CN117688727A - Short-distance air combat maneuver planning method considering over-stall maneuver of airplane - Google Patents
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Abstract
The invention discloses a close-range air combat maneuver planning method considering stall maneuver of an aircraft, which relates to the technical field of air combat game maneuver strategies. The invention considers the possible overspeed maneuver condition in the process of the short-distance air combat, has wider application scene range, more fully utilizes the maneuver performance of the aircraft, is more suitable for the actual short-distance air combat maneuver planning, and has better universality and instantaneity.
Description
Technical Field
The invention relates to the technical field of air combat game maneuver strategies, in particular to a close-range air combat maneuver planning method considering stall maneuver of an aircraft.
Background
The ability of fighter aircraft to fight closely is a key to the performance of the fighter aircraft in modern air combat. In the short-distance air combat, the our warfare machine needs to acquire better situation as far as possible, and then the enemy is knocked down before the enemy launches airborne weapons such as missiles and the like. If the fighter on my side has the ability to maneuver at a overspeed, more obvious tactical advantages can be obtained, but the fighter on the overspeed has a great risk, so how to reasonably use the overspeed maneuver in the short-distance air combat becomes the key of winning the air combat.
At present, the research on a short-distance air combat maneuver planning algorithm mostly does not consider the stall maneuver condition, but the research on the overspeed maneuver mainly focuses on the research on the nonlinear, unsteady aerodynamic and strong coupling problems of the fighter plane. These methods have the following disadvantages: (1) The large angle of attack maneuver flight becomes one of the typical characteristics of modern fighter aircraft, and the maneuver capability of the fighter aircraft cannot be utilized to the greatest extent without considering overspeed maneuver in short-distance air combat, so that the planning result is not good; (2) The performance such as flight envelope of the fighter can only be obtained by researching the overspeed maneuver aerodynamic characteristics and the like, and the method cannot be directly applied to the process of maneuver planning of the short-distance air combat; (3) For a common close-range air combat maneuver planning method, most of the maneuver planning method is influenced by the calculation complexity, and the real-time performance cannot be ensured.
Disclosure of Invention
The invention provides a close-range air combat maneuver planning method considering the maneuver of an aircraft over stall, which solves the problems that the conventional algorithm is poor in scene universality and the performance of a fighter aircraft is not fully utilized.
The technical scheme adopted by the invention is as follows:
a method for planning maneuver in a short distance air combat taking into account over-stall maneuver of an aircraft, comprising the steps of:
s1, constructing a discrete aircraft dynamics model;
s2, analyzing the overspeed maneuver process in the near-distance air combat process, and obtaining stall maneuver constraint in the near-distance air combat process of the fighter plane based on the overspeed maneuver process;
s3, constructing a close range air combat maneuver optimization problem based on stall maneuver constraint and an airplane dynamics model in the close range air combat process of the fighter plane;
and S4, solving the close-range air combat maneuver optimization problem based on the model predictive control method to obtain a control quantity sequence, substituting the control quantity sequence into an aircraft dynamics model to calculate, and realizing close-range air combat maneuver planning considering stall maneuver of the aircraft.
In a preferred embodiment of the present invention, the step S1 specifically includes:
constructing a three-degree-of-freedom dynamics equation of the aircraft:
x(t)＝[x(t),y(t),z(t),γ(t),χ(t),V(t)] T
u(t)＝[T(t),α(t),μ(t)] T
wherein the state quantity x includes position coordinates (x, y, z), a climbing angle γ, a yaw angle χ and a speed V; the control quantity u comprises an airplane thrust T, an airplane attack angle alpha and a roll angle mu; in the state equation, L is the lift force of the aircraft, D is the resistance in the flight process, W is the total weight of the aircraft, and g is the gravity acceleration;
selecting a discrete step length delta t, and dispersing a three-degree-of-freedom dynamics equation of the aircraft by a second-order Longguge tower method to obtain an aircraft dynamics model:
x(k+1)＝x(k)+f 2 Δt 1
in a preferred embodiment of the present invention, in step S3, the close-range air combat maneuver optimization problem is:
u m ( i k) nJ＝t f
s.t.x(k+1)＝x(k)+f 2 Δt
x(0)＝x 0
u(k)＝[T(k),α(k),μ(k)] T
wherein t is f The fighter plane maneuver consumes time to reach the target altitude.
Compared with the prior art, the invention has the beneficial effects that:
the invention considers the possible overspeed maneuver condition in the process of the short-distance air combat, has wider application scene range, more fully utilizes the maneuver performance of the aircraft, is more suitable for the actual short-distance air combat maneuver planning, and has better universality and instantaneity. The model predictive control-based method solves the maneuvering optimization problem of the short-distance air combat, the aircraft state can be updated in real time in the rolling optimization process, and the final planning result is more fit with reality. The aircraft three-degree-of-freedom dynamic equation is discretized by a second-order Dragon-Gregory tower method, so that a continuous state equation can be discretized, the calculated amount is reduced in the process of solving the optimization problem, and the solving speed is improved.
In order to make the above objects, features and advantages of the present invention more comprehensible, embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a close-range air combat maneuver planning method according to the present invention;
FIG. 2 is a schematic diagram showing a close-up air combat stall maneuver combination and decomposition, wherein a) is fixed-straight fly motion, b) is rapid pitching motion, c) is rotational motion around a velocity vector;
FIG. 3 is a trace plot of a minimum time intercept target altitude aircraft;
fig. 4 is a trace plot of a minimum energy capture target altitude aircraft.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention.
Referring to fig. 1, the invention provides a method for planning a maneuver in a short-distance air combat taking over stall maneuver of an aircraft into consideration, which comprises the following steps:
step one, constructing an airplane dynamics model.
In practical airborne applications, the general expected signal is a discrete signal, so the invention selects the three-degree-of-freedom dynamics equation of the aircraft:
x(t)＝[x(t),y(t),z(t),γ(t),χ(t),V(t)] T
u(t)＝[T(t),α(t),μ(t)] T
wherein the state quantity x includes position coordinates (x, y, z), a climbing angle γ, a yaw angle χ and a speed V; the control quantity u comprises aircraft thrust T, aircraft attack angle alpha and roll angle mu, wherein L is aircraft lift in a state equation, D is resistance in the flight process, W is total weight of the aircraft, and g is gravity acceleration; .
Selecting a discrete step length delta t, and when delta t is smaller (the error of a result obtained by the discrete step length is smaller than that of an original continuous equation, the error meets the requirement), dispersing the guidance equation (1) by a second-order Longqu tower method to obtain an airplane dynamics model:
where k is the current time, x (k+1) is the next time state, u (k) is the current time control amount, f 1 ,f 2 Is a discrete process intermediate variable of the Dragon's base tower method.
And step two, analyzing the overspeed maneuver in the near-distance air combat process, and obtaining maneuver performance parameters of the fighter near-distance air combat process based on the overspeed maneuver, namely overspeed maneuver constraint.
The overspeed maneuver refers to a rapid large attack angle maneuver of a fighter plane with controllable purposefully completed process according to the operation requirement of a driver. The aim of overspeed maneuver is to make the airplane direction change or change the space orientation of the airplane rapidly through rapid and large-scale gesture change. In a near air combat scene, the attitude and the speed of an airplane can be rapidly changed in a large amplitude by overspeed maneuver, and the flying attack angle is far greater than the stall attack angle. The fighter can quickly change the heading direction of the nose by using overspeed maneuver, and has an important effect on changing the attack and defense situations of both sides of the enemy. The five traditional overspeed maneuvers are: cobra "Co-bra" maneuver, tail punch "Bell", hammer "maneuver, helicopter" helicopters "maneuver, and J-turn" Herbst "maneuver. By analyzing these typical maneuver over stall movements can be summarized as a combination of three basic actions as shown in FIG. 2.
As can be seen from the maneuver illustrated in fig. 2, during the stall maneuver of the aircraft, the angle of attack constraint of the aircraft should be relaxed to exceed the overspeed angle of attack, and the track pitch constraint of the aircraft should be relaxed to all track pitches, i.e. the overspeed maneuver constraint is obtained.
The concept of energy difference needs to be introduced when analyzing the application of stall maneuver in short distance air combat. The energy difference is the total energy of the missile at the moment the missile is launched by the airplane in the short-distance air combat, and the energy consumed in the missile flight process is subtracted from the total energy of the missile. As can be seen from analysis of the energy difference, only if the energy difference is positive, the attack opportunity is effective, the greater the energy difference is, the higher the attack efficiency is, the better the effect is, and the energy difference is required to be lifted, one part of the energy of the aircraft needs to be lifted, namely the aircraft has a larger speed or a higher height, and the other part of the energy consumed in the missile flight process needs to be reduced, namely the aircraft has a better launching angle and a better launching distance. The use of overspeed maneuvers in short-range air combat may therefore lead to a decrease in the mechanical energy possessed by the aircraft as a whole, but may be traded for the advantage of higher energy differences.
When my is now in a situational disadvantage, i.e. is being tail-biting by the opponent, or is at a height below the opponent, or is at a lower speed than the opponent. My use of overspeed maneuvers can obtain the advantage of a large energy difference instantaneously, defeating the purpose, and therefore, the stall maneuver constraint needs to be accounted for in the aircraft near maneuver.
And thirdly, establishing a close-range air combat maneuver optimization problem on the basis of overspeed maneuver constraint and a discrete aircraft dynamics model.
Under the condition of considering stall maneuver, the invention establishes the following optimization problem for quickly reaching the target altitude, wherein the target function J is the maneuver consumption time of the fighter reaching the specified altitude, namely the terminal time t f ：
Meets the kinematic model of fighter plane
Considering the overspeed maneuver performance constraint of the fighter plane, the value ranges such as the load factor and the like should satisfy
Wherein alpha is max ,α min For the upper and lower limit of attack angle in the overspeed maneuver process, gamma max ,γ min Considering that the overspeed maneuver condition should be relaxed to the whole track inclination angle, namely the overspeed maneuver constraint, the upper and lower limits of other state quantities are determined by the performance of the fighter plane and the specific scene. The final optimization problem is established as:
wherein t is f To achieve the aim of the mobile consumption time of the fighter plane, x 0 In the initial state of the aircraft,the target height that the terminal needs to reach.
The method for establishing the optimization problem is also applicable to other scenes, for example, when the target speed is reached quickly, onlyChange to +.>All the others are unchanged.
And step four, solving the established optimization problem (6) by adopting a model prediction control-based method, wherein the solving steps are as follows:
step one, bringing a given state initial value into a current state,
step two, selecting a control quantity which minimizes an objective function and enables all constraints to be met according to the current state;
step three, the control quantity is carried into a dynamic equation to obtain the state quantity of the next moment;
step four, bringing the state at the next moment into the current state;
and fifthly, repeating the second to fourth steps until the terminal constraint is met, and obtaining a control quantity sequence u.
And finally substituting the obtained control quantity sequence u into an aircraft dynamics model (2) for calculation, so as to realize the close-range air combat maneuver planning considering the stall maneuver of the aircraft.
The invention discloses a method for planning a short-distance air combat maneuver by considering the stall maneuver of an airplane.
In the simulation example, a scene at the interception target height is specifically analyzed, and specific numerical values of each performance parameter and the optimization problem parameter in the simulation are shown in table 1. The simulation environment is Matlab2019a, and Fmocon is adopted to solve the optimization problem (6).
TABLE 1 fighter plane maneuver Performance and optimization problem parameters
| Parameter value | Meaning of the following description |
| M＝10 | Number of time discrete |
| t 1 ＝0.2s | The actual action terminal moment of the control quantity |
| 20000≤T≤200000,-60°≤α≤90°,|μ|≤60 | Control quantity constraint |
| 100m/s≤V≤300m/s | Speed constraint |
Consider that a fighter is maneuvering at a overspeed to reach a given altitude, considering the fastest and least energy consuming to reach a given altitude, respectively. The initial state of the aircraft is set as follows:
[x,y,z,χ,γ,V] T ＝[0,0,5000,0,0,160] T
setting the target height asIt can be seen from the aircraft trajectories of fig. 3 and 4 that when the aircraft wants to reach the target altitude as soon as possible, a large thrust is required to accelerate and the angle of attack is lifted as much as possible to obtain the maximum climb rate, but this situation also causes a decrease in fighter stability. The energy and time consumed by the aircraft to reach the target command is shown in table 2.
Table 2 fighter aircraft close range air combat maneuver results
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. A method for planning maneuver in a short distance air combat taking into account over-stall maneuver of an aircraft, comprising the steps of:
s1, constructing a discrete aircraft dynamics model;
s2, analyzing the overspeed maneuver process in the near-distance air combat process, and obtaining stall maneuver constraint in the near-distance air combat process of the fighter plane based on the overspeed maneuver process;
s3, constructing a maneuver optimization problem of the near-distance air combat of the aircraft based on stall maneuver constraints and an aircraft dynamics model in the near-distance air combat process of the fighter aircraft;
and S4, solving the aircraft close-range air combat maneuver optimization problem based on the model predictive control method to obtain a control quantity sequence, substituting the control quantity sequence into an aircraft dynamics model to calculate, and realizing close-range air combat maneuver planning considering aircraft stall maneuver.
2. The method for planning a maneuver for a short distance air combat taking into account over-stall maneuver of an aircraft as defined in claim 1 wherein step S1 comprises:
constructing a three-degree-of-freedom dynamics equation of the aircraft:
x(t)＝[x(t),y(t),z(t),γ(t),χ(t),V(t)] T
u(t)＝[T(t),α(t),μ(t)] T
wherein the state quantity x includes position coordinates (x, y, z), a climbing angle γ, a yaw angle χ and a speed V; the control quantity u comprises an airplane thrust T, an airplane attack angle alpha and a roll angle mu; in the state equation, L is the lift force of the aircraft, D is the resistance in the flight process, W is the total weight of the aircraft, and g is the gravity acceleration;
selecting a discrete step length delta t, and dispersing a three-degree-of-freedom dynamics equation of the aircraft by a second-order Longguge tower method to obtain an aircraft dynamics model:
x(k+1)＝x(k)+f 2 Δt 1
f 1 ＝f(x(k),u(k)),
where k is the current time, x (k+1) is the next time state, u (k) is the current timeTime control amount, f 1 ,f 2 Is a discrete process intermediate variable of the Dragon's base tower method.
3. The method according to claim 1, wherein in step S2, the overspeed maneuver constraint refers to that the attack angle constraint of the aircraft should be relaxed to exceed the overspeed attack angle and the track dip angle constraint of the aircraft should be relaxed to all track dip angles during the overspeed maneuver of the aircraft.
4. The method for planning a close range air combat maneuver taking into account over-stall maneuver of an aircraft according to claim 1, wherein in step S3, the optimization problem of the aircraft close range air combat maneuver is:
s.t.x(k+1)＝x(k)+f 2 Δt
x(0)＝x 0
u(k)＝[T(k),α(k),μ(k)] T
wherein t is f To achieve the aim of the mobile consumption time of the fighter plane, x 0 Is the initial state of the airplane, h tf The target height that the terminal needs to reach.
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