CN108008736B - Aircraft cooperative control method and device, computer readable storage medium and terminal - Google Patents
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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
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 rateAt 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;
in the formula, kξ、ρξIs a constant number, wherein kξ>0,0<ρξ<1;g2Is a Laplace matrixIs defined as a laplacian matrix ofWhen i is jWhen i ≠ jij=-aijWherein a isi,jIs an adjacency matrix for describing the communication topology between aircraftIs used as the element of (1).Wherein,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.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
The angular rate of visibility of each of said aircraft taking off from different positions and simultaneously participating in the missionAt 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
The angular rate of visibility of each of said aircraft taking off from different positions and simultaneously participating in the missionEqual to 0.
Preferably, the normal acceleration an,iThe calculation formula of (2) is as follows:
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,
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:
in equation (2):
sgn (·) is a sign function,
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 rateAt 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;
in the formula, kξ、ρξIs a constant number, wherein kξ>0,0<ρξ<1;g2Is a Laplace matrixIs defined as a laplacian matrix ofWhen i is jWhen i ≠ jij=-aijWherein a isijIs an adjacency matrix for describing the communication topology between aircraftIs used as the element of (1).Wherein,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.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:
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,
As a preference, the first and second liquid crystal compositions are,
the calculation formula executed by the tangential acceleration acquisition module is as follows:
in equation (2):
sgn (·) is a sign function,
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:
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,
as a preference, the first and second liquid crystal compositions are,
the calculation formula executed by the tangential acceleration acquisition module is as follows:
in equation (2):
sgn (·) is a sign function,
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 angleAt 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;
in the formula, kξ、ρξIs a constant number, wherein kξ>0,0<ρξ<1;g2Is a Laplace matrixIs defined as a laplacian matrix ofWhen i is jWhen i ≠ jij=-aijWherein a isijIs an adjacency matrix for describing the communication topology between aircraftIs used as the element of (1).Wherein,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.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
Angular rate of sight of aircraft each taking off from a different location while participating in a flight missionAt 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
Angular rate of sight of aircraft each taking off from a different location while participating in a flight missionEqual to 0.
Wherein the normal acceleration an,iThe calculation formula of (2) is as follows:
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,
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:
in equation (2):
agn (-) is a symbolic function,
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 angleAt 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;
in the formula, kξ、ρξIs a constant number, wherein kξ>0,0<ρξ<1;g2Is a Laplace matrixOf the minimum non-zero eigenvalue, Laplace matrix definiteIs defined asWhen i is jWhen i ≠ jij=-aijWherein a isijIs an adjacency matrix for describing the communication topology between aircraftIs used as the element of (1).Wherein,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.Representing the synergy variable for the jth aircraft.
Wherein,
the calculation formula executed by the normal acceleration acquisition module is as follows:
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,
Wherein,
the calculation formula executed by the tangential acceleration acquisition module is as follows:
in equation (2):
sgn (·) is a sign function,
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:
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,
Wherein,
the calculation formula executed by the tangential acceleration acquisition module is as follows:
in equation (2):
sgn (·) is a sign function,
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
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 mapsOf a neighboring matrixTo 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 errorWherein r isiAnd VM,iRespectively, the relative distance and velocity of the ith aircraft. The synergy error is defined asIt 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.
design variablesAs 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
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,
b. Tangential acceleration design
Design the tangential acceleration of
Wherein sgn (·) is a sign function,
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,andat T ≧ TcTime of flightAnd
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
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
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 aircraftFig. 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 rateAt 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;
in the formula, kξ、ρξIs a constant number, wherein kξ>0,0<ρξ<1;g2Is a Laplace matrixIs defined as a laplacian matrix ofWhen i is jWhen i ≠ jij=-aijWherein a isijIs an adjacency matrix for describing the communication topology between aircraftThe number of elements of (a) is,wherein,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,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
The line of sight angle of each of the aircraft taking off from different positions and simultaneously participating in the flight missionRate of speedAt 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
3. Aircraft cooperative control method according to claim 2, characterized in that said normal acceleration an,iThe calculation formula of (2) is as follows:
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,
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:
in equation (2):
sgn (·) is a sign function,
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 rateAt 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;
in the formula, kξ、ρξIs a constant number, wherein kξ>0,0<ρξ<1;g2Is a Laplace matrixIs defined as a laplacian matrix ofWhen i is jWhen i ≠ jij=-aijWherein a isijIs an adjacency matrix for describing the communication topology between aircraftThe number of elements of (a) is,wherein,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,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:
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,
8. the aircraft cooperative control apparatus according to claim 6,
the calculation formula executed by the tangential acceleration acquisition module is as follows:
in equation (2):
sgn (·) is a sign function,
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.
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