CN103713641B - The formation method for splitting of the intensive autonomous formation of a kind of aircraft - Google Patents
The formation method for splitting of the intensive autonomous formation of a kind of aircraft Download PDFInfo
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Abstract
The invention discloses the formation method for splitting of the intensive autonomous formation of a kind of aircraft, belong to technical field of flight control.First described formation method for splitting carries out aircraft formation modeling; Aircraft formation is according to the formation flight of rigid body turning form before formation splits, and it is constant that each node maintains its geometry site in formation ballistic coordinate system, and fractionation formation process interior joint is according to particle turning form or the formation flight of deformation turning form.The present invention effectively reduces the complexity and difficulty of colliding conflict when close/intra hives off between processing node.
Description
Technical field
The present invention relates to the formation method for splitting of the intensive autonomous formation of a kind of aircraft, belong to technical field of flight control, be specifically related to a kind of aircraft that is applicable under intensive autonomous formation, reasonably utilize different turning forms to realize formation fractionation.
Background technology
In recent years, many countries drop in the research that a large amount of manpower and materials fly in the autonomous formation of aircraft, there is again very large advantage in highly dense aircraft formation, during the collaborative flight of close/intra and formation change, between plot point, anticollision problem is an emphasis of this area research in the various aerial mission of execution.
When multi-aircraft close/intra, distance between aircraft and aircraft is close to minimum safe distance, and for a certain given aircraft in forming into columns, because be distributed with other aircraft around it, lack free movement space, this makes the collision prevention of this aircraft motor-driven (such as evading the unexpected motion that contiguous aircraft produces due to various random disturbance or some emergency case or fault) than more difficult and complicated in loose or tight formation situation, and this is also that in close/intra situation, formation control system needs the problem considered.On the other hand, due to restriction and the cost control of aircraft useful load, it is made to be not easy to increase extra anti-collision equipment, but under the overall background of networking autonomous formation flight, require that aircraft is all equipped with group-net communication module, formation Data-Link can be utilized between aircraft to interconnect, carry out the Real-Time Sharing of relevant information, this makes to carry out close/intra anticollision by formation Data-Link and controls to become possibility.
Cruising missile in forming into columns for multi-aircraft is formed into columns, and the guided missile that the fractionation of flight pattern controls can be used for carrying out terminal guidance section hives off.Form into columns integrally, the feature of its motion is closely related with the inner formation attribute such as member characteristics, control method, organizational form of forming into columns, only with regard to the turning motion (or curvilinear motion) of forming into columns, these three kinds of forms that particle is turned with regard at least also existing, rigid body is turned and deformation is turned, different forms reflects form into columns inner different cyberrelationship and steering logic.The formation reasonably utilizing these turning forms can solve close/intra splits problem.
Summary of the invention
The invention provides the formation method for splitting of the intensive autonomous formation of a kind of aircraft.Three kinds of forms of formation turning motion comprise rigid body turning, particle is turned and deformation is turned, and the present invention is effective and reasonable utilizes this three kinds of turning motion forms, and the formation solving close/intra splits problem.
Formation method for splitting provided by the invention, comprises the steps:
Step one: aircraft formation modeling;
Step 2: formation splits: aircraft formation is according to the formation flight of rigid body turning form before formation splits, and it is constant that each node maintains its geometry site in formation ballistic coordinate system, fractionation formation process interior joint is according to the formation flight of particle turning form.Described fractionation formation process interior joint also can be turned form formation flight according to deformation.
The invention has the advantages that:
The present invention effectively reduces the complexity and difficulty of colliding conflict when close/intra hives off between processing node.
Accompanying drawing explanation
Fig. 1: the rigid body turning schematic diagram of the intensive autonomous formation of aircraft in the present invention;
Fig. 2: the particle turning schematic diagram of the intensive autonomous formation of aircraft in the present invention;
Fig. 3: the deformation turning schematic diagram of the intensive autonomous formation of aircraft in the present invention;
Fig. 4: the problem schematic diagram run in close/intra formation split process in the present invention;
Fig. 5: internodal relative motion relation schematic diagram of forming into columns;
Fig. 6: intermediate cam shape close/intra node location coordinate diagram of the present invention.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in further detail.
The formation method for splitting of the intensive autonomous formation of a kind of aircraft that the present invention proposes, it is according to real needs, large formation integrally on geometric configuration and institutional framework is divided into the less son of several scales to form into columns that formation splits, and then performs the process of each small formation concrete upper strata task respectively.In fractionation, small formation remains its geometric configuration in original large formation substantially.Formation method for splitting provided by the invention comprises following concrete steps:
Step one: aircraft formation modeling.
The flight formation retentive control system of present stage is all based on lead aircraft-wing plane pattern, and namely adopt wing plane to follow the formation mode of lead aircraft, lead aircraft can be true lead aircraft also can be virtual lead aircraft.Under lead aircraft-wing plane formation mode, the motion model expansion that the multinode motion model of forming into columns in turning process can be formed into columns by binode obtains, this sentence binode form into columns for example set up aircraft formation fly motion model, as shown in Figure 5, wherein W (N
w) and L (N
l) be two nodes of this formation, V
wand V
lbe respectively the flying speed of node W and node L,
with
be respectively the flight path drift angle of node W and node L,
d is the distance of node W to node L, and x, y are the Orthogonal Decomposition of d on the velocity reversal of W.
With the ballistic coordinate system of node W, (velocity reversal of node W is for x-axis, be y-axis with the direction of speed vertical-right) be relative coordinate system, ground coordinate is fixed coordinate system, utilize the formula in theoretical mechanics, absolute velocity=relative velocity+convected velocity, the kinematical equation setting up node L and node W is as follows:
Wherein, V
l, V
wbe respectively the speed of node L and node W, d is the distance of node W to node L,
for the driftage drift angle of node W.
Above formula (1) is decomposed in the ballistic coordinate system of node W:
Wherein x, y are the component of distance d on node W ballistic coordinate system's longitudinal axis and transverse axis of node W counterpart node L.Adopt low-angle and microvariations hypothesis to formula (2) at point (x
0, y
0) linearization around obtains:
In addition, in the design of outer shroud formation control system, the flight path drift angle of node L and node W and the simplified model of speed are:
Wherein,
and V
lc, V
wcfor flight path drift angle and the rate controlling amount of outer shroud, act on inner ring flight control system as instruction,
be respectively the time constant of node L and the response of node W flight path drift angle,
be respectively the time constant of node L and node W speed responsive.
Formula (3) and formula (4) and (5) respectively simultaneous obtain the motion model of node L and node W:
Step 2: formation splits.
Aircraft formation is according to the formation flight of rigid body turning form before formation splits, and it is constant that each node maintains its geometry site in formation ballistic coordinate system, and fractionation formation process interior joint is according to the formation flight of particle turning form.
Described rigid body is turned, and refers to form into columns overall in turning process, and each member maintains the one turning form of its geometric position in formation ballistic coordinate system.When having true length machine or virtual length machine (being referred to as navigator's point), each member maintains its position in the ballistic coordinate system of true length machine or virtual length machine.
Wherein ballistic coordinate system is defined as follows:
1, initial point O is taken at aircraft barycenter place, and coordinate system and aircraft are connected;
2, x-axis overlaps consistent with flying speed V;
3, y-axis is positioned at the vertical guide comprising flying speed V, vertical with x-axis and point to below;
4, z-axis is perpendicular to Oxy plane, and its sensing is determined according to the right-hand rule.
Turn for the rigid body of Two-fighter formation, Figure 1A and Figure 1B turns to formation rigid body and illustrates to illustrate, wherein small circle i, j represents two formation nodes, V
ifor the flying speed of formation leader i;
for the flight path drift angle of formation leader i, reference value x and y is node j and the deviation of lead aircraft i under ballistic coordinate system.As can be seen from Figure 1B, at earth axes, whole formation similarly is that a rigid body is in spatial movement, the turning of this form is the most common, it comes from the Controller gain variations of forming into columns, and the relative reference between maintenance formation member (node j) and navigator's point (lead aircraft i) is apart from constant.Relative distance is the most direct relation kept between member of forming into columns; Velocity is the most direct controlled quentity controlled variable of formation control; On velocity reversal, the size of speed is main controlled quentity controlled variable; In speed vertical direction, flight path drift angle is main controlled quentity controlled variable.So in formation flight process, if do not do extra adjustment to relative reference distance (the spacing instruction namely in formation control device), rigid body often of so turning is turned.
Described particle is turned, and refers to form into columns overall in turning process, and each member maintains the one turning form of its geometric position in earth axes.
As shown in Figure 2 A and 2 B, the binode of node j and node i composition is formed into columns and is carried out particle turning, at earth axes, whole formation similarly is that a particle is in spatial movement, it can make formation member the semidiameter turn such as do when turning, and avoids the speed that causes because radius of turn when outside member does steady turn is excessive in rigid body turning process or overload and to exceed standard phenomenon.Particle is turned and has been changed the inner structure of formation in essence, on the one hand, needs to adjust following or subordinate relation between formation member according to actual needs; On the other hand, the spacing instruction of formation control device need according to the flight path drift angle adjustment of form into columns overall (or navigator's point), in flight course, the transition matrix that the reference distance of earth axes is tied to ballistic coordinate system by ground coordinate is converted in real time, the spacing instruction d that particle is turned in two dimensional surface
rfor:
Wherein, Z
j, Z
inode j and the node i lateral coordinates at earth axes, X
j, X
inode j and the node i forward direction coordinate at earth axes,
for the flight path drift angle of node i, x and y is node j and the deviation of node i under ballistic coordinate system, reference value x
eand y
ethe deviation of node j and i under earth axes.
Cruising missile in forming into columns for multi-aircraft is formed into columns, and the guided missile that the fractionation of flight pattern controls can be used for carrying out terminal guidance section hives off.Split process in, if each subgroup when carrying out curvilinear motion with rigid body turn form, so due to rigid body turn " whipping " phenomenon, just have between adjacent subgroup collision conflict danger, as Fig. 4.
If now each subgroup is switched to particle and turns and carry out curvilinear motion, just can avoid this conflict, Here it is based on the thought of flight pattern method for splitting of particle turning.
The present invention also provides a kind of deformation turning form, and described deformation is turned, and refers in turning process, and overall geometric configuration of forming into columns there occurs the one turning form of distortion.As shown in Figure 3 A and Figure 3 B, the aircraft formation of node k, j, i composition carries out deformation turning, the turning of this form is usually passive, adjustment deliberately is not carried out in the instruction of formation control device, but because member follows in succession, (node k follows node j, node j follows node i) inertia produce, be similar to chain effect, but the mode of following of this distributed, contiguous formula relaxes the requirement to formation communication system in some sense.Described deformation turning can be turned with described rigid body and particle is turned combines, and splits control the formation of aircraft formation.
embodiment:
Suppose that close/intra is that a triangle be made up of 21 nodes is formed into columns.The a certain moment rises, and this formation is subject to the disturbance of malfunctioning node.Conveniently, if all node initial velocities are consistent, for 0.44Ma (150m/s), speed adjustable extent is limited in 0.3 ~ 0.6Ma (100-200m/s), in table 1, initial position co-ordinates is shown in Fig. 6, and nodal pitch is 220m, safe distance is 200m, and the target location of node 1 is virtual lead aircraft.
Table 1 triangle formation node major parameter
First form into columns with rigid body turn form move to target area, 3 sub-goals (target 1 in accompanying drawing 4, target 2 and target 3) are flown to respectively after close to target area, form into columns according to the principle preventing between the high depressed trajectory of formation node and node colliding as far as possible and be divided into 1(1 ~ 6, subgroup, 8,9,13), subgroup 2(7,11,12,16 ~ 18), subgroup 3(10,14,15,19 ~ 21), scene shown in simulation drawing 4.Split before navigator's node be the dummy node overlapped with node 1, form into columns with rigid body turning carry out curvilinear motion.
After splitting instruction triggers, navigator's node of subgroup 1, subgroup 2, subgroup 3 is respectively node 1, node 7, node 10, forms into columns and is switched to particle turning.
In the process of t=5.6s to 20.5s, form into columns and use rigid body to turn, whole formation rigid body seemingly in earth axes, not only has translation but also has rotation; Form into columns as t=32.5s and start to hive off; The pattern formation that three subgroups led respectively by node 1, node 7, node 10 remain start time of hiving off in earth axes substantially flies to (as Fig. 4) to three directions; As t=39.8s, three subgroups separate substantially, contrast with the inner geometry relation of three subgroups when starting to hive off, three subgroups are just as three large particles, only carry out translation and do not rotated, thus there is no " whipping " phenomenon in the subgroup led by node 7, node 10 in process of hiving off, do not clash with the subgroup led by node 1.
Simulation result indicates feasibility and the using value of the formation method for splitting of turning based on particle, effectively reduce complexity and the difficulty of when close/intra hives off, between processing node, colliding conflict in some cases, it is to be noted, after particle turning, the position of navigator's node in the direction of motion of subgroup, subgroup changes, be unfavorable for the upper strata task of forming into columns in some cases, because the node that position is in front can acquisition external environmental information more early, now need to carry out redistributing of navigator's node, as the node equipment specific installation that navigates, so need again to switch to rigid body turn or design other control method of hiving off.
Claims (5)
1. a formation method for splitting for the intensive autonomous formation of aircraft, is characterized in that:
Step one: aircraft formation modeling;
Step 2: formation splits: aircraft formation is according to the formation flight of rigid body turning form before formation splits, and it is constant that each node maintains its geometry site in formation ballistic coordinate system, fractionation formation process interior joint is according to the formation flight of particle turning form; Described node refers to the member in aircraft formation;
Described rigid body is turned, and refers to form into columns overall in turning process, and each node maintains the one turning form of its geometric position in formation ballistic coordinate system; When having true length machine or virtual length machine, each node maintains its position in the ballistic coordinate system of true length machine or virtual length machine; At earth axes, whole formation similarly be a rigid body in spatial movement, on the Controller gain variations of forming into columns, keep relative reference between each node and true length machine in forming into columns or virtual length machine apart from constant;
Described particle is turned, refer to and form into columns entirety in turning process, each node maintains the one turning form of its geometric position in earth axes, at earth axes, whole formation similarly is that a particle is in spatial movement, it can make formation member the semidiameter turn such as do when turning, the spacing instruction of formation control device is according to the flight path drift angle adjustment of forming into columns overall, in flight course, the transition matrix that the reference distance of earth axes is tied to ballistic coordinate system by ground coordinate is converted in real time, the spacing instruction d that particle is turned in two dimensional surface
rfor:
Wherein, Z
j, Z
inode j and the node i lateral coordinates at earth axes, X
j, X
inode j and the node i forward direction coordinate at earth axes,
for the flight path drift angle of node i, x and y is node j and the deviation of node i under ballistic coordinate system, reference value x
eand y
ethe deviation of node j and i under earth axes.
2. the formation method for splitting of the intensive autonomous formation of a kind of aircraft according to claim 1, is characterized in that: split formation process interior joint according to the formation flight of deformation turning form.
3. the formation method for splitting of the intensive autonomous formation of a kind of aircraft according to claim 1, is characterized in that:
The motion model of aircraft formation flight is set up for binode formation, be relative coordinate system with the ballistic coordinate of node W, ground coordinate is fixed coordinate system, utilize the formula in theoretical mechanics, absolute velocity=relative velocity+convected velocity, the kinematical equation setting up node L and node W is as follows:
Wherein, V
l, V
wbe respectively the speed of node L and node W, d is the distance of node W to node L,
for the driftage drift angle of node W;
Above formula (1) is decomposed in the ballistic coordinate system of node W:
Wherein x, y are the component of distance d on node W ballistic coordinate system's longitudinal axis and transverse axis of node W counterpart node L; Adopt low-angle and microvariations hypothesis to formula (2) at point (x
0, y
0) linearization around obtains:
In addition, in the design of outer shroud formation control system, the flight path drift angle of node L and node W and the simplified model of speed are:
Wherein,
and V
lc, V
wcfor flight path drift angle and the rate controlling amount of outer shroud, act on inner ring flight control system as instruction,
be respectively the time constant of node L and the response of node W flight path drift angle,
be respectively the time constant of node L and node W speed responsive;
Formula (3), formula (4) and formula (5) respectively simultaneous obtain the motion model of node L and node W:
4. the formation method for splitting of the intensive autonomous formation of a kind of aircraft according to claim 2, is characterized in that:
Described deformation is turned, and refers in turning process, and overall geometric configuration of forming into columns there occurs the one turning form of distortion, and the inertia of in succession being followed by node produces.
5. the formation method for splitting of the intensive autonomous formation of a kind of aircraft according to claim 1, is characterized in that: described ballistic coordinate system is defined as follows:
1, initial point O is taken at aircraft barycenter place, and coordinate system and aircraft are connected;
2, x-axis overlaps consistent with flying speed V;
3, y-axis is positioned at the vertical guide comprising flying speed V, vertical with x-axis and point to below;
4, z-axis is perpendicular to Oxy plane, and its sensing is determined according to the right-hand rule.
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| CN105589470A (en) * | 2016-01-20 | 2016-05-18 | 浙江大学 | Multi-UAVs distributed formation control method |
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| CN111399538B (en) * | 2020-03-27 | 2022-06-24 | 西北工业大学 | Distributed unmanned aerial vehicle flying around formation method based on time consistency |
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