CN107422744B - A kind of intersection duration control method based on radial velocity control - Google Patents
A kind of intersection duration control method based on radial velocity control Download PDFInfo
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Abstract
The present invention discloses a kind of intersection duration control method based on radial velocity control.The described method includes: setting aircraft and hit time for intersecting target；Calculate the most short remaining time that the aircraft reaches the intersection target；According to the hit time, the Actual Time Remaining that the aircraft reaches the intersection target is calculated；By controlling radial velocity of the aircraft relative to the intersection target movement, the Actual Time Remaining is converged into the most short remaining time.In the method, pass through the control to radial velocity, adjusting radial velocity restrains Actual Time Remaining to the least residue time, consider the case where remaining time is less than the straight line hit time in the design process simultaneously, and it remains to that carrier is made most quickly to reach intersection target in this case, and in the case where bearer rate variation, remain to that carrier is made to realize that target intersects in the way of closest to the setting intersection time.
Description
Technical field
The present invention relates to control field more particularly to a kind of intersection duration control methods based on radial velocity control.
Background technique
With the development of science and technology, the process of single or multiple movable bodies and target intersected, when in addition to requiring intersection
Outside the intersection precision at quarter, the requirement accurately controlled also proposed to the time of intersection.The development of Interception Technology is especially defendd, it is single
Hair guided weapon to be remarkably decreased the strike success rate of the targets such as naval vessel, it is therefore desirable to carry out saturation attack, i.e., from single-point
Or multi-point transmitting one or more wave time weapon attacks same target, arrives all weapons in the approximate same time
Up at the object hit.
Common intersection problem only considers the overload situations in guided procedure, without being controlled for the time of intersection consumption
System.Accurately to control the time that intersection needs, usually by increasing trajectory curvature, increase the motion path of movable body in turn
Consume the extra trajectory time.
At present to the control of intersection time, the control problem of time will be usually intersected, is considered as one in proportional guidance law
(PNG) the time difference problem ε of guiding time and needs intersected between the time is compensated in guidanceT, the PNG of estimation is guided surplus
Remaining time TdDifference with the time to be flown on current location is as a compensation rate εTIt is introduced into the controller of PNG and is modified, and
The closed loop of guidance law is provided by the theory of optimal control and Taylor series.But this method does not consider to compensate time εT< 0,
The case where navigation time of PNG cannot be less than with navigation time, and the case where bearer rate changes is not considered.
In addition, there is also by remaining time T at presentdBe converted to a target range R=V (Td- t) the case where, V is in formula
Bearer rate further establishes the state equation of the deviation of distance to go and target range, and remaining time control problem is converted
The problem of being tracked for a kind of distance.But it is easy to cause method to dissipate because of the minor change of bearer rate in this method, it can not
It is used in the case where bearer rate variation；In addition, this method is required in multichip carrier synchronization in use, each carrier is intersected with target
Flight (navigation) time and each carrier straight line hit time phase difference it is little, and each carrier straight line hit time phase difference not
Greatly, which significantly limits the usage scenario of method.
Summary of the invention
The object of the present invention is to provide a kind of intersection duration control methods based on radial velocity control, any first to solve
Problem is intersected independent of the time-constrain to trajectory time Estimate and speed variable under the conditions of beginning.
To achieve the above object, the present invention provides a kind of intersection duration control method based on radial velocity control, the party
Method includes:
The hit time for setting carrier and intersecting target；
Calculate the most short remaining time that the carrier reaches the intersection target；
According to the hit time, the Actual Time Remaining that the carrier reaches the intersection target is calculated；
By controlling the radial velocity of the carrier, the Actual Time Remaining is converged into the most short remaining time.
Preferably, the radial velocity by controlling the carrier converges to Actual Time Remaining described most short surplus
It the remaining time, specifically includes:
Construct the radial velocity instruction of the carrier；
The radial velocity is adjusted according to radial velocity instruction, Actual Time Remaining is converged to described most short surplus
The remaining time.
Preferably, the radial velocity instruction of the building carrier, specifically includes:
The Actual Time Remaining is modified, obtained for the first correction time；
According to first correction time, the radial velocity instruction of the carrier is calculated；
The radial velocity is instructed and carries out limited amplitude protection.
Preferably, described that the Actual Time Remaining is modified, it obtained for the first correction time, specifically includes:
According to the most short remaining time and the Actual Time Remaining, the compensation letter of the Actual Time Remaining is constructed
Breath；
According to the compensated information, and the corresponding penalty coefficient of selection, the Actual Time Remaining is modified, is obtained
To first correction time.
Preferably, described instruct to the radial velocity carries out limited amplitude protection, comprising:
When radial velocity instruction is greater than the movement velocity of the carrier, the radial velocity instruction is taken to be equal to described
The movement velocity of carrier.
Preferably, described that the radial velocity is adjusted according to radial velocity instruction, it specifically includes:
Calculate radial velocity of the carrier relative to intersection target movement；
According to the carrier relative to the radial distance of intersection target, radial velocity and radial velocity instruction, building
The state change model of the carrier；
The radial velocity of the carrier is controlled according to the state change model and radial velocity instruction reaches unanimity.
Preferably, described fast relative to the radial distance of intersection target, radial velocity and the radial direction according to the carrier
Degree instruction, constructs the state change model of the carrier, specifically includes:
It is instructed according to the radial distance of the carrier, radial velocity and radial velocity, constructs the state variable of the carrier；
Derivation is carried out to the state variable, obtains the state change model of the carrier.
Preferably, it is described according to the state change model control the carrier radial velocity and radial velocity instruction become
In consistent, specifically include:
Extract the control amount of the state change model；
The control amount is approached using exponent approximation control law, obtains the first analysis parameter；
The stability of the System with Sliding Mode Controller of the radial velocity of the carrier based on the first analysis parameter composition, really
The radial velocity and radial velocity instruction for protecting the carrier reach unanimity.
Using a kind of intersection duration control method based on radial velocity control provided by the invention, based on to radial velocity
Control restrains Actual Time Remaining to the least residue time by adjusting radial velocity, while considering in the design process surplus
The remaining time is less than the case where straight line hit time, and remains to that carrier is made most quickly to reach intersection target, Yi Ji in this case
In the case that bearer rate changes, remain to that carrier is made to realize that target intersects in the way of closest to the setting intersection time.
Detailed description of the invention
Fig. 1 is aircraft provided in an embodiment of the present invention and the intersection schematic diagram for intersecting target；
Fig. 2 is the flow chart of the intersection duration control method provided in an embodiment of the present invention based on radial velocity control；
Fig. 3, which is aircraft of the embodiment of the present invention, intersects state with the earth coordinates lower horizontal plane intersected during target intersection
Gesture figure；
Fig. 4 be the embodiment of the present invention in aircraft with the movement velocity of 1100m/s with intersect target intersect analogous diagram；
Fig. 5 be the embodiment of the present invention in aircraft with the movement velocity of 900m/s with intersect target intersect analogous diagram；
Fig. 6 be the embodiment of the present invention in aircraft with the movement velocity of 700m/s with intersect target intersect analogous diagram；
Fig. 7-1 be the embodiment of the present invention in aircraft with the movement velocity of 499m/s with intersect target intersect analogous diagram；
Fig. 7-2 is the partial enlarged view of Fig. 7-1；
Fig. 8 is in the embodiment of the present invention in different emission times, in same transmitting position, with different emission rate VtTransmitting
Multiple aircraft with it is same intersect target intersection analogous diagram；
Fig. 9-1 is in different transmitting positions in the embodiment of the present invention, with the multiple aircraft of identical emission rate transmitting and together
The analogous diagram of one intersection target intersection；
Fig. 9-2 is in the embodiment of the present invention in different transmitting positions, with different emission rates emit multiple aircraft with
The analogous diagram of same intersection target intersection.
Appended drawing reference A in attached drawing indicates aircraft, and T indicates intersection target.
Specific embodiment
Below by drawings and examples, technical scheme of the present invention will be described in further detail.
Fig. 1 is aircraft provided in an embodiment of the present invention and the intersection schematic diagram for intersecting target.Under normal conditions, it is setting
The hit time T of aircraft (i.e. weapon carrier)fAfterwards, aircraft is emitted, as shown in Figure 1, the movement velocity of aircraft is Vt,
Trajectory is curve track as shown in Figure 1, and for aircraft in t moment, the linear distance relative to intersection target is r, the present invention
The purpose of embodiment is the radial velocity by controlling aircraft, makes aircraft (such as S location) when moving to a certain position, is turned
To in the movement for being similar to straight line of opposite intersection target, aircraft and the intersection time for intersecting target are accurately controlled to setting
The hit time T setf。
Fig. 2 is the flow chart of the intersection duration control method provided in an embodiment of the present invention based on radial velocity control.Such as
Shown in Fig. 2, this method specific implementation is as follows:
Step S100: setting aircraft and hit time for intersecting target.
Specifically, before emitting aircraft, the hit time T of aircraft is first setf, make aircraft hit the time with
Intersect target intersection.
Step S200: the most short remaining time that the aircraft reaches the intersection target is calculated.
Specifically, it is assumed that intersection target hovering, after aircraft is emitted, aircraft is reached from current location in t moment and handed over
The shortest time of meeting target are as follows:
Wherein, r be aircraft in t moment with the linear distance that intersects target, tgo1It is aircraft from t moment full speed edge
Time needed for linear motion to intersection target, VtFor the movement velocity of aircraft.
Step S300: according to the hit time, when calculating the aircraft and reaching the real surplus of the intersection target
Between.
Specifically, when t moment, Actual Time Remaining needed for aircraft reaches intersection target are as follows:
tgo=Tf-t (2)
Wherein, tgoActual Time Remaining needed for reaching intersection target for aircraft.
Step S400: by controlling radial velocity of the aircraft relative to the intersection target movement, by the reality
Border remaining time converges to the most short remaining time.
In particular, it is desirable to intersect using near linear trajectory with target in terminal phase, then there must be a moment, so that practical
Remaining time is equal to most short remaining time, it may be assumed that tgo≈tgo1, for example, as shown in figure 1, when aircraft runs to S location, at this time
Actual Time Remaining tgoConverge to most short remaining time tgo1。
To realize Actual Time Remaining tgoConverge to most short remaining time tgo1, the radial speed of construction aircraft can be passed through
Degree instructs to adjust the radial velocity of aircraft, so that the curve trajectory of aircraft is turned to straight line trajectory at certain point, and then make reality
Border remaining time tgoConverge to most short remaining time tgo1, specifically implementation method is as follows:
Step S410: the radial velocity instruction of the aircraft is constructed.
Specifically, as shown in Figure 1, aircraft is when being initially launched, if not being the attack time of setting not enough or being arranged
The hit time just reach straight line hit, then: tgo> tgo1, to the Actual Time Remaining tgoIt is modified, specifically:
It enables
st=tgo-tgo1 (3)
Wherein, stActual Time Remaining tgoCompensated information；
According to compensated information st, and according to certain penalty coefficient k, to the Actual Time Remaining tgoIt is modified, obtains
To the first correction time, specifically:
Wherein,For the first correction time；
According to the first correction timeThe radial velocity instruction of aircraft is calculated, are as follows:
Wherein,The as radial velocity instruction of aircraft, by physical characteristic it is found that under the hypothesis of the embodiment of the present invention,
The radial velocity of aircraftThe movement velocity V of aircraft can not be greater thant；To guarantee aircraft always towards intersection target fortune
It is dynamic, it avoids intersection process from dissipating, so that the Actual Time Remaining is converged to the most short remaining time, therefore to the radial speed
Degree instruction carries out limited amplitude protection, specifically:
Specifically, by formula (6) it is found that guarantee that aircraft is moved towards target always, it is necessary to makeAnd then it wants
It asksBy formula (6) it is found that guaranteeK > 0 must be chosen.
Under special circumstances, work as appearanceObviously aircraft will not contract far from intersection target, Actual Time Remaining at this time
It is short, therefore in order to keepAnd possible maximum value should be got, it enablesεtFor the positive real number of a very little, such as can take
εt=0.000001, it avoidsAnd dissipate intersection process.
It is to during intersection below, the Actual Time Remaining divides to the most short remaining time convergent process
Analysis:
In intersection procedure, the inertia of system is not considered, is located at t0The instruction of moment radial velocityBy very short one
After section time Δ t, distance becomes:From formula (1), (2), (3):
Obviously
∴st1≤st0
Δ t is replaced with infinitesimal dt, with infinitesimal dstInstead of Δ st=st1-st0, it can be released by formula (7):
Again because in initial moment, tgo> tgo1, in TfMoment tgo=0, and any time tgo1>=0, it is clear that tgoAnd tgo1
It is consecutive variations, at a time t ∈ (0, Tf], there is tgo=tgo1, that is, work as tgo=tgo1When, aircraft turns to directly from curve trajectory
Line trajectory is moved to intersection target.
Further, as Actual Time Remaining tgoLess than most short remaining time tgolWhen, have:
According to formula (6) it is found that at this time
Obviously, byDefinition and physical characteristic it is found that aircraft radial velocityAbsolute valueMaximum value is Vt,
WhenWhen, aircraft along with intersect target link to intersect target line move.I.e. in this case, this guidance method can be led
Drawing aircraft, temporally the smallest method is intersected with target, the case where without dissipating.
Further, the selection of the penalty coefficient k in formula (4) can be with are as follows:
According to formula (4), (6) and (7), it is known that:
AndObviously in identical (r, Tf,st) condition when, with the increase of k,Successively decrease, increase λ with the increase of k, i.e., trajectory remaining time restrain to can straight line hit the time speed speed.But by
Equation of Relative Motion with Small (as shown in Figure 3), the radial velocity of aircraft areWherein, q be aircraft with intersect
The angle of sight between target,Angle of the aircraft relative to earth coordinates；By the radial velocity of aircraft
It is found thatAdjustment really by adjusting q,It carries out, and angle of sight q changes with relative position, it is especially larger in distance r
When, slowly, in order to consume more remaining times in trajectory early period, later period trajectory is straight as far as possible, therefore main in early period for variation
By adjustmentAdjust the difference of the Actual Time Remaining and least residue time, andIt is influenced by aircraft characteristic, it is impossible to
It is too fast, and in terms of overload angle, it is unsuitable too fast, to guarantee that trajectory is steady.Therefore k value should be suitably selected, adapts to the needs used,
The embodiment of the present invention can use k value be 3, in other practical applications, in the case where meeting above-mentioned condition, can according to demand depending on.
Step S420: the radial velocity is adjusted according to radial velocity instruction, Actual Time Remaining is converged to
The most short remaining time.
Specifically, to avoid the movement velocity V due to aircrafttChange and cause the hair of Actual Time Remaining convergence process
It dissipates, the radial velocity that the embodiment of the present invention passes through control aircraftMake the radial velocity of aircraft processedWith the diameter of aircraft processed
It reaches unanimity always to speed command, it is ensured that the Actual Time Remaining tgoSteadily to the most short remaining time tgo1Convergence,
It is specific as follows:
Fig. 3, which is aircraft of the embodiment of the present invention, intersects state with the earth coordinates lower horizontal plane intersected during target intersection
Gesture figure.As shown in figure 3, the course of aircraft A isThe speed of a ship or plane is Vt, it is assumed that intersection target T approximation is motionless, and line of sight angle is
Q, target range r are obtained by Fig. 3:
Wherein,For the radial velocity of aircraft, q is aircraft and intersect the angle of sight between target,Aircraft is opposite
In the angle of earth coordinates,For the lateral velocity of aircraft.
First derivative is asked to obtain respectively formula (9) left and right:
Construct the state variable of aircraft:
Think to instruct consecutive variationsIt is approximately zero, to state variable X derivation, obtains the state change model of aircraft, has
Body are as follows:
Wherein, u is the control amount of the state change model, form are as follows:
The System with Sliding Mode Controller of design radial velocity makes radial velocity trace command.It takesIt is forced using exponential form
Nearly rateThe control amount u of the state equation of radial velocity control system is designed, the first analysis ginseng can be obtained
Number, makes the control system by exponential approach in sliding-mode surface s=0, i.e. radial velocityIt is instructed by exponential approach in radial velocity
It is specific as follows:
It is restrained, is had according to exponent approximation form control:
Wherein, function sgn (s) is used for the symbol of access value s, and ε is positive real number；
It enablesu1The as described first analysis parameter.
Obtain the first analysis parameter u1Afterwards, the course angular speed of needs can be released according to formula (11)AsInstruction.
To based on the first analysis parameter u1The radial velocity of the aircraft of compositionThe stability of System with Sliding Mode Controller divided
Analysis, if it is that can guarantee to make radial velocity that system, which is stablized,The radial velocity that levels off to instructionFurther ensure the real surplus
Time tgoSteadily to the most short remaining time tgo1Convergence, specific as follows:
Take liapunov function
(1) whenWhen knowing, then
∵ k, ε > 0
Obviously, system is stablized, the Actual Time Remaining tgoSteadily to the most short remaining time tgo1Convergence.
(2) whenWhen, andWhen unknowable,Bounded, i.e.,At this point, control amount is
It enablesThen
Obviously, as ε >=m,System is stablized, the Actual Time Remaining tgoSteadily to it is described most short remaining when
Between tgo1Convergence.
The course angular speed that the embodiment of the present invention passes through control aircraftAnd then control the radial velocity of aircraftMake
The radial velocity of aircraftRadial velocity instruction with aircraft reaches unanimity always, it is ensured that the Actual Time Remaining tgoSurely
Surely to the most short remaining time tgo1Convergence, while can avoid the movement velocity V in aircrafttVariation causes real surplus
Time tgoThe diverging of convergence process.
Further, in practical applications, method provided in an embodiment of the present invention is suitable for same aircraft with different hairs
Firing rate degree Vt(i.e. movement velocity Vt) intersected with the same target that intersects.
For example, fig. 4 to fig. 6 and Fig. 7-1 to Fig. 7-2 are same aircraft with different emission rate Vt(i.e. movement velocity
Vt) with it is same intersect target intersection analogous diagram.As shown in fig. 4 to fig. 6 and Fig. 7-1 to Fig. 7-2, simulation step length 0.001s,
The emitter position of aircraft is (10000,0) m, and it is 150 ° that the position for intersecting target, which is (0,0) m direction of the launch, aircraft
Emission rate is respectively 1100m/s, 900m/s, 700m/s, 499m/s, hits time TfIt is set as 20s, the aircraft is most
Big angle rate limitation is 50 °/s.By the simulation result of fig. 4 to fig. 6 and Fig. 7-1 to Fig. 7-2 it is found that aircraft is in different fortune
It can be achieved to intersect according to the time as defined in approximation (20s) with target under dynamic speed.As shown in table 1, situation 1,2,3 intersects the time
It is 19.999s, substantially completely consistent (emulation cycle 0.001s) with defined hit time 20s, the 4th kind of situation, when intersection
Between 20.068s.
Situation 1, when aircraft speed of a ship or plane 1100m/s, the time of straight line intersection is about 10000/1100=9.091s, and is required
The intersection time be 20s and the 2 times or more that is the rectilinear flight time, it is larger with the time phase difference of rectilinear flight, therefore the situation
Suitable for more usage scenarios.
Situation 4, when aircraft speed of a ship or plane 1100m/s, most short remaining time is about 10000/499=20.04s, than what is required
The intersection time is big, from Fig. 7-2 as can be seen that aircraft turns to straight line intersection direction by maximum angular rate with prestissimo and target
Intersection, the intersection time only 0.028s more than most short remaining time.
Table 1 intersects situation with target from same position and angle in emission time, friction speed aircraft
Further, in practical applications, method provided in an embodiment of the present invention is also applied in different emission times, In
Same transmitting position, with different emission rate Vt(i.e. movement velocity Vt) the multiple aircraft of transmitting intersect with the same target that intersects.
For example, Fig. 8 is in different emission times, in same transmitting position, with different emission rate Vt(i.e. movement velocity Vt)
Emit multiple aircraft and the same analogous diagram for intersecting target intersection.As shown in Figure 8, it is assumed that launch point emits one every 10s
Aircraft emits 4 altogether, and launch angle is 135 °.As 0 moment when being emitted using first aircraft, four boats after 104s
Row device is intersected with target is intersected.The transmitting position of aircraft is (0, -1500) m, is intersected target position (0,0).Each aircraft
Initial velocity be 20m/s, the speed between time 30s-40s is [20+0.5 (t-30)] (m/s), in time 40s-
Speed between 50s is [25-0.2 (t-40)] (m/s), and speed is 23m/s after time 50s.
2 same position of table emits multiple aircraft and the same intersection situation for intersecting target
As shown in Table 2, each aircraft is emitted in same position by different time, and itself the case where there are larger speed changes
Under, it is each can hit according to the rules the time the same time with intersect target intersection.
Further, in practical applications, method provided in an embodiment of the present invention is applied also in different transmitting positions, with
Same or different emission rate Vt(i.e. movement velocity Vt) the multiple aircraft of transmitting intersect with the same target that intersects.
Fig. 9-1 to Fig. 9-2 is in different transmitting positions, with same or different emission rate Vt(i.e. movement velocity Vt)
Emit multiple aircraft and the same analogous diagram for intersecting target intersection.As shown in Fig. 9-1 and Fig. 9-2, item is emulated according to table 3 respectively
Part is emulated.Fig. 9-1 is the analogous diagram of situation 1 in table 3, and Fig. 9-2 is the analogous diagram of situation 2 in table 3.Four aircraft difference
Emit from (- 9093,5250) m, (- 6364, -6364) m, (- 2070, -7727) m and (4750, -8227) m, by situation 1 in table 3
(position is (0,0) m) intersection, obtains the simulation result such as table 3.1 and table 3.2 with target is intersected with the speed of situation 2.
The more aircraft saturation intersections of 3 multiposition of table use simulated conditions
The simulation result that 36s is intersected is arranged in 3.1 situation 1 of table
The simulation result that 40s is intersected is arranged in 3.2 situation 2 of table
Show that situation 1 is a kind of ideal situation by the simulation result of table 3.1 and table 3.2, i.e., the navigation of each launch point transmitting
Device is ideal situation, and the speed of a ship or plane is consistent, and situation 2 be a kind of highly non-uniform situation of aircraft VELOCITY DISTRIBUTION, this two kinds
In the case of, aircraft reaches intersection target point by the hit time of setting substantially.Situation 2 covers the similar boat in
The velocity deviation of row device.Wherein No. 3 aircraft in case 2, since straight line intersects the difference of the hit time of time and setting only
Have 5ms surplus, and when its initial position course and target line hit line angle be 30 °, peak turn rate be 50 °/
S, therefore its arrival time is slightly larger than setting time.
It is comprehensive, by fig. 4 to fig. 6, the simulation scenarios of Fig. 7-1 to 7-2, Fig. 8, Fig. 9-1 to Fig. 9-2 it is found that the present invention is implemented
The intersection duration control method that example provides is suitable for low speed, middling speed, high speed, the aircraft of speed change and temporally intersects use；Meanwhile
Its least residue time t is close to or smaller than suitable for the single aircraft intersection timego1The case where intersecting target；It is equally applicable to
Multiple aircraft in same position or different location, same time or different time transmitting, according to identical speed or different
Speed, it is final simultaneously with the use that intersect target and intersect.Therefore this method covers possible whole use scopes.
Above-described specific embodiment has carried out further the purpose of the present invention, technical scheme and beneficial effects
It is described in detail, it should be understood that being not intended to limit the present invention the foregoing is merely a specific embodiment of the invention
Protection scope, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should all include
Within protection scope of the present invention.
Claims (6)
1. a kind of intersection duration control method based on radial velocity control, which is characterized in that the described method includes:
The hit time for setting carrier and intersecting target；
Calculate the most short remaining time that the carrier reaches the intersection target；The most short remaining time is to carry described in t moment
Body reaches the ratio of the linear distance of the intersection target and the movement velocity of the carrier；
According to the hit time, the Actual Time Remaining that the carrier reaches the intersection target is calculated；The real surplus
Time is the difference of the hit time and t moment；
The Actual Time Remaining is modified, obtained for the first correction time, according to first correction time, described in calculating
The radial velocity of carrier instructs, and instructs to the radial velocity and carries out limited amplitude protection, is instructed according to the radial velocity and adjusts institute
The Actual Time Remaining is converged to the most short remaining time by the radial velocity for stating carrier.
2. method according to claim 1, which is characterized in that it is described that the Actual Time Remaining is modified, it obtains
To the first correction time, specifically include:
According to the most short remaining time and the Actual Time Remaining, the compensated information of the Actual Time Remaining is constructed；
According to the compensated information, and the corresponding penalty coefficient of selection, the Actual Time Remaining is modified, institute is obtained
Stated for the first correction time.
3. method according to claim 2, which is characterized in that described instruct to the radial velocity carries out clipping guarantor
Shield, comprising:
When radial velocity instruction is greater than the movement velocity of the carrier, the radial velocity instruction is taken to be equal to the carrier
Movement velocity.
4. method according to claim 1, which is characterized in that described to adjust the diameter according to radial velocity instruction
To speed, specifically include:
Calculate radial velocity of the carrier relative to intersection target movement；
It is instructed according to the carrier relative to the radial distance of intersection target, radial velocity and the radial velocity, described in building
The state change model of carrier；
The radial velocity of the carrier is controlled according to the state change model and radial velocity instruction reaches unanimity.
5. according to the method described in claim 4, it is characterized in that, the radial direction according to the carrier relative to intersection target
Distance, radial velocity and radial velocity instruction, construct the state change model of the carrier, specifically include:
It is instructed according to the radial distance of the carrier, radial velocity and radial velocity, constructs the state variable of the carrier；
Derivation is carried out to the state variable, obtains the state change model of the carrier.
6. according to the method described in claim 4, it is characterized in that, described control the carrier according to the state change model
Radial velocity and radial velocity instruction reach unanimity, specifically include:
Extract the control amount of the state change model；
The control amount is approached using exponent approximation control law, obtains the first analysis parameter；
The stability of the System with Sliding Mode Controller of the radial velocity of the carrier based on the first analysis parameter composition, it is ensured that institute
The radial velocity and radial velocity instruction for stating carrier reach unanimity.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710302046.2A CN107422744B (en) | 2017-05-02 | 2017-05-02 | A kind of intersection duration control method based on radial velocity control |
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