CN105204512A - Six-degree-of-freedom unmanned combat aerial vehicle short-range dogfight method based on simplified model machine game - Google Patents

Abstract

The invention relates to a six-degree-of-freedom unmanned combat aerial vehicle short-range dogfight method based on a simplified model machine game. The method comprises the steps that 1, a six-degree-of-freedom non-linear unmanned combat aerial vehicle Simulink model is established; 2, a six-degree-of-freedom non-linear unmanned combat aerial vehicle control law is designed; 3, an unmanned combat aerial vehicle simplified model is established; 4, an airborne cannon model is established; 5, an unmanned combat aerial vehicle control input instruction library is designed; 6, input instruction switching is controlled; 7, an unmanned combat aerial vehicle short-range dogfight machine game model based on the simplified model is established; S8, simulation verification is conducted. The method aims at providing an unmanned combat aerial vehicle aerial warfare autonomous decision-making method which has actual application value, the decision accuracy and scientificity are guaranteed, and meanwhile the decision time is effectively shortened, so that the fight power of an unmanned combat aerial vehicle is improved.

Description

A kind of six degree of freedom Unmanned combat aircraft short range combat method based on simplified model game playing by machine

Technical field

The present invention relates to a kind of six degree of freedom Unmanned combat aircraft short range combat method based on simplified model game playing by machine, belong to UCAV Autonomous air battle field.

Background technology

Unmanned combat aircraft (UnmannedCombatAirVehicles, UCAV) refers to a kind of unmanned plane (UnmannedAirVehicle, UAV) designed as combat platform specially.Unmanned combat aircraft is at unmanned plane and have the various technological achievements basis of people's fighter plane making full use of the information technology revolution epoch, the brand-new intelligent weapon system of one deeply developed to more high-performance and Geng Gao autonomous fight capability direction further.

The development of armament systems, changes operational environment and the mode of operation of whole air battle, makes it develop into the complex task be made up of beyond-visual-range attack and short range combat two stage priorities.Over-the-horizon air action coordinates long-and medium-range missiles and radar fire control system, the main mode of operation taked in high and medium, supersonic zone.But due to problems such as the hit probability of guided missile, the electronic interferences of enemy plane, Unmanned combat aircraft may occur when beyond-visual-range attack attacking failed situation, and now both sides just may enter the short range combat operation stage.And along with the continuous breakthrough of operational environment monitoring technology and recognition technology, under both sides at war's information more clearly situation, the information how gathered at airborne equipment carries out the selection of air battle strategy under guiding quickly and accurately, then become the key factor determining short range combat success or failure.The present invention is intended to the autonomous air combat capability improving Unmanned combat aircraft, makes it when online awareness, can carry out strategy in real time in real time or closely, tactics are selected, thus possess the decision-making capability being equal to and having pilot on people's fighter plane.

At present, the research method that air battle is made decisions on one's own is a lot, mainly contains expert system approach, neural network, differential game method and game playing by machine etc.Wherein game playing by machine method forms primarily of four elements, is respectively game participant, game strategies collection, game order and game payoff function.Game playing by machine can be described as game participant according to game order, using game payoff function as judging quota, concentrates the process searching out final game strategies from game strategies.Minimax value-based algorithm is a kind of game playing by machine searching algorithm, and its thought is the maximum game payoff function income minimizing game opponent, is namely finding out the maximal value in the minimum possibility of one's own side's game payoff function income.

Make decisions on one's own in research in existing Unmanned combat aircraft air battle, the Unmanned combat aircraft model that game playing by machine method adopts is all the Three Degree Of Freedom Mass Models comparatively simplified, this model only describes three line freedoms of motion (increase and decrease campaign of flying speed of Unmanned combat aircraft barycenter, barycenter elevating movement and barycenter lateral translational movement), and there is six-freedom degree in Unmanned combat aircraft motion in space, except above three line freedom of motion are outside one's consideration, also comprise three angular motion degree of freedom (pitch movement around barycenter, crab angle motion and roll angle motion).The present invention is namely towards the non-linear Unmanned combat aircraft model of more complicated six degree of freedom, consider from practicality and real-time, propose a kind of six degree of freedom Unmanned combat aircraft short range combat method based on simplified model game playing by machine, to improve the probability that we wins under equal short range combat condition.

Summary of the invention

1, goal of the invention:

The invention provides a kind of six degree of freedom Unmanned combat aircraft short range combat method based on simplified model game playing by machine, its objective is and provide a kind of Unmanned combat aircraft air battle having more actual application value to make decisions on one's own method, while being intended to ensure decision-making correctness and science, effective shortening decision-making time, thus improve the fight capability of Unmanned combat aircraft, to solve the problem that may run into when UCAV Autonomous air battle research enters the semi-physical simulation stage, and improve the feasibility that UCAV Autonomous air battle research enters aerial checking.

2, technical scheme:

The present invention is directed to the non-linear Unmanned combat aircraft model of six degree of freedom, develop a kind of six degree of freedom Unmanned combat aircraft short range combat method based on simplified model game playing by machine, the performing step of the method is as follows:

Step one: build the non-linear Unmanned combat aircraft Simulink realistic model of six degree of freedom

Six degree of freedom non-linear Unmanned combat aircraft model simplification schematic diagram as shown in Figure 1.In model, control inputs is U=[δ _tδ _eδ _aδ _r], wherein δ _tfor throttle lever, δ _efor elevator angle, δ _afor aileron movement angle, δ _rfor control surface steering angle; Quantity of state X=[x _gy _gh φ θ ψ V α β pqr], wherein (x _g, y _g, h) be the locus of Unmanned combat aircraft, φ is roll angle, and θ is the angle of pitch, and ψ is crab angle, and V is gas velocity, and α is the angle of attack, and β is yaw angle, and p is angular velocity in roll, and q is rate of pitch, and r is yaw rate.The differential equation of these 12 quantity of states can be described as:

$\left\{\begin{array}{c}{\stackrel{\·}{x}}_g=u\cos \mathrm{\θ}\cos \mathrm{\ψ}+v\left(\sin \mathrm{\φ}\sin \mathrm{\θ}\cos \mathrm{\ψ}-\cos \mathrm{\φ}\sin \mathrm{\ψ}\right)+w\left(\sin \mathrm{\φ}\sin \mathrm{\ψ}+\cos \mathrm{\φ}\sin \mathrm{\θ}\cos \mathrm{\ψ}\right)\\ {\stackrel{\·}{y}}_g=u\cos \mathrm{\θ}\sin \mathrm{\ψ}+v\left(\sin \mathrm{\φ}\sin \mathrm{\θ}\sin \mathrm{\ψ}+\cos \mathrm{\φ}\sin \mathrm{\ψ}\right)+w\left(-\sin \mathrm{\φ}\cos \mathrm{\ψ}+\cos \mathrm{\φ}\sin \mathrm{\θ}\sin \mathrm{\ψ}\right)\\ \stackrel{\·}{h}=u\sin \mathrm{\θ}-v\sin \mathrm{\φ}\cos \mathrm{\θ}-w\cos \mathrm{\φ}\cos \mathrm{\θ},\stackrel{\·}{V}=\frac{u\stackrel{\·}{u}+v\stackrel{\·}{v}+w\stackrel{\·}{w}}{V},\stackrel{\·}{\mathrm{\α}}=\frac{u\stackrel{\·}{w}-w\stackrel{\·}{u}}{u^2+w^2},\stackrel{\·}{\mathrm{\β}}=\frac{\stackrel{\·}{v}V-v\stackrel{\·}{V}}{V^2\cos \mathrm{\β}}\\ \stackrel{\·}{\mathrm{\φ}}=p+\left(r\cos \mathrm{\φ}+q\sin \mathrm{\φ}\right)\tan \mathrm{\θ},\stackrel{\·}{\mathrm{\θ}}=q\cos \mathrm{\φ}-r\sin \mathrm{\φ},\stackrel{\·}{\mathrm{\ψ}}=\frac{1}{\cos \mathrm{\θ}}\left(r\cos \mathrm{\φ}+q\sin \mathrm{\φ}\right)\\ \stackrel{\·}{p}=\frac{1}{I_x{I}_z-{I_{xz}}^2}\[I_{z}L+I_{xz}N+\left(I_x-I_y+I_z\right)I_{xz}pq+\left(I_y{I}_z-{I_z}^2+{I^2}_{xz}\right)qr\]\\ \stackrel{\·}{q}\frac{1}{I_y}\[M-I_{xz}\left(p^2-r^2\right)\],\stackrel{\·}{r}=\frac{1}{I_x{I}_y-{I_{xz}}^2}\end{array}\right.---\left(1\right)$

Wherein, (u, v, w) for Unmanned combat aircraft is at three speed components of body axis system Oxyz, (I _x, I _y, I _z) be respectively around x-axis, the moment of inertia of y-axis and z-axis, I _xzfor product of inertia, (L, M, N) is respectively rolling moment, pitching moment and yawing.

Step 2: the non-linear Unmanned combat aircraft control law of design six degree of freedom

(1) Unmanned combat aircraft trim

Under the state of assigned altitute h, gas velocity V and angle of attack α, trim is carried out to Unmanned combat aircraft.Solve can make Unmanned combat aircraft suffered make a concerted effort and resultant moment be zero controlled quentity controlled variable and the angle of pitch.

(2) vertical passage design of control law

Under trim condition, after inputting given elevating rudder step signal to Unmanned combat aircraft, by angle of attack α, pitching angle theta, the response curve design angle of attack robot pilot of gas velocity V and rate of pitch q, and then realize angle of attack steering order α _comtracking.

(3) horizontal side path design of control law

Under trim condition, the aileron given respectively to Unmanned combat aircraft mode input and yaw rudder step signal, by the angular velocity in roll p of the two, yaw rate r, roll angle φ, crab angle ψ, yaw angle β and lateral overload n _yresponse curve design roll angle robot pilot, and then realize roll angle steering order φ _comtracking.

Step 3: set up Unmanned combat aircraft simplified model

The control inputs instruction of Unmanned combat aircraft simplified model is (n _xcom, n _fcom, γ _com), correspondence tangentially transships n respectively _x, normal g-load n _fexpect with the output of flight path roll angle γ.Quantity of state is wherein μ is flight path pitch angle, for flight path azimuthangle, V is gas velocity.The differential equation of above 6 quantity of states can be described as:

Wherein, g is acceleration of gravity.

Step 4: set up Study on Airborne Gun model

The schematic diagram of Study on Airborne Gun model as shown in Figure 2.Its effective range is ER, with axis x-axis for axis, and A ₁class cone space region for semiapex angle is effective firing area of Study on Airborne Gun.Attack probability to demarcate angle A when azimuth of target (angle between the line of target of attack and Unmanned combat aircraft and x-axis) is less than ₂(A need be met ₂< A ₁) time, Study on Airborne Gun hit rate is P ₂; When azimuth of target circle attacks region semiapex angle A in the taper of Study on Airborne Gun class ₁to demarcate angle A with attack probability ₂between time, Study on Airborne Gun hit rate is P ₁(P need be met ₂> P ₁).

Step 5: design Unmanned combat aircraft control inputs instruction database

At the control inputs instruction (n to Unmanned combat aircraft simplified model _xcom, n _fcom, γ _com) carry out sliding-model control after, Unmanned combat aircraft control inputs instruction database can be obtained through permutation and combination.

Step 6: control inputs instruction transformation

After step 2, the control inputs instruction of the non-linear Unmanned combat aircraft realistic model of six degree of freedom changes (α into _com, φ _com).Do not changing throttle lever δ _twhen, six degree of freedom nonlinear model control inputs instruction (α _com, φ _com) with the control inputs instruction (n of simplified model _xcom, n _fcom, γ _com) there is following transformational relation:

$\left\{\begin{array}{c}{\mathrm{\&phi;}}_{com}={\mathrm{\&gamma;}}_{com}\\ {\mathrm{\&alpha;}}_{com}=\frac{g}{{\mathrm{VZ}}_{\mathrm{\&alpha;}}}{n}_{fcom}\end{array}\right.---\left(3\right)$

Wherein, Z _αfor bonding force along the component of x-axis about the partial derivative of angle of attack α, V is gas velocity, and g is acceleration of gravity.

Step 7: set up the Unmanned combat aircraft short range combat game playing by machine model based on simplified model

In the present invention, game participant is the red blue both sides of Unmanned combat aircraft, and game strategies integrates as control inputs instruction database, and game order is that the red blue both sides of initial time set for the role attacked and defend, and game payoff function is following scoring functions:

$\left\{\begin{array}{c}S=(1-\frac{A_R+A_B}{180})\&CenterDot;C_R{e}^{-(D-SR)/K}\\ S_R=\frac{1+S}{2}\\ S_B=\frac{1-S}{2}\end{array}\right.---\left(4\right)$

Wherein S is Situation Assessment function, A _rfor red speed V _rwith the angle of two machine lines, A _bfor blue party speed V _bwith the angle of two machine lines, C _rfor constant coefficient, D is two machine spacings, and K is sensitivity, and red scoring functions must be divided into S _r, blue party scoring functions must be divided into S _b.

To sum up, form as shown in Figure 3 can be simplified shown as based on the Unmanned combat aircraft short range combat game playing by machine model of simplified model.Belligerent red blue both sides (are mainly locus (x according to both sides' quantity of state information of t _g, y _g, h) with gas velocity V), take simplified model as game evolutionary model, with control inputs instruction database for alternate item, must be divided into standard with respective scoring functions, adopt Min-max method, decision-making goes out the steering order input (n in each comfortable t ~ (t+tg) time interval _xcom, n _fcom, γ _com), wherein tg is game playing by machine decision-making time interval.For red, being embodied as of Min-max method: in supposition red selection instruction storehouse after a certain instruction, blue party often selects an instruction, can try to achieve a red scoring functions score S by formula (4) _r, get these red scoring functions score S _rin minimum value as alternate item, then get maximal value from these minimum value, the red control inputs instruction corresponding to it, be the final decision result of red, vice versa.

Step 8: simulating, verifying

Based on simplified model game playing by machine Unmanned combat aircraft short range combat simulation contact surface as shown in Figure 4.Wherein ts is sampling time (requiring the aliquot game playing by machine decision-making time interval tg of ts), T _maxfor maximum working time, T _gamefor the game playing by machine decision-making time.If simulation result is undesirable, can suitable regulating parameter constant coefficient C _r, sensitivity K and sampling time ts, maybe can redesign scoring functions and control inputs instruction database, also can consider to redesign the non-linear Unmanned combat aircraft control law of six degree of freedom.

3, advantage and effect:

The present invention proposes a kind of six degree of freedom Unmanned combat aircraft short range combat method based on simplified model game playing by machine.The advantage of the method is mainly reflected in two aspects: on the one hand, the method is towards the non-linear Unmanned combat aircraft model of more complicated six degree of freedom, and the Three Degree Of Freedom Mass Model considered in non-traditional Unmanned combat aircraft air battle research, therefore have more actual application value; On the other hand, the method has carried out suitable improvement in existing game playing by machine method, simplified model is adopted to carry out game deduction, its result of decision is that complex model is used, so shorten the decision-making time to a certain extent, meet the real-time demand of aerial checking, and then effectively improve the fight capability of Unmanned combat aircraft in short range combat.

Accompanying drawing explanation

The non-linear Unmanned combat aircraft model of Fig. 1 six degree of freedom.

Fig. 2 Study on Airborne Gun model.

Fig. 3 is based on the Unmanned combat aircraft short range combat game playing by machine model of simplified model.

Fig. 4 is based on the Unmanned combat aircraft short range combat simulation contact surface of simplified model game playing by machine.

Fig. 5 a unit elevator angle input gas velocity response curve.

Fig. 5 b unit elevator angle input angle of attack response curve.

Fig. 5 c unit elevator angle input angle of pitch response curve.

Fig. 5 d unit elevator angle input rate of pitch response curve.

Fig. 6 angle of attack robot pilot.

Fig. 7 a unit angle of attack input gas velocity response curve.

Fig. 7 b unit angle of attack input angle of attack response curve.

Fig. 7 c unit angle of attack input angle of pitch response curve.

Fig. 7 d unit angle of attack input rate of pitch response curve.

Fig. 8 a unit aileron movement angle input angular velocity in roll response curve.

Fig. 8 b unit aileron movement angle input yaw rate response curve.

Fig. 8 c unit aileron movement angle input roll angle response curve.

Fig. 8 d unit aileron movement angle input crab angle response curve.

Fig. 8 e unit aileron movement angle input sideslip angular response curve.

Fig. 8 f unit aileron movement angle input lateral overload response curve.

Fig. 9 a unit control surface steering angle input angular velocity in roll response curve.

Fig. 9 b unit control surface steering angle input yaw rate response curve.

Fig. 9 c unit control surface steering angle input roll angle response curve.

Fig. 9 d unit control surface steering angle input crab angle response curve.

Fig. 9 e unit control surface steering angle input sideslip angular response curve.

Fig. 9 f unit control surface steering angle input lateral overload response curve.

Figure 10 roll angle robot pilot.

Figure 11 a unit roll angle input angular velocity in roll response curve.

Figure 11 b unit roll angle input yaw rate response curve.

Figure 11 c unit roll angle input roll angle response curve.

Figure 11 d unit roll angle input crab angle response curve.

Figure 11 e unit roll angle input sideslip angular response curve.

Figure 11 f unit roll angle input lateral overload response curve.

The red blue both sides' short range combat Three-dimensional Track of Figure 12.

Number in the figure and symbol description as follows:

Ox---Unmanned combat aircraft body axis system transverse axis

A ₁---region semiapex angle is attacked in the taper of Study on Airborne Gun class

A ₂---the attack probability boundary angle of Study on Airborne Gun model

T---the time

Tg---game playing by machine decision-making time interval

T _game---the game playing by machine decision-making time

T _max---maximum working time

Ts---the sampling time

(n _xcom, n _fcom, γ _com)---the control inputs instruction of simplified model

(α _com, φ _com)---the instruction of six degree of freedom nonlinear model control inputs

N---do not satisfy condition (no)

Y---satisfy condition (YES)

V---gas velocity

α---the angle of attack

θ---the angle of pitch

Q---rate of pitch

δ _e---elevator angle

P---angular velocity in roll

R---yaw rate

φ---roll angle

ψ---crab angle

β---yaw angle

N _y---lateral overload

K ₁, K ₂, K ₃---feedback gain

Cos---cosine function

Sin---sine function

Embodiment

The validity of method for designing proposed by the invention is verified below by a concrete six degree of freedom Unmanned combat aircraft short range combat example, six degree of freedom Unmanned combat aircraft model selected by this example is F-16 Aerodynamics Data of Fighter Models, the light fighter of a kind of single-shot single seat of F-16 fighter plane to be AM General utility companies be USAF development.Experimental calculation machine is configured to Pentium processor, 2.50Ghz dominant frequency, 1G internal memory, and software is MATLAB2004 version.

See Fig. 1-Figure 12, a kind of six degree of freedom Unmanned combat aircraft short range combat method based on simplified model game playing by machine of the present invention, the method concrete steps are as follows:

Step one: build six degree of freedom non-linear F-16 fighter plane Simulink realistic model

The intrinsic optimum configurations of F-16 fighter plane is as follows: the variation range of gas velocity V component is in the horizontal plane 56 ~ 408m/s, and the maximal value of height h should be less than 15,239m, around x-axis, and the moment of inertia (I of y-axis and z-axis _x, I _y, I _z)=(12874.8,75673.6,85552.1) kgm ², product of inertia I _xz=1331.4kgm ².

The control inputs constraint of F-16 fighter plane arranges as follows: throttle lever δ _tallowed band be 1000 ~ 19000lbs, the allowed band of its rate of change is-10000 ~ 10000lbs/s; Elevator angle δ _eallowed band be-25 ~ 25deg, the allowed band of its rate of change is-60 ~ 60deg/s; Aileron movement angle δ _aallowed band be-21.5 ~ 21.5deg, the allowed band of its rate of change is-80 ~ 80deg/s; Control surface steering angle δ _rallowed band be-30 ~ 30deg, the allowed band of its rate of change is-120 ~ 120deg/s.

Step 2: design F-16 Aerodynamics Data of Fighter Models control law

(1) F-16 Aerodynamics Data of Fighter Models trim

This example at height h=3000m, gas velocity V=150m/s, carries out single-point trim under the state of angle of attack α=3.5973deg to F-16 Aerodynamics Data of Fighter Models, after trim each controlled quentity controlled variable and the angle of pitch as follows: throttle lever δ _t=2080.9182lbs, elevator angle δ _e=-2.252deg, aileron movement angle δ _a=0deg, control surface steering angle δ _r=0deg, pitching angle theta=3.5973deg.

(2) vertical passage design of control law

Under trim condition, input the elevating rudder step signal of-1 ° to F-16 Aerodynamics Data of Fighter Models after, angle of attack α, pitching angle theta, the response curve of gas velocity V and rate of pitch q as shown in Figure 5.

For response curve Problems existing, design angle of attack robot pilot as shown in Figure 6.Wherein rate of pitch feedback gain k=0.5, PI controller k _α=0.9+1.4 (1/s), pitch rate gyrosensor transport function is $\frac{q_f\left(s\right)}{q\left(s\right)}=\frac{{78.5}^2}{s^2+2\&CenterDot;0.89\&CenterDot;78.5s+{78.5}^2},$ Angle of attack sensor transport function is $\frac{{\mathrm{\&alpha;}}_f\left(s\right)}{\mathrm{\&alpha;}\left(s\right)}=\frac{10}{s+10}.$

Now, the angle of attack input of given unit, angle of attack α, pitching angle theta, the response curve of gas velocity V and rate of pitch q as shown in Figure 7.Visible, designed angle of attack robot pilot can realize angle of attack steering order and follow the tracks of.

(3) horizontal side path design of control law

Under trim condition, input aileron and the yaw rudder step signal of-1 ° respectively to F-16 Aerodynamics Data of Fighter Models, its angular velocity in roll p, yaw rate r, roll angle φ, crab angle ψ, yaw angle β and lateral overload n _yresponse curve respectively as shown in figs. 8 and 9.

For the problem of response curve, design roll angle robot pilot as shown in Figure 10.Wherein feedback gain (K ₁, K ₂, K ₃)=(-0.25,1,0.5), PI controller k _φ=2+1.5 (1/s), roll angle rate gyro transport function is lead-lag link transport function is the transport function of Hi-pass filter is lateral overload aliasing filter transport function is the transport function of yaw rate gyro is

Now, the roll angle input of given unit, angular velocity in roll p, yaw rate r, roll angle φ, crab angle ψ, yaw angle β and lateral overload n _yresponse curve as shown in Figure 11.Visible, designed roll angle robot pilot, while realizing the tracking of roll angle steering order, also can keep yaw rate r, yaw angle β and lateral overload n _ystable.

Step 3: set up F-16 fighter plane simplified model

The simplified model of F-16 fighter plane as shown in formula (2), wherein gravity acceleration g=9.8m/s ²

Step 4: set up Study on Airborne Gun model

The schematic diagram of Study on Airborne Gun model as shown in Figure 2.Wherein effective range ER=1000m, region semiapex angle A is attacked in the taper of Study on Airborne Gun class ₁=20deg, attacks probability boundary angle A ₂=10deg, Study on Airborne Gun hit rate (P ₁, P ₂)=(0.9,0.95).

Step 5: design F-16 fighter plane control inputs instruction database

This example is for simplified model control inputs instruction (n _xcom, n _fcom, γ _com) sliding-model control as follows: n _xcom=0, n _fcom={ 0.811.21.42}, γ _com={-45 ° 045 ° }, therefore can obtain through permutation and combination the control inputs instruction database that scale is 15.

Step 6: control inputs instruction transformation

Actual in consideration engineering, getting the instruction of six degree of freedom nonlinear model angle of attack control inputs in this example is (angle of attack control inputs instruction α _comunit be radian).

Step 7: set up the F-16 fighter plane short range combat game playing by machine model based on simplified model

The F-16 fighter plane short range combat game playing by machine model based on simplified model is set up according to accompanying drawing 3.Wherein constant coefficient C _r=1, sensitivity K=1000, game playing by machine decision-making time interval tg=2s.

Step 8: simulating, verifying

In this example, get sampling time ts=0.01s, maximum running time T _max=300s, and set red as attacker, blue party is defender, and the original state of red blue both sides arranges as follows: red locus (x _g, y _g, h)=(0,0,3300), gas velocity V=150m/s, flight path pitch angle μ=0deg, flight path azimuthangle , flight path roll angle γ=0deg, tangentially transships n _x=0, normal g-load n _f=1; Blue party locus (x _g, y _g, h)=(1500,1500,3300), gas velocity V=150m/s, flight path pitch angle μ=0deg, flight path azimuthangle , flight path roll angle γ=0deg, tangentially transships n _x=0, normal g-load n _f=1.Take turns game through 83, red finally shoots down blue party, and whole process simulation result as shown in Figure 12.Simulating, verifying is by the game playing by machine method based on simplified model proposed by the invention, and red can complete strike mission in short range combat process, successfully shoots down blue party.

Claims (1)

1., based on a six degree of freedom Unmanned combat aircraft short range combat method for simplified model game playing by machine, it is characterized in that: the performing step of the method is as follows:

Step one: build the non-linear Unmanned combat aircraft Simulink realistic model of six degree of freedom

In the non-linear Unmanned combat aircraft model of six degree of freedom, control inputs is U=[δ _tδ _eδ _aδ _r], wherein δ _tfor throttle lever, δ _efor elevator angle, δ _afor aileron movement angle, δ _rfor control surface steering angle; Quantity of state X=[x _gy _gh φ θ ψ V α β pqr], wherein (x _g, y _g, h) be the locus of Unmanned combat aircraft, φ is roll angle, and θ is the angle of pitch, and ψ is crab angle, and V is gas velocity, and α is the angle of attack, and β is yaw angle, and p is angular velocity in roll, and q is rate of pitch, and r is yaw rate; The differential equation of these 12 quantity of states is:

$\left\{\begin{array}{c}{\stackrel{\&CenterDot;}{x}}_g=u\cos \mathrm{\&theta;}\cos \mathrm{\&psi;}+v(\sin \mathrm{\&phi;}\sin \mathrm{\&theta;}\cos \mathrm{\&psi;}-\cos \mathrm{\&phi;}\sin \mathrm{\&psi;})+w(\sin \mathrm{\&phi;}\sin \mathrm{\&phi;}+\cos \mathrm{\&phi;}\sin \mathrm{\&theta;}\cos \mathrm{\&psi;})\\ {\stackrel{\&CenterDot;}{y}}_g=u\cos \mathrm{\&theta;}\sin \mathrm{\&psi;}+v(\sin \mathrm{\&phi;}\sin \mathrm{\&theta;}\sin \mathrm{\&psi;}+\cos \mathrm{\&phi;}\sin \mathrm{\&psi;})+w(-\sin \mathrm{\&phi;}\cos \mathrm{\&phi;}+\cos \mathrm{\&phi;}\sin \mathrm{\&theta;}\sin \mathrm{\&psi;})\\ \stackrel{\&CenterDot;}{h}=u\sin \mathrm{\&theta;}-v\sin \mathrm{\&phi;}\cos \mathrm{\&theta;}-w\cos \mathrm{\&phi;}\cos \mathrm{\&theta;},\stackrel{\&CenterDot;}{V}=\frac{u\stackrel{\&CenterDot;}{u}+v\stackrel{\&CenterDot;}{v}+w\stackrel{\&CenterDot;}{w}}{V},\stackrel{\&CenterDot;}{\mathrm{\&alpha;}}=\frac{u\stackrel{\&CenterDot;}{w}-w\stackrel{\&CenterDot;}{u}}{u^2+w^2},\stackrel{\&CenterDot;}{\mathrm{\&beta;}}=\frac{\stackrel{\&CenterDot;}{v}V-v\stackrel{\&CenterDot;}{V}}{V^2\cos \mathrm{\&beta;}}\\ \stackrel{\&CenterDot;}{\mathrm{\&phi;}}=p+(r\cos \mathrm{\&phi;}+q\sin \mathrm{\&phi;})\tan \mathrm{\&theta;},\stackrel{\&CenterDot;}{\mathrm{\&theta;}}=q\cos \mathrm{\&phi;}-r\sin \mathrm{\&phi;},\stackrel{\&CenterDot;}{\mathrm{\&psi;}}=\frac{1}{\cos \mathrm{\&theta;}}(r\cos \mathrm{\&phi;}+q\sin \mathrm{\&phi;})\\ \stackrel{\&CenterDot;}{p}=\frac{1}{I_x{I}_z-{I_{xz}}^2}\&lsqb;I_{z}L+I_{xz}N+(I_x-I_y+I_z)I_{xz}pq+(I_y{I}_z-{I_z}^2+{I^2}_{xz})qr\&rsqb;\\ \stackrel{\&CenterDot;}{q}=\frac{1}{I_y}\&lsqb;M-I_{xz}(p^2-r^2)\&rsqb;,\stackrel{\&CenterDot;}{r}=\frac{1}{I_x{I}_y-{I_{xz}}^2}\end{array}\right.---\left(1\right)$

Wherein, (u, v, w) for Unmanned combat aircraft is at three speed components of body axis system Oxyz, (I _x, I _y, I _z) be respectively around x-axis, the moment of inertia of y-axis and z-axis, I _xzfor product of inertia, (L, M, N) is respectively rolling moment, pitching moment and yawing;

Step 2: the non-linear Unmanned combat aircraft control law of design six degree of freedom

(1) Unmanned combat aircraft trim

Under the state of assigned altitute h, gas velocity V and angle of attack α, trim is carried out to Unmanned combat aircraft, solve can make Unmanned combat aircraft suffered make a concerted effort and resultant moment be zero controlled quentity controlled variable and the angle of pitch;

(2) vertical passage design of control law

Under trim condition, after inputting given elevating rudder step signal to Unmanned combat aircraft, by angle of attack α, pitching angle theta, the response curve design angle of attack robot pilot of gas velocity V and rate of pitch q, and then realize angle of attack steering order α _comtracking;

(3) horizontal side path design of control law

Under trim condition, the aileron given respectively to Unmanned combat aircraft mode input and yaw rudder step signal, by the angular velocity in roll p of the two, yaw rate r, roll angle φ, crab angle ψ, yaw angle β and lateral overload n _yresponse curve design roll angle robot pilot, and then realize roll angle steering order φ _comtracking;

Step 3: set up Unmanned combat aircraft simplified model

The control inputs instruction of Unmanned combat aircraft simplified model is (n _xcom, n _fcom, γ _com), correspondence tangentially transships n respectively _x, normal g-load n _fexpect with the output of flight path roll angle γ; Quantity of state is wherein μ is flight path pitch angle, for flight path azimuthangle, V is gas velocity; The differential equation of above 6 quantity of states is:

Wherein, g is acceleration of gravity;

Step 4: set up Study on Airborne Gun model

Study on Airborne Gun model, its effective range is ER, with axis x-axis for axis, A ₁class cone space region for semiapex angle is effective firing area of Study on Airborne Gun; Angle when between the line and x-axis of azimuth of target and target of attack and Unmanned combat aircraft is less than to be attacked probability and to demarcate angle A ₂time, need A be met ₂< A ₁, Study on Airborne Gun hit rate is P ₂; When azimuth of target circle attacks region semiapex angle A in the taper of Study on Airborne Gun class ₁to demarcate angle A with attack probability ₂between time, Study on Airborne Gun hit rate is P ₁, need P be met ₂> P ₁;

Step 5: design Unmanned combat aircraft control inputs instruction database

At the control inputs instruction (n to Unmanned combat aircraft simplified model _xcom, n _fcom, γ _com) carry out sliding-model control after, obtain Unmanned combat aircraft control inputs instruction database through permutation and combination;

Step 6: control inputs instruction transformation

After step 2, the control inputs instruction of the non-linear Unmanned combat aircraft realistic model of six degree of freedom changes (α into _com, φ _com), do not changing throttle lever δ _twhen, six degree of freedom nonlinear model control inputs instruction (α _com, φ _com) with the control inputs instruction (n of simplified model _xcom, n _fcom, γ _com) there is following transformational relation:

$\left\{\begin{array}{c}{\mathrm{\&phi;}}_{com}={\mathrm{\&gamma;}}_{com}\\ {\mathrm{\&alpha;}}_{com}=\frac{g}{{\mathrm{VZ}}_{\mathrm{\&alpha;}}}{n}_{fcom}\end{array}\right.---\left(3\right)$

Wherein, Z _αfor bonding force along the component of x-axis about the partial derivative of angle of attack α, V is gas velocity, and g is acceleration of gravity;

Step 7: set up the Unmanned combat aircraft short range combat game playing by machine model based on simplified model

Game participant is the red blue both sides of Unmanned combat aircraft, and game strategies integrates as control inputs instruction database, and game order is that the red blue both sides of initial time set for the role attacked and defend, and game payoff function is following scoring functions:

$\left\{\begin{array}{c}S=(1-\frac{A_R+A_B}{180})\&CenterDot;C_R{e}^{-(D-SR)/K}\\ S_R=\frac{1+S}{2}\\ S_B=\frac{1-S}{2}\end{array}\right.---\left(4\right)$

Wherein S is Situation Assessment function, A _rfor red speed V _rwith the angle of two machine lines, A _bfor blue party speed V _bwith the angle of two machine lines, C _rfor constant coefficient, D is two machine spacings, and K is sensitivity, and red scoring functions must be divided into S _r, blue party scoring functions must be divided into S _b;

To sum up, belligerent red blue both sides are locus (x according to both sides' quantity of state information of t _g, y _g, h) with gas velocity V, take simplified model as game evolutionary model, with control inputs instruction database for alternate item, must be divided into standard with respective scoring functions, adopt Min-max method, decision-making goes out the steering order input (n in each comfortable t ~ (t+tg) time interval _xcom, n _fcom, γ _com), wherein tg is game playing by machine decision-making time interval; Illustrate with red, being embodied as of Min-max method: in supposition red selection instruction storehouse after a certain instruction, blue party often selects an instruction, tries to achieve a red scoring functions score S by formula (4) _r, get these red scoring functions score S _rin minimum value as alternate item, then from these minimum value, get maximal value, the red control inputs instruction corresponding to it, be the final decision result of red, vice versa;

Step 8: simulating, verifying

Unmanned combat aircraft short range combat based on simplified model game playing by machine emulates, and ts is the sampling time, T _maxfor maximum working time, T _gamefor the game playing by machine decision-making time; If simulation result is undesirable, suitable regulating parameter constant coefficient C _r, sensitivity K and sampling time ts, or redesign scoring functions and control inputs instruction database, also can consider to redesign the non-linear Unmanned combat aircraft control law of six degree of freedom.