative action of multiple aircraft, or the sight is relatively complex.
Disclosure of Invention
In view of the above, the present invention provides an aircraft cooperative control method, apparatus, and computer readable storage medium, which enable a plurality of aircraft to execute flight tasks with predefined parameters, and the logical process is simpler and thus more practical.
In order to achieve the first object, the technical scheme of the aircraft cooperative control method provided by the invention is as follows:
the aircraft cooperative control method provided by the invention comprises the following steps:
acquiring the normal acceleration a of an aircraft taking off from different positions and simultaneously participating in a flight missionn，iSo that: the line of sight angle lambda of each of the aircraft taking off from different positions and simultaneously participating in the flight missioniAt a specified convergence time TcAt a specified angle, each of said aircraft taking off from a different location while participating in a flight mission having a line of sight angular rate
Figure GDA0002659666230000027
At a specified convergence time TcInner trend is 0 up to 0;
obtaining the tangential acceleration a of an aircraft taking off from different positions and simultaneously participating in a flight missiont，iSo that: synergy error xi of each aircraft taking off from different positions and simultaneously participating in flight missioniAt time TsInner trend is 0 up to 0;
according to the normal acceleration an，iThe tangential acceleration at，iControlling the aircrafts which take off from different positions and simultaneously participate in the flight mission so that the aircrafts which take off from different positions and simultaneously participate in the flight mission land to the same designated landing point;
wherein,
Tcfor a pre-specified convergence time, T for different aircraftcTaking different values;
Figure GDA0002659666230000021
in the formula, kξ、ρξIs a constant number, wherein kξ＞0，0＜ρξ＜1；g2Is a Laplace matrix
Figure GDA0002659666230000028
Is defined as a laplacian matrix of
Figure GDA0002659666230000029
When i is j
Figure GDA0002659666230000022
When i ≠ jij＝-aijWherein a isi，jIs an adjacency matrix for describing the communication topology between aircraft
Figure GDA0002659666230000023
Is used as the element of (1).
Figure GDA0002659666230000024
Wherein,
Figure GDA0002659666230000025
representing the co-variable of the ith aircraft, riRepresenting the relative distance, V, between the ith aircraft and the targetM，iThe speed of the ith aircraft.
Figure GDA0002659666230000026
Representing the synergy variable for the jth aircraft.
The aircraft cooperative control method provided by the invention can be further realized by adopting the following technical measures.
As a preference, the first and second liquid crystal compositions are,
when the flight time of each aircraft taking off from different positions and simultaneously participating in the flight mission is less than the specified convergence time TcThe method comprises the following steps:
the line of sight angle lambda of each of the aircraft taking off from different positions and simultaneously participating in the flight missioniApproach to a designated landing angle
Figure GDA00026596662300000210
The angular rate of visibility of each of said aircraft taking off from different positions and simultaneously participating in the mission
Figure GDA0002659666230000034
At a specified convergence time TcInner trend is 0;
when the flight time of each aircraft taking off from different positions and simultaneously participating in the flight mission is greater than or equal to the specified convergence time TcThe method comprises the following steps:
the line of sight angle lambda of each of the aircraft taking off from different positions and simultaneously participating in the flight missioniEqual to a specified landing angle
Figure GDA0002659666230000035
The angular rate of visibility of each of said aircraft taking off from different positions and simultaneously participating in the mission
Figure GDA0002659666230000036
Equal to 0.
Preferably, the normal acceleration an，iThe calculation formula of (2) is as follows:
Figure GDA0002659666230000031
in equation (1):
k0＞2、kσ、ρσis a constant number, wherein kσ＞2，0＜ρσ＜1，
sgn (. cndot.) is a sign function, γM，iRespectively representing the heading angle, V, of the ith aircraftr，iAnd Vλ，iThe relative velocity components, r, horizontal and perpendicular to the line of sight, respectivelyiRepresenting the relative distance between the ith aircraft and the target; g (x)m,i,ti) And σiX in the expression of (1)m,iThe first subscript of (a) denotes the mth state quantity, m ═ 1, 2; the ith aircraft, denoted by the second subscript, i 1, …, n,
Figure GDA0002659666230000032
wherein t isgo，i＝Tc-ti；
Figure GDA0002659666230000033
As a preference, the first and second liquid crystal compositions are,
when the flight time of each aircraft taking off from different positions and simultaneously participating in the flight mission is less than the time TsThe method comprises the following steps:
synergy error xi of each aircraft taking off from different positions and simultaneously participating in flight missioniTends to 0;
when the flight time of each aircraft taking off from different positions and simultaneously participating in the flight mission is greater than or equal to the time TsThe method comprises the following steps:
synergy error xi of each aircraft taking off from different positions and simultaneously participating in flight missioniEqual to 0.
Preferably, the tangential acceleration at，iThe calculation formula of (2) is as follows:
Figure GDA0002659666230000041
in equation (2):
sgn (·) is a sign function,
Figure GDA0002659666230000042
representing the difference between the cooperative variable of the ith aircraft and the cooperative variable of the adjacent aircraft for the cooperative error;
kξ、ρξis a constant number, wherein kξ＞0，0＜ρξ＜1。
In order to achieve the second object, the technical solution of the cooperative aircraft control device provided by the present invention is as follows:
the invention provides an aircraft cooperative control device, which comprises:
normal directionAn acceleration acquisition module for acquiring the normal acceleration a of the aircraft taking off from different positions and simultaneously participating in the flight missionn，iSo that: the line of sight angle lambda of each of the aircraft taking off from different positions and simultaneously participating in the flight missioniAt a specified convergence time TcAt a specified angle, each of said aircraft taking off from a different location while participating in a flight mission having a line of sight angular rate
Figure GDA0002659666230000043
At a specified convergence time TcInner trend is 0 up to 0;
a tangential acceleration acquisition module for acquiring the tangential acceleration a of the aircraft taking off from different positions and simultaneously participating in the flight missiont，iSo that: synergy error xi of each aircraft taking off from different positions and simultaneously participating in flight missioniAt time TsInner trend is 0 up to 0;
a control module for obtaining the normal acceleration a according to the normal acceleration obtained by the normal acceleration obtaining modulen，iAnd a tangential acceleration a acquired from the tangential acceleration acquisition modulet，iControlling the aircrafts which take off from different positions and simultaneously participate in the flight mission so that the aircrafts which take off from different positions and simultaneously participate in the flight mission land to the same designated landing point;
wherein,
Tcfor a pre-specified convergence time, T for different aircraftcTaking different values;
Figure GDA0002659666230000051
in the formula, kξ、ρξIs a constant number, wherein kξ＞0，0＜ρξ＜1；g2Is a Laplace matrix
Figure GDA0002659666230000053
Is defined as a laplacian matrix of
Figure GDA0002659666230000054
When i is j
Figure GDA0002659666230000055
When i ≠ jij＝-aijWherein a isijIs an adjacency matrix for describing the communication topology between aircraft
Figure GDA0002659666230000056
Is used as the element of (1).
Figure GDA0002659666230000057
Wherein,
Figure GDA0002659666230000058
representing the co-variable of the ith aircraft, riRepresenting the relative distance, V, between the ith aircraft and the targetM，iThe speed of the ith aircraft.
Figure GDA0002659666230000059
Representing the synergy variable for the jth aircraft.
The aircraft cooperative control device provided by the invention can be further realized by adopting the following technical measures.
As a preference, the first and second liquid crystal compositions are,
the calculation formula executed by the normal acceleration acquisition module is as follows:
Figure GDA0002659666230000052
in equation (1):
k0＞2、kσ、ρσis a constant number, wherein kσ＞2，0＜ρσ＜1，
sgn (. cndot.) is a sign function, γM，iRespectively representing the heading angle, V, of the ith aircraftr，iAnd Vλ，iThe relative velocity components, r, horizontal and perpendicular to the line of sight, respectivelyiRepresenting the ith aircraft and targetThe relative distance therebetween; g (x)m,i,ti) And σiX in the expression of (1)m,iThe first subscript of (a) denotes the mth state quantity, m ═ 1, 2; the ith aircraft, denoted by the second subscript, i 1, …, n,
Figure GDA0002659666230000061
wherein t isgo，i＝Tc-ti；
Figure GDA0002659666230000062
As a preference, the first and second liquid crystal compositions are,
the calculation formula executed by the tangential acceleration acquisition module is as follows:
Figure GDA0002659666230000063
in equation (2):
sgn (·) is a sign function,
Figure GDA0002659666230000064
the difference between the coordinated variable of the ith aircraft and the coordinated variable of the adjacent aircraft is represented as a coordination error.
kξ、ρξIs a constant number, wherein kξ＞0，0＜ρξ＜1。
The aircraft cooperative control device provided by the invention can be further realized by adopting the following technical measures.
As a preference, the first and second liquid crystal compositions are,
the calculation formula executed by the normal acceleration acquisition module is as follows:
Figure GDA0002659666230000065
in equation (1):
k0＞2、kσ、ρσis a constant number, wherein kσ＞0，0＜ρσ＜1，
sgn (·) is a sign function,
g(xm,i,ti) X in (2)m,iThe first subscript of (a) denotes the mth state quantity, m ═ 1, 2; the ith aircraft, denoted by the second subscript, i 1, …, n,
Figure GDA0002659666230000071
Figure GDA0002659666230000072
as a preference, the first and second liquid crystal compositions are,
the calculation formula executed by the tangential acceleration acquisition module is as follows:
Figure GDA0002659666230000073
in equation (2):
sgn (·) is a sign function,
Figure GDA0002659666230000074
representing the difference between the cooperative variable of the ith aircraft and the cooperative variable of the adjacent aircraft for the cooperative error;
kξ、ρξis a constant number, wherein kξ＞0，0＜ρξ＜1。
In order to achieve the third object, the invention provides a computer-readable storage medium having the following technical solutions:
the invention provides a computer-readable storage medium, wherein an aircraft cooperative control program is stored on the computer-readable storage medium, and when being executed by a processor, the aircraft cooperative control program realizes the steps of the aircraft cooperative control method provided by the invention.
In order to achieve the fourth object, the technical solution of the terminal provided by the present invention is as follows:
the terminal provided by the invention comprises a processor, a memory and an aircraft cooperative control program which is stored on the memory and can run on the memory, wherein the aircraft cooperative control program realizes the steps of the aircraft cooperative control method provided by the invention when being executed by the processor.
The aircraft cooperative control method, the aircraft cooperative control device, the computer readable storage medium and the terminal provided by the invention can enable a plurality of aircraft to execute flight tasks according to the preset parameters, and the aircraft cooperative control method, the aircraft cooperative control device, the computer readable storage medium and the terminal firstly acquire the normal acceleration a of the aircraft which respectively takes off from different positions and simultaneously participates in the flight tasksn，iTangential acceleration at，iThen, based on each normal acceleration an，iTangential acceleration at，iAnd controlling the aircrafts which take off from different positions and simultaneously participate in the flight mission so that the aircrafts which take off from different positions and simultaneously participate in the flight mission land to the same designated landing point, wherein the logic process is simpler.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
FIG. 1 is a flowchart illustrating steps of a cooperative control method for an aircraft according to an embodiment of the present invention;
fig. 2 is a schematic diagram illustrating a signal flow direction relationship between modules in the aircraft cooperative control apparatus according to the second embodiment of the present invention;
FIG. 3 is a schematic illustration of n aircraft simultaneously landing to the same designated landing point, taking off from different locations, while participating in a flight mission;
FIG. 4 is a schematic view of a geometric model of the flight of an aircraft;
FIG. 5 is a schematic diagram of the communication topology when there are 5 aircraft;
FIG. 6a is a graph of a state quantity-time relationship under the condition that a first aircraft utilizes the aircraft cooperative control method provided by the first embodiment of the invention;
FIG. 6b is a graph of tangential acceleration versus time for a first aircraft utilizing the cooperative control methodology for aircraft provided in accordance with the first embodiment of the present invention;
FIG. 6c is a normal acceleration-time relationship graph of a first aircraft using a cooperative control method for aircraft according to a first embodiment of the present invention;
FIG. 7a is a graph of relative distance versus time for 5 aircrafts under the condition of utilizing the cooperative control method for aircrafts provided by the first embodiment of the invention;
FIG. 7b is a graph of coordination error versus time for 5 aircrafts under the condition of utilizing the aircraft coordination control method provided by the first embodiment of the invention;
FIG. 7c is a graph of a cooperative variable versus time relationship of 5 aircraft under the condition of utilizing the aircraft cooperative control method provided by the first embodiment of the invention;
fig. 7d is a graph of the trajectory-time relationship of 5 aircrafts under the condition of utilizing the aircraft cooperative control method provided by the first embodiment of the invention.
Detailed Description
The invention provides an aircraft cooperative control method, an aircraft cooperative control device and a computer readable storage medium, which can enable a plurality of aircrafts to execute flight tasks according to preset parameters, and the logic process is simpler, so that the aircraft cooperative control method is more practical.
To further illustrate the technical means and effects of the present invention adopted to achieve the predetermined objects, the following detailed description of the cooperative control method, apparatus, computer readable storage medium and terminal for aircraft according to the present invention will be provided with reference to the accompanying drawings and preferred embodiments. In the following description, different "one embodiment" or "an embodiment" refers to not necessarily the same embodiment. Furthermore, the features, structures, or characteristics of one or more embodiments may be combined in any suitable manner.
The term "and/or" herein is merely an association describing an associated object, meaning that three relationships may exist, e.g., a and/or B, with the specific understanding that: both a and B may be included, a may be present alone, or B may be present alone, and any of the three cases can be provided.
Example one
Referring to fig. 1, an aircraft cooperative control method according to an embodiment of the present invention includes the following steps:
step S1: acquiring the normal acceleration a of an aircraft taking off from different positions and simultaneously participating in a flight missionn，iSo that: line of sight angle lambda of aircraft which each take off from different positions and simultaneously participate in flight missionsiAt a specified convergence time TcThe angular rate of sight of the aircraft, each taking off from a different position and simultaneously participating in the flight mission, tending towards a given angle
Figure GDA0002659666230000102
At a specified convergence time TcInner trend is 0 up to 0;
step S2: obtaining the tangential acceleration a of an aircraft taking off from different positions and simultaneously participating in a flight missiont，iSo that: synergy error xi of aircraft taking off from different positions and simultaneously participating in flight missioniAt time TsInner trend is 0 up to 0;
step S3: according to normal acceleration an，iTangential acceleration at，iControlling the aircrafts which take off from different positions and simultaneously participate in the flight mission so that the aircrafts which take off from different positions and simultaneously participate in the flight mission land to the same designated landing point;
wherein,
Tcfor a pre-specified convergence time, T for different aircraftcTaking different values;
Figure GDA0002659666230000101
in the formula, kξ、ρξIs a constant number, wherein kξ＞0，0＜ρξ＜1；g2Is a Laplace matrix
Figure GDA0002659666230000103
Is defined as a laplacian matrix of
Figure GDA0002659666230000104
When i is j
Figure GDA0002659666230000105
When i ≠ jij＝-aijWherein a isijIs an adjacency matrix for describing the communication topology between aircraft
Figure GDA0002659666230000106
Is used as the element of (1).
Figure GDA0002659666230000107
Wherein,
Figure GDA0002659666230000108
representing the co-variable of the ith aircraft, riRepresenting the relative distance, V, between the ith aircraft and the targetM，iThe speed of the ith aircraft.
Figure GDA0002659666230000109
Representing the synergy variable for the jth aircraft.
Wherein,
when the flight time of each aircraft taking off from different positions and simultaneously participating in the flight mission is less than the specified convergence time TcThe method comprises the following steps:
line of sight angle lambda of aircraft which each take off from different positions and simultaneously participate in flight missionsiApproach to a designated landing angle
Figure GDA0002659666230000113
Angular rate of sight of aircraft each taking off from a different location while participating in a flight mission
Figure GDA0002659666230000114
At a specified convergence time TcInner trend is 0;
when the flight time of each aircraft taking off from different positions and simultaneously participating in the flight mission is greater than or equal to the specified convergence time TcThe method comprises the following steps:
line of sight angle lambda of aircraft which each take off from different positions and simultaneously participate in flight missionsiEqual to a specified landing angle
Figure GDA0002659666230000115
Angular rate of sight of aircraft each taking off from a different location while participating in a flight mission
Figure GDA0002659666230000116
Equal to 0.
Wherein the normal acceleration an，iThe calculation formula of (2) is as follows:
Figure GDA0002659666230000111
in equation (1):
k0＞2、kσ、ρσis a constant number, wherein kσ＞0，0＜ρσ＜1，
sgn (. cndot.) is a sign function, γM，iRespectively representing the heading angle, V, of the ith aircraftr，iAnd Vλ，iThe relative velocity components, r, horizontal and perpendicular to the line of sight, respectivelyiRepresenting the relative distance between the ith aircraft and the target;
g(xm,i,ti) And σiX in the expression of (1)m,iThe first subscript of (a) denotes the mth state quantity, m ═ 1, 2; the second subscript denotesThe ith aircraft, i ═ 1, …, n,
Figure GDA0002659666230000112
wherein t isgo，i＝Tc-ti；
Figure GDA0002659666230000121
Wherein,
when the flight time of each aircraft taking off from different positions and simultaneously participating in the flight mission is less than the time TsThe method comprises the following steps:
synergy error xi of aircraft taking off from different positions and simultaneously participating in flight missioniTends to 0;
when the flight time of each aircraft taking off from different positions and simultaneously participating in the flight mission is greater than or equal to the time TsThe method comprises the following steps:
synergy error xi of aircraft taking off from different positions and simultaneously participating in flight missioniEqual to 0.
Wherein the tangential acceleration at，iThe calculation formula of (2) is as follows:
Figure GDA0002659666230000122
in equation (2):
agn (-) is a symbolic function,
Figure GDA0002659666230000123
the difference between the coordinated variable of the ith aircraft and the coordinated variable of the adjacent aircraft is represented as a coordination error.
kξ、ρξIs a constant number, wherein kξ＞0，0＜ρξ＜1。
Example two
Referring to fig. 2, an aircraft cooperative control device according to a second embodiment of the present invention includes:
a normal acceleration acquisition module for acquiring the normal acceleration a of the aircraft taking off from different positions and simultaneously participating in the flight missionn，iSo that: line of sight angle lambda of aircraft which each take off from different positions and simultaneously participate in flight missionsiAt a specified convergence time TcThe angular rate of sight of the aircraft, each taking off from a different position and simultaneously participating in the flight mission, tending towards a given angle
Figure GDA0002659666230000124
At a specified convergence time TcInner trend is 0 up to 0;
a tangential acceleration acquisition module for acquiring the tangential acceleration a of the aircraft taking off from different positions and simultaneously participating in the flight missiont，iSo that: synergy error xi of aircraft taking off from different positions and simultaneously participating in flight missioniAt time TsInner trend is 0 up to 0;
a control module for obtaining the normal acceleration a from the normal acceleration obtaining modulen，iAnd the tangential acceleration a acquired from the tangential acceleration acquisition modulet，iControlling the aircrafts which take off from different positions and simultaneously participate in the flight mission so that the aircrafts which take off from different positions and simultaneously participate in the flight mission land to the same designated landing point;
wherein,
Tcfor a pre-specified convergence time, T for different aircraftcTaking different values;
Figure GDA0002659666230000131
in the formula, kξ、ρξIs a constant number, wherein kξ＞0，0＜ρξ＜1；g2Is a Laplace matrix
Figure GDA0002659666230000133
Of the minimum non-zero eigenvalue, Laplace matrix definiteIs defined as
Figure GDA0002659666230000134
When i is j
Figure GDA0002659666230000135
When i ≠ jij＝-aijWherein a isijIs an adjacency matrix for describing the communication topology between aircraft
Figure GDA0002659666230000136
Is used as the element of (1).
Figure GDA0002659666230000137
Wherein,
Figure GDA0002659666230000138
representing the co-variable of the ith aircraft, riRepresenting the relative distance, V, between the ith aircraft and the targetM，iThe speed of the ith aircraft.
Figure GDA0002659666230000139
Representing the synergy variable for the jth aircraft.
Wherein,
the calculation formula executed by the normal acceleration acquisition module is as follows:
Figure GDA0002659666230000132
in equation (1):
k0＞2、kσ、ρσis a constant number, wherein kσ＞2，0＜ρσ＜1，
sgn (. cndot.) is a sign function, γM，iRespectively representing the heading angle, V, of the ith aircraftr，iAnd Vλ，iThe relative velocity components, r, horizontal and perpendicular to the line of sight, respectivelyiRepresenting the relative distance between the ith aircraft and the target;
g(xm,i,ti) And σiX in the expression of (1)m,iThe first subscript of (a) denotes the mth state quantity, m ═ 1, 2; the ith aircraft, denoted by the second subscript, i 1, …, n,
Figure GDA0002659666230000141
wherein t isgo，i＝Tc-ti；
Figure GDA0002659666230000142
Wherein,
the calculation formula executed by the tangential acceleration acquisition module is as follows:
Figure GDA0002659666230000143
in equation (2):
sgn (·) is a sign function,
Figure GDA0002659666230000144
the difference between the coordinated variable of the ith aircraft and the coordinated variable of the adjacent aircraft is represented as a coordination error.
kξ、ρξIs a constant number, wherein kξ＞0，0＜ρξ＜1。
Wherein,
the calculation formula executed by the normal acceleration acquisition module is as follows:
Figure GDA0002659666230000145
in equation (1):
k0＞2、kσ、ρσis a constant number, wherein kσ＞2，0＜ρσ＜1，
sgn (. cndot.) is a sign function, γM，iAre respectively provided withIndicating the heading angle, V, of the ith aircraftr，iAnd Vλ，iThe relative velocity components, r, horizontal and perpendicular to the line of sight, respectivelyiRepresenting the relative distance between the ith aircraft and the target;
g(xm,i,ti) And σiX in the expression of (1)m,iThe first subscript of (a) denotes the mth state quantity, m ═ 1, 2; the ith aircraft, denoted by the second subscript, i 1, …, n,
Figure GDA0002659666230000151
wherein t isgo，i＝Tc-ti；
Figure GDA0002659666230000152
Wherein,
the calculation formula executed by the tangential acceleration acquisition module is as follows:
Figure GDA0002659666230000153
in equation (2):
sgn (·) is a sign function,
Figure GDA0002659666230000154
the difference between the coordinated variable of the ith aircraft and the coordinated variable of the adjacent aircraft is represented as a coordination error.
kξ、ρξIs a constant number, wherein kξ＞0，0＜ρξ＜1。
EXAMPLE III
The computer-readable storage medium of the computer-readable storage medium provided by the third embodiment of the present invention stores an aircraft cooperative control program, and the aircraft cooperative control program is executed by the processor to look at the steps of the aircraft cooperative control method provided by the first embodiment of the present invention.
Example four
The terminal provided by the fourth embodiment of the present invention includes a processor, a memory, and an aircraft cooperative control program stored in the memory and capable of operating on the memory, and when the aircraft cooperative control program is executed by the processor, the steps of the aircraft cooperative control method provided by the first embodiment of the present invention are implemented.
The cooperative control method for the aircraft provided in the first embodiment of the present invention, the aircraft system control device provided in the second embodiment, the computer-readable storage medium provided in the third embodiment, and the terminal provided in the fourth embodiment of the present invention enable a plurality of aircraft to execute a flight mission with predefined parameters, and first obtain the normal accelerations a of the aircraft that take off from different positions and simultaneously participate in the flight missionn，iTangential acceleration at，iThen, based on each normal acceleration an，iTangential acceleration at，iAnd controlling the aircrafts which take off from different positions and simultaneously participate in the flight mission so that the aircrafts which take off from different positions and simultaneously participate in the flight mission land to the same designated landing point, wherein the logic process is simpler.
EXAMPLE five
Consider n aircraft attacking a stationary target in a vertical section, as shown in fig. 3. The main purpose of the invention is to allow all aircraft to attack stationary targets simultaneously
A geometric model of the relative motion between the ith aircraft and the target is constructed as shown in fig. 4.
Wherein M isiAnd T represents the ith aircraft and the target, respectively; vM，i、aiAnd gammaM，iRespectively, the speed, acceleration, and heading angle of the aircraft. Lambda [ alpha ]iRepresenting the line of sight angle. r isiRepresenting the relative distance between the ith aircraft and the target. From FIG. 4, it can be obtained
Figure GDA0002659666230000161
Figure GDA0002659666230000162
Figure GDA0002659666230000163
Figure GDA0002659666230000164
Wherein, Vr，iAnd Vλ，iThe relative velocity components horizontal and perpendicular to the line of sight, respectively. a ist，iAnd an，iAcceleration components in the horizontal and vertical aircraft velocity directions.
For the purpose of looking at all aircraft at the same time, using maps
Figure GDA0002659666230000168
Of a neighboring matrix
Figure GDA0002659666230000167
To describe the communication topology between all aircraft, define aii0 and if the ith aircraft has an informational interaction with the jth aircraft, then aij1, otherwise aij＝0。
Defining a synergy error
Figure GDA0002659666230000165
Wherein r isiAnd VM，iRespectively, the relative distance and velocity of the ith aircraft. The synergy error is defined as
Figure GDA0002659666230000166
It indicates that the synergy variable is different for the ith aircraft and its neighbors.
Wherein,
a. design of normal acceleration
Since the normal acceleration is the same for all aircraft participating in an attack, the index i may be omitted for simplicity. The normal acceleration is designed to enable the aircraft to intercept the target at a specified attack angle.
B is x1＝λ-λ*And
Figure GDA0002659666230000174
as a vector of the states, the state vector,
design variables
Figure GDA0002659666230000175
As a function of the state of the system, where tgo＝Tc-t，TcFor a pre-specified convergence time, T for different aircraftcDifferent values may be taken. k is a radical of0＞2。
Designed normal acceleration of
Figure GDA0002659666230000171
Wherein,
k0＞2、kσ、ρσis a constant number, wherein kσ＞0，0＜ρσ＜1，
sgn (. cndot.) is a sign function, γM，iRespectively representing the heading angle, V, of the ith aircraftr，iAnd Vλ，iThe relative velocity components, r, horizontal and perpendicular to the line of sight, respectivelyiRepresenting the relative distance between the ith aircraft and the target;
g(xm,i,ti) And σiX in the expression of (1)m,iThe first subscript of (a) denotes the mth state quantity, m ═ 1, 2; the ith aircraft, denoted by the second subscript, i 1, …, n,
Figure GDA0002659666230000172
wherein t isgo，i＝Tc-ti；
Figure GDA0002659666230000173
b. Tangential acceleration design
Design the tangential acceleration of
Figure GDA0002659666230000181
Wherein sgn (·) is a sign function,
Figure GDA0002659666230000182
representing the difference between the cooperative variable of the ith aircraft and the cooperative variable of the adjacent aircraft for the cooperative error;
kξ、ρξis a constant number, wherein kξ＞0，0＜ρξ＜1。
In summary, the design of the overall guidance law includes two parts:
normal acceleration: design an，iSo that at T → TcWhen the temperature of the water is higher than the set temperature,
Figure GDA0002659666230000185
and
Figure GDA0002659666230000186
at T ≧ TcTime of flight
Figure GDA0002659666230000187
And
Figure GDA0002659666230000188
tangential acceleration: design at，iSo that at T → TsTime, xii→ 0; at T ≧ TsTime, xii＝0
The following is the verification of a simultaneous firing attack cooperative control method with attack angle constraint:
assuming that five aircraft attack a stationary object from different locations, the initial conditions for the five aircraft are shown in table 1:
TABLE 1 aircraft initial conditions
Figure GDA0002659666230000183
Note: the target position is (5000, 0)
The communication topology of five aircraft is shown in fig. 3, wherein the simulation parameters are shown in table 2:
TABLE 2 simulation parameters for five aircraft
Figure GDA0002659666230000184
State x of the first aircraft i，11,2, tangential acceleration atAnd normal acceleration anAs shown in fig. 6a, 6b, 6 c.
Relative distances r (t), covariates, of five aircraft
Figure GDA0002659666230000191
Fig. 7a, 7b, 7c, and 7d show the coordination error ξ (t) and the trajectory of the aircraft, and according to fig. 7a, 7b, 7c, and 7d, the aircraft coordination control method provided by the first embodiment of the present invention enables 5 aircraft M1, M2, M3, M4, and M5, which take off from different positions and participate in the flight mission at the same time, to simultaneously land to the same designated landing point.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.

Claims (10)

1. An aircraft cooperative control method is characterized by comprising the following steps:
acquiring the normal acceleration a of an aircraft taking off from different positions and simultaneously participating in a flight missionn，iSo that: the line of sight angle lambda of each of the aircraft taking off from different positions and simultaneously participating in the flight missioniAt a specified convergence time TcAt a specified angle, each of said aircraft taking off from a different location while participating in a flight mission having a line of sight angular rate
Figure FDA0002659666220000019
At a specified convergence time TcInner trend is 0 up to 0;
obtaining the tangential acceleration a of an aircraft taking off from different positions and simultaneously participating in a flight missiont，iSo that: synergy error xi of each aircraft taking off from different positions and simultaneously participating in flight missioniAt time TsInner trend is 0 up to 0;
according to the normal acceleration an，iThe tangential acceleration at，iControlling the aircrafts which take off from different positions and simultaneously participate in the flight mission so that the aircrafts which take off from different positions and simultaneously participate in the flight mission land to the same designated landing point;
wherein,
Tcfor a pre-specified convergence time, T for different aircraftcTaking different values;
Figure FDA0002659666220000011
in the formula, kξ、ρξIs a constant number, wherein kξ＞0，0＜ρξ＜1；g2Is a Laplace matrix
Figure FDA0002659666220000012
Is defined as a laplacian matrix of
Figure FDA0002659666220000013
When i is j
Figure FDA0002659666220000014
When i ≠ jij＝-aijWherein a isijIs an adjacency matrix for describing the communication topology between aircraft
Figure FDA0002659666220000015
The number of elements of (a) is,
Figure FDA0002659666220000016
wherein,
Figure FDA0002659666220000017
representing the co-variable of the ith aircraft, riRepresenting the relative distance, V, between the ith aircraft and the targetM，iFor the speed of the ith aircraft,
Figure FDA0002659666220000018
representing the synergy variable for the jth aircraft.
2. The cooperative aircraft control method according to claim 1,
when the flight time of each aircraft taking off from different positions and simultaneously participating in the flight mission is less than the specified convergence time TcThe method comprises the following steps:
the line of sight angle lambda of each of the aircraft taking off from different positions and simultaneously participating in the flight missioniApproach to a designated landing angle
Figure FDA0002659666220000021
The line of sight angle of each of the aircraft taking off from different positions and simultaneously participating in the flight missionRate of speed
Figure FDA0002659666220000022
At a specified convergence time TcInner trend is 0;
when the flight time of each aircraft taking off from different positions and simultaneously participating in the flight mission is greater than or equal to the specified convergence time TcThe method comprises the following steps:
the line of sight angle lambda of each of the aircraft taking off from different positions and simultaneously participating in the flight missioniEqual to a specified landing angle
Figure FDA0002659666220000023
The angular rate of visibility of each of said aircraft taking off from different positions and simultaneously participating in the mission
Figure FDA0002659666220000024
Equal to 0.
3. Aircraft cooperative control method according to claim 2, characterized in that said normal acceleration an，iThe calculation formula of (2) is as follows:
Figure FDA0002659666220000025
in equation (1):
k0＞2、kσ、ρσis a constant number, wherein kσ＞0，0＜ρσ＜1，
sgn (. cndot.) is a sign function, γM，iRespectively representing the heading angle, V, of the ith aircraftr，iAnd Vλ，iThe relative velocity components, r, horizontal and perpendicular to the line of sight, respectivelyiRepresenting the relative distance between the ith aircraft and the target;
g(xm，i，ti) And σiX in the expression of (1)m，iThe first subscript of (a) denotes the mth state quantity, m ═ 1, 2; first, theThe ith aircraft, denoted by the two subscripts, i 1, …, n,
Figure FDA0002659666220000026
Figure FDA0002659666220000031
4. the cooperative aircraft control method according to claim 1,
when the flight time of each aircraft taking off from different positions and simultaneously participating in the flight mission is less than the time TsThe method comprises the following steps:
synergy error xi of each aircraft taking off from different positions and simultaneously participating in flight missioniTends to 0;
when the flight time of each aircraft taking off from different positions and simultaneously participating in the flight mission is greater than or equal to the time TsThe method comprises the following steps:
synergy error xi of each aircraft taking off from different positions and simultaneously participating in flight missioniEqual to 0.
5. Aircraft cooperative control method according to claim 4, characterized in that said tangential acceleration at，iThe calculation formula of (2) is as follows:
Figure FDA0002659666220000032
in equation (2):
sgn (·) is a sign function,
Figure FDA0002659666220000033
n is a coordination error and represents the coordination of the coordination variable of the ith aircraft with the adjacent aircraftThe difference between the variables.
6. An aircraft cooperative control apparatus, comprising:
a normal acceleration acquisition module for acquiring the normal acceleration a of the aircraft taking off from different positions and simultaneously participating in the flight missionn，iSo that: the line of sight angle lambda of each of the aircraft taking off from different positions and simultaneously participating in the flight missioniAt a specified convergence time TcAt a specified angle, each of said aircraft taking off from a different location while participating in a flight mission having a line of sight angular rate
Figure FDA0002659666220000034
At a specified convergence time TcInner trend is 0 up to 0;
a tangential acceleration acquisition module for acquiring the tangential acceleration a of the aircraft taking off from different positions and simultaneously participating in the flight missiont，iSo that: synergy error xi of each aircraft taking off from different positions and simultaneously participating in flight missioniAt time TsInner trend is 0 up to 0;
a control module for obtaining the normal acceleration a according to the normal acceleration obtained by the normal acceleration obtaining modulen，iAnd a tangential acceleration a acquired from the tangential acceleration acquisition modulet，iControlling the aircrafts which take off from different positions and simultaneously participate in the flight mission so that the aircrafts which take off from different positions and simultaneously participate in the flight mission land to the same designated landing point;
wherein,
Tcfor a pre-specified convergence time, T for different aircraftcTaking different values;
Figure FDA0002659666220000041
in the formula, kξ、ρξIs a constant number, wherein kξ＞0，0＜ρξ＜1；g2Is a Laplace matrix
Figure FDA0002659666220000049
Is defined as a laplacian matrix of
Figure FDA0002659666220000042
When i is j
Figure FDA0002659666220000043
When i ≠ jij＝-aijWherein a isijIs an adjacency matrix for describing the communication topology between aircraft
Figure FDA0002659666220000044
The number of elements of (a) is,
Figure FDA0002659666220000045
wherein,
Figure FDA0002659666220000046
representing the co-variable of the ith aircraft, riRepresenting the relative distance, V, between the ith aircraft and the targetM，iFor the speed of the ith aircraft,
Figure FDA0002659666220000047
representing the synergy variable for the jth aircraft.
7. The aircraft cooperative control apparatus according to claim 6,
the calculation formula executed by the normal acceleration acquisition module is as follows:
Figure FDA0002659666220000048
in equation (1):
k0＞2、kσ、ρσis a constant number ofIn kσ＞0，0＜ρσ＜1，
sgn (. cndot.) is a sign function, γM，iRespectively representing the heading angle, V, of the ith aircraftr，iAnd Vλ，iThe relative velocity components, r, horizontal and perpendicular to the line of sight, respectivelyiRepresenting the relative distance between the ith aircraft and the target;
g(xm，i，ti) And σiX in the expression of (1)m，iThe first subscript of (a) denotes the mth state quantity, m ═ 1, 2; the ith aircraft, denoted by the second subscript, i 1, …, n,
Figure FDA0002659666220000051
Figure FDA0002659666220000052
8. the aircraft cooperative control apparatus according to claim 6,
the calculation formula executed by the tangential acceleration acquisition module is as follows:
Figure FDA0002659666220000053
in equation (2):
sgn (·) is a sign function,
Figure FDA0002659666220000054
and n is a cooperative error and represents the difference between the cooperative variable of the ith aircraft and the cooperative variable of the adjacent aircraft.
9. A computer-readable storage medium, wherein an aircraft cooperative control program is stored on the computer-readable storage medium, and when executed by a processor, the aircraft cooperative control program implements the steps of the aircraft cooperative control method according to any one of claims 1 to 5.
10. A terminal, characterized by comprising a processor, a memory and an aircraft cooperative control program stored on the memory and operable on the processor, wherein the aircraft cooperative control program, when executed by the processor, implements the steps of the aircraft cooperative control method according to any one of claims 1 to 5.
CN201711164429.4A 2017-11-21 2017-11-21 Aircraft cooperative control method and device, computer readable storage medium and terminal Active CN108008736B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201711164429.4A CN108008736B (en) 2017-11-21 2017-11-21 Aircraft cooperative control method and device, computer readable storage medium and terminal

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201711164429.4A CN108008736B (en) 2017-11-21 2017-11-21 Aircraft cooperative control method and device, computer readable storage medium and terminal

Publications (2)

Publication Number Publication Date
CN108008736A CN108008736A (en) 2018-05-08
CN108008736B true CN108008736B (en) 2020-12-01

Family

ID=62052967

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201711164429.4A Active CN108008736B (en) 2017-11-21 2017-11-21 Aircraft cooperative control method and device, computer readable storage medium and terminal

Country Status (1)

Country Link
CN (1) CN108008736B (en)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103245256A (en) * 2013-04-25 2013-08-14 北京理工大学 Multi-missile cooperative attack guidance law designing method
CN104407619A (en) * 2014-11-05 2015-03-11 沈阳航空航天大学 Method enabling multiple unmanned aerial vehicles to reach multiple targets simultaneously under uncertain environments
CN106352738A (en) * 2016-06-08 2017-01-25 北京理工大学 Multi-missile cooperative guidance method based on output consistency
CN106843265A (en) * 2016-12-30 2017-06-13 哈尔滨工业大学 Three-dimensional many guided missile cooperative guidance method and systems of finite time convergence control

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7421321B2 (en) * 1995-06-07 2008-09-02 Automotive Technologies International, Inc. System for obtaining vehicular information
PL2227676T3 (en) * 2007-12-21 2017-08-31 Bae Systems Plc Apparatus and method for landing a rotary wing aircraft

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103245256A (en) * 2013-04-25 2013-08-14 北京理工大学 Multi-missile cooperative attack guidance law designing method
CN104407619A (en) * 2014-11-05 2015-03-11 沈阳航空航天大学 Method enabling multiple unmanned aerial vehicles to reach multiple targets simultaneously under uncertain environments
CN106352738A (en) * 2016-06-08 2017-01-25 北京理工大学 Multi-missile cooperative guidance method based on output consistency
CN106843265A (en) * 2016-12-30 2017-06-13 哈尔滨工业大学 Three-dimensional many guided missile cooperative guidance method and systems of finite time convergence control

Non-Patent Citations (3)

* Cited by examiner, † Cited by third party
Title
Formation flight line of sight guidance;MauricioGuelman等;《Acta Astronautica》;20120331;第71卷;第163-169页 *
基于滑模控制的双约束条件下协同制导律的设计;杨其伟，等;《山东科技大学学报》;20170831;第36卷(第4期);第80-86页 *
多导弹协同作战制导律研究;王晓芳;《弹道学报》;20140331;第26卷(第1期);第61-66页 *

Also Published As

Publication number Publication date
CN108008736A (en) 2018-05-08

Similar Documents

Publication Publication Date Title
Jia et al. Integral backstepping sliding mode control for quadrotor helicopter under external uncertain disturbances
CN104407619B (en) Multiple no-manned plane under uncertain environment reaches multiple goal approachs simultaneously
CN105676641B (en) The design method of Nonlinear Robust Controller based on contragradience and sliding formwork control
CN108845590B (en) Multi-unmanned aerial vehicle cooperative formation control method in time delay environment
CN114489109B (en) Three-dimensional master-slave type multi-aircraft attack time control collaborative guidance method
CN110687915B (en) Spacecraft formation attitude cooperative control method based on undirected communication topology
Liu et al. A novel backstepping method for the three-dimensional multi-UAVs formation control
EP3591337B1 (en) Coordinate system transformation method and apparatus, heading control method for aerial vehicle, and aerial vehicle
Zhang et al. Leader–follower interactive potential for target enclosing of perception-limited UAV groups
Wei et al. Distributed guidance law design for multi-UAV multi-direction attack based on reducing surrounding area
Kim et al. Realization of swarm formation flying and optimal trajectory generation for multi-drone performance show
CN115639830A (en) Air-ground intelligent agent cooperative formation control system and formation control method thereof
da Cunha Benchmark: Quadrotor Attitude Control.
Wu et al. Vision-based trajectory tracking control of quadrotors using super twisting sliding mode control
CN109491381B (en) Observer-based multi-mobile-robot self-adaptive formation tracking control method
Khamis Advanced tracking strategies for linear and nonlinear control systems: Theory and applications
CN108008736B (en) Aircraft cooperative control method and device, computer readable storage medium and terminal
Strydom et al. UAS stealth: Target pursuit at constant distance using a bio-inspired motion camouflage guidance law
CN107942672B (en) Four-rotor aircraft output limited backstepping control method based on symmetric time invariant obstacle Lyapunov function
CN111612810A (en) Target estimation method based on multi-source information fusion
CN115857544A (en) Unmanned aerial vehicle cluster formation flight control method, device and equipment
CN108052112B (en) Multi-aircraft threat degree obtaining method based on PN guidance law identification
CN110162084A (en) Cruising missile group system formation control method based on congruity theory
CN110275514B (en) Asymptotic fault diagnosis method for formation flight control system with time-varying sensor fault
CN113821054A (en) Unmanned aerial vehicle track tracking guidance method based on pigeon intelligent optimization dynamic inverse control

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant