CN108008736A - Aircraft cooperative control method, device, computer-readable recording medium and terminal - Google Patents
Aircraft cooperative control method, device, computer-readable recording medium and terminal Download PDFInfo
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- CN108008736A CN108008736A CN201711164429.4A CN201711164429A CN108008736A CN 108008736 A CN108008736 A CN 108008736A CN 201711164429 A CN201711164429 A CN 201711164429A CN 108008736 A CN108008736 A CN 108008736A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
Aircraft cooperative control method, device, computer-readable recording medium and terminal are disclosed, belongs to technical field of flight control.This method includes：Obtain the normal acceleration a of the aircraft for aerial mission of taking off, simultaneously participate in from diverse locationN, iSo that：The angle of sight λ of each aircraftiIn specified convergence time TcInside tend to the angle specified, the line-of-sight rate by line λ of each aircraftiIn specified convergence time TcInside tend to 0 until equal to 0；Obtain the tangential acceleration a of the aircraft for aerial mission of taking off, simultaneously participate in from diverse locationT, iSo that：The collaboration error ξ of each aircraftiIn time TsInside tend to 0 until equal to 0；According to normal acceleration aN, i, tangential acceleration aT, i, the aircraft for aerial mission of respectively taking off, simultaneously participate in from diverse location is controlled so that each aircraft drop to the same drop point specified at the same time.The device, medium, terminal are used to perform this method.It causes multiple aircraft to perform aerial mission with prespecified parameter, and logical process is simpler.
Description
Technical field
The present invention relates to technical field of flight control, more particularly to a kind of aircraft cooperative control method, device, computer
Readable storage medium storing program for executing.
Background technology
Control for aircraft is typically using the equipment sights such as radar, in this case, same control signal
And/or control condition is typically only capable to control single aircraft, and during multiple aircraft co-operatings, since control is patrolled
Collect relative complex, control condition presentation variation, therefore, in the prior art, for the excessively program-controlled of multiple aircraft co-operatings
Relative difficult processed is relative complex with sight, or sight.
The content of the invention
In view of this, the present invention provides a kind of aircraft cooperative control method, device, computer-readable recording medium,
It enables to multiple aircraft to perform aerial mission with prespecified parameter, also, logical process is simpler, so that more
Add suitable for practicality.
In order to reach above-mentioned first purpose, the technical solution of aircraft cooperative control method provided by the invention is as follows：
Aircraft cooperative control method provided by the invention comprises the following steps：
Obtain the normal acceleration a of the aircraft for aerial mission of taking off, simultaneously participate in from diverse locationN, iSo that：Each institute
State the angle of sight λ of the aircraft for aerial mission of taking off, simultaneously participate in from diverse locationiIn specified convergence time TcInside tend to refer to
Fixed angle, the line-of-sight rate by line of the aircraft of each aerial mission of taking off, simultaneously participate in from diverse locationSpecified
Convergence time TcInside tend to 0 until equal to 0；
Obtain the tangential acceleration a of the aircraft for aerial mission of taking off, simultaneously participate in from diverse locationT, iSo that：Each institute
State the collaboration error ξ of the aircraft for aerial mission of taking off, simultaneously participate in from diverse locationiIn time TsInside tend to 0 until equal to 0；
According to the normal acceleration aN, i, the tangential acceleration aT, i, described take off while join from diverse location to each
It is controlled with the aircraft of aerial mission so that the aircraft of each aerial mission of taking off, simultaneously participate in from diverse location
It drop to the same drop point specified at the same time；
Wherein,
TcFor preassigned convergence time, for different aircraft, TcTake different values；
In formula, kξ、ρξFor constant, wherein, kξ0,0 ＜ ρ of ＞ξ＜ 1；λ2For Laplce's square
Battle arrayMinimum non-zero characteristic value, LaPlacian matrix definition isIn i=jI ≠
L during jij=-aij, wherein aI, jIt is for describing to communicate topological adjacency matrix between aircraft's
Member.Wherein,Represent the collaboration variable of i-th of aircraft, riRepresent i-th
Relative distance between aircraft and target, VM, iFor the speed of i-th of aircraft.Represent that the collaboration of j-th of aircraft becomes
Amount.
Aircraft cooperative control method provided by the invention can be also applied to the following technical measures to achieve further.
Preferably,
It is less than the receipts specified when the flight time of the aircraft of each aerial mission of taking off, simultaneously participate in from diverse location
Hold back time TcWhen：
The angle of sight λ of the aircraft of each aerial mission of taking off, simultaneously participate in from diverse locationiLevel off to the drop specified
Angle of fall degree
The line-of-sight rate by line of the aircraft of each aerial mission of taking off, simultaneously participate in from diverse locationIn specified receipts
Hold back time TcInside tend to 0；
Refer to when the flight time of the aircraft of each aerial mission of taking off, simultaneously participate in from diverse location is greater than or equal to
Fixed convergence time TcWhen：
The angle of sight λ of the aircraft of each aerial mission of taking off, simultaneously participate in from diverse locationiEqual to the landing specified
Angle
The line-of-sight rate by line of the aircraft of each aerial mission of taking off, simultaneously participate in from diverse locationEqual to 0.
Preferably, the normal acceleration aN, iCalculation formula be：
In formula (1)：
k0＞ 2, kσ、ρσFor constant, wherein, kσ0,0 ＜ ρ of ＞σ＜ 1,
Sgn () is a sign function, γM, iThe course angle of i-th of aircraft, V are represented respectivelyR, iAnd Vλ, iIt is respectively
The horizontal and vertical relative velocity component in sight, riRepresent the relative distance between i-th of aircraft and target；
g(xI, i, ti) and σiExpression formula in xI, iFirst subscript represent i-th of quantity of state, i=1,2；Second
I-th of aircraft that subscript represents, i=1 ..., n,
Wherein tGo, i=Tc-ti；
Preferably,
It is less than time T when the flight time of the aircraft of each aerial mission of taking off, simultaneously participate in from diverse locations
When：
The collaboration error ξ of the aircraft of each aerial mission of taking off, simultaneously participate in from diverse locationiTend to 0；
It is more than or equal to when the flight time of the aircraft of each aerial mission of taking off, simultaneously participate in from diverse location
Time TsWhen：
The collaboration error ξ of the aircraft of each aerial mission of taking off, simultaneously participate in from diverse locationiEqual to 0.
Preferably, the tangential acceleration aT, iCalculation formula be：
In formula (2)：
Sgn () is a sign function,
For cooperate with error, represent i-th of aircraft collaboration variable with
Difference between the collaboration variable of Adjacent aircraft；
kξ、ρξFor constant, wherein, kξ0,0 ＜ ρ of ＞ξ＜ 1.
In order to reach above-mentioned second purpose, the technical solution of aircraft Collaborative Control device provided by the invention is as follows：
Aircraft Collaborative Control device provided by the invention includes：
Normal acceleration acquisition module, take off, simultaneously participate in the aircraft of aerial mission for acquisition from diverse location
Normal acceleration aN, iSo that：The angle of sight λ of the aircraft of each aerial mission of taking off, simultaneously participate in from diverse locationi
The convergence time T specifiedcInside tend to the angle specified, the flight of each aerial mission of taking off, simultaneously participate in from diverse location
The line-of-sight rate by line of deviceIn specified convergence time TcInside tend to 0 until equal to 0；
Tangential acceleration acquisition module, take off, simultaneously participate in the aircraft of aerial mission for acquisition from diverse location
Tangential acceleration aT, iSo that：The collaboration error ξ of the aircraft of each aerial mission of taking off, simultaneously participate in from diverse locationi
In time TsInside tend to 0 until equal to 0；
Control module, for according to the normal acceleration a obtained from the normal acceleration acquisition moduleN, iWith from described
The tangential acceleration a that tangential acceleration acquisition module obtainsT, i, described take off from diverse location to each, simultaneously participate in aerial mission
Aircraft be controlled so that the aircraft of each aerial mission of taking off, simultaneously participate in from diverse location is drop at the same time
The same drop point specified；
Wherein,
TcFor preassigned convergence time, for different aircraft, TcTake different values；
In formula, kξ、ρξFor constant, wherein, kξ0,0 ＜ ρ of ＞ξ＜ 1；λ2For Laplce's square
Battle arrayMinimum non-zero characteristic value, LaPlacian matrix definition isIn i=jI ≠
L during jij=-aij, wherein aI, jIt is for describing to communicate topological adjacency matrix between aircraft's
Member.Wherein,Represent the collaboration variable of i-th of aircraft, riRepresent i-th
Relative distance between aircraft and target, VM, iFor the speed of i-th of aircraft.Represent that the collaboration of j-th of aircraft becomes
Amount.
Aircraft Collaborative Control device provided by the invention can be also applied to the following technical measures to achieve further.
Preferably,
The calculation formula that the normal acceleration acquisition module performs is：
In formula (1)：
k0＞ 2, kσ、ρσFor constant, wherein, kσ0,0 ＜ ρ of ＞σ＜ 1,
Sgn () is a sign function, γM, iThe course angle of i-th of aircraft, V are represented respectivelyR, iAnd Vλ, iIt is respectively
The horizontal and vertical relative velocity component in sight, riRepresent the relative distance between i-th of aircraft and target；
g(xI, i, ti) and σiExpression formula in xI, iFirst subscript represent i-th of quantity of state, i=1,2；Second
I-th of aircraft that subscript represents, i=1 ..., n,
Wherein tGo, i=Tc-ti；
Preferably,
The calculation formula that the tangential acceleration acquisition module performs is：
In formula (2)：
Sgn () is a sign function,
For cooperate with error, represent i-th of aircraft collaboration variable with
Difference between the collaboration variable of Adjacent aircraft.
kξ、ρξFor constant, wherein, kξ0,0 ＜ ρ of ＞ξ＜ 1.
Aircraft Collaborative Control device provided by the invention can be also applied to the following technical measures to achieve further.
Preferably,
The calculation formula that the normal acceleration acquisition module performs is：
In formula (1)：
k0＞ 2, kσ、ρσFor constant, wherein, kσ0,0 ＜ ρ of ＞σ＜ 1,
Sgn () is a sign function,
g(xI, i, ti) in xI, iFirst subscript represent i-th of quantity of state, i=1,2；Second subscript represent the
I aircraft, i=1 ..., n,
Preferably,
The calculation formula that the tangential acceleration acquisition module performs is：
In formula (2)：
Sgn () is a sign function,
For cooperate with error, represent i-th of aircraft collaboration variable with
Difference between the collaboration variable of Adjacent aircraft；
κξ、ρξFor constant, wherein, κξ0,0 ＜ ρ of ＞ξ＜ 1.
In order to reach above-mentioned 3rd purpose, the technical solution of computer-readable recording medium provided by the invention is as follows：
Aircraft association is stored with described in computer-readable recording medium provided by the invention on computer-readable recording medium
With control program, sight aircraft Collaborative Control provided by the invention when the aircraft Collaborative Control program is executed by processor
The step of method.
In order to reach above-mentioned 4th purpose, the technical solution of terminal provided by the invention is as follows：
Terminal provided by the invention includes processor, memory and is stored on the memory and can handle it described
The aircraft Collaborative Control program of upper operation, the sight present invention when aircraft Collaborative Control program is performed by the processor
The step of aircraft cooperative control method of offer.
Aircraft cooperative control method, device, computer-readable recording medium and terminal provided by the invention enable to
Multiple aircraft perform aerial mission with prespecified parameter, its obtain first respectively take off from diverse location, simultaneously participate in it is winged
The normal acceleration a of the aircraft of row taskN, i, tangential acceleration aT, i, then, according to each normal acceleration aN, i, tangential accelerate
Spend aT, i, each aircraft that aerial mission is taken off, simultaneously participated in from diverse location is controlled so that described in each never
The aircraft of aerial mission of taking off, simultaneously participate in position drop to the same drop point specified at the same time, also, logical process is more
Simply.
Brief description of the drawings
By reading the detailed description of hereafter preferred embodiment, it is various other the advantages of and benefit it is common for this area
Technical staff will be clear understanding.Attached drawing is only used for showing the purpose of preferred embodiment, and is not considered as to the present invention
Limitation.And in whole attached drawing, identical component is denoted by the same reference numerals.In the accompanying drawings：
Fig. 1 is the step flow chart for the aircraft cooperative control method that the embodiment of the present invention one provides；
Fig. 2 is that the signal in aircraft Collaborative Control device provided by Embodiment 2 of the present invention between each module flows to relation
Schematic diagram；
Fig. 3 be n take off, simultaneously participate in from diverse location aerial missions aircraft drop at the same time it is same specify fall
The schematic diagram of point；
Fig. 4 is the geometrical model schematic diagram of aircraft flight；
Fig. 5 is the communication topology schematic diagram when aircraft is 5；
Under the conditions of Fig. 6 a is aircraft cooperative control method of first aircraft using the offer of the embodiment of the present invention one
Quantity of state-time history；
Under the conditions of Fig. 6 b is aircraft cooperative control method of first aircraft using the offer of the embodiment of the present invention one
Tangential acceleration-time history；
Under the conditions of Fig. 6 c is aircraft cooperative control method of first aircraft using the offer of the embodiment of the present invention one
Normal acceleration-time history；
Fig. 7 a are phase of 5 aircraft under the conditions of the aircraft cooperative control method provided using the embodiment of the present invention one
Adjust the distance-time history；
Fig. 7 b are association of 5 aircraft under the conditions of the aircraft cooperative control method provided using the embodiment of the present invention one
Same error-time history；
Fig. 7 c are association of 5 aircraft under the conditions of the aircraft cooperative control method provided using the embodiment of the present invention one
Same variable-time history；
Fig. 7 d are rail of 5 aircraft under the conditions of the aircraft cooperative control method provided using the embodiment of the present invention one
Mark-time history.
Embodiment
The present invention is existing in the prior art to solve the problems, such as, there is provided a kind of aircraft cooperative control method, device, computer
Readable storage medium storing program for executing, it enables to multiple aircraft to perform aerial mission with prespecified parameter, also, logical process is more
Add simply, thus more suitable for practicality.
Further to illustrate the present invention to reach the technological means and effect that predetermined goal of the invention is taken, below in conjunction with
Attached drawing and preferred embodiment, to according to aircraft cooperative control method proposed by the present invention, device, computer-readable recording medium
And terminal, its embodiment, structure, feature and its effect, describe in detail as after.In the following description, a different " reality
Apply example " or " embodiment " refer to be not necessarily the same embodiment.In addition, feature, structure or feature in one or more embodiments
It can be combined by any suitable form.
The terms "and/or", is only a kind of incidence relation for describing affiliated partner, and expression may have three kinds of passes
System, for example, A and/or B, is specifically interpreted as：A and B can be included at the same time, can be with individualism A, can also individualism
B, can possess above-mentioned three kinds of any situations.
Embodiment one
Referring to attached drawing 1, the aircraft cooperative control method that the embodiment of the present invention one provides comprises the following steps：
Step S1：Obtain the normal acceleration a of the aircraft for aerial mission of taking off, simultaneously participate in from diverse locationN, i, make
：Respectively take off, simultaneously participate in from diverse location aerial mission aircraft angle of sight λiIn specified convergence time TcInside tend to
The angle specified, the line-of-sight rate by line of the aircraft for aerial mission of respectively taking off, simultaneously participate in from diverse locationIn specified receipts
Hold back time TcInside tend to 0 until equal to 0；
Step S2：Obtain the tangential acceleration a of the aircraft for aerial mission of taking off, simultaneously participate in from diverse locationT, i, make
：Respectively take off, simultaneously participate in from diverse location aerial mission aircraft collaboration error ξiIn time TsInside tend to 0 until etc.
In 0；
Step S3：According to normal acceleration aN, i, tangential acceleration aT, i, it is winged to respectively taking off, simultaneously participating in from diverse location
The aircraft of row task is controlled so that the aircraft for aerial mission of respectively taking off, simultaneously participate in from diverse location lands at the same time
To the same drop point specified；
Wherein,
TcFor preassigned convergence time, for different aircraft, TcTake different values；
In formula, kξ、ρξFor constant, wherein, kξ0,0 ＜ ρ of ＞ξ＜ 1；λ2For Laplce's square
Battle arrayMinimum non-zero characteristic value, LaPlacian matrix definition isIn i=jI ≠
L during jij=-aij, wherein aI, jIt is for describing to communicate topological adjacency matrix between aircraft's
Member.Wherein,Represent the collaboration variable of i-th of aircraft, riRepresent i-th
Relative distance between aircraft and target, VM, iFor the speed of i-th of aircraft.Represent that the collaboration of j-th of aircraft becomes
Amount.
Wherein,
When the flight time of the aircraft for aerial mission of respectively taking off, simultaneously participate in from diverse location being less than the convergence specified
Between TcWhen：
Respectively take off, simultaneously participate in from diverse location aerial mission aircraft angle of sight λiLevel off to the angle of fall specified
Degree
Respectively take off, simultaneously participate in from diverse location aerial mission aircraft line-of-sight rate by lineIn specified convergence
Between TcInside tend to 0；
It is greater than or equal to what is specified when the flight time of the aircraft for aerial mission of respectively taking off, simultaneously participate in from diverse location
Convergence time TcWhen：
Respectively take off, simultaneously participate in from diverse location aerial mission aircraft angle of sight λiEqual to the landing angle specified
Respectively take off, simultaneously participate in from diverse location aerial mission aircraft line-of-sight rate by lineEqual to 0.
Wherein, normal acceleration aN, iCalculation formula be：
In formula (1)：
k0＞ 2, kσ、ρσFor constant, wherein, kσ0,0 ＜ ρ of ＞σ＜ 1,
Sgn () is a sign function, γM, iThe course angle of i-th of aircraft, V are represented respectivelyR, iAnd Vλ, iIt is respectively
The horizontal and vertical relative velocity component in sight, riRepresent the relative distance between i-th of aircraft and target；
g(xI, i, ti) and σiExpression formula in xI, iFirst subscript represent i-th of quantity of state, i=1,2；Second
I-th of aircraft that subscript represents, i=1 ..., n,
Wherein tGo, i=Tc-ti；
Wherein,
It is less than time T when the flight time of the aircraft for aerial mission of respectively taking off, simultaneously participate in from diverse locationsWhen：
Respectively take off, simultaneously participate in from diverse location aerial mission aircraft collaboration error ξiTend to 0；
It is more than or equal to the time when the flight time of the aircraft for aerial mission of respectively taking off, simultaneously participate in from diverse location
TsWhen：
Respectively take off, simultaneously participate in from diverse location aerial mission aircraft collaboration error ξiEqual to 0.
Wherein, tangential acceleration aT, iCalculation formula be：
In formula (2)：
Sgn () is a sign function,
For cooperate with error, represent i-th of aircraft collaboration variable with
Difference between the collaboration variable of Adjacent aircraft.
kξ、ρξFor constant, wherein, kξ0,0 ＜ ρ of ＞ξ＜ 1.
Embodiment two
Referring to attached drawing 2, aircraft Collaborative Control device provided by Embodiment 2 of the present invention includes：
Normal acceleration acquisition module, take off, simultaneously participate in the aircraft of aerial mission for acquisition from diverse location
Normal acceleration aN, iSo that：Respectively take off, simultaneously participate in from diverse location aerial mission aircraft angle of sight λiSpecifying
Convergence time TcInside tend to the angle specified, the sight of the aircraft for aerial mission of respectively taking off, simultaneously participate in from diverse location
Angular speedIn specified convergence time TcInside tend to 0 until equal to 0；
Tangential acceleration acquisition module, take off, simultaneously participate in the aircraft of aerial mission for acquisition from diverse location
Tangential acceleration aT, iSo that：Respectively take off, simultaneously participate in from diverse location aerial mission aircraft collaboration error ξiWhen
Between TsInside tend to 0 until equal to 0；
Control module, for according to the normal acceleration a obtained from normal acceleration acquisition moduleN, iAccelerate with from tangential
Spend the tangential acceleration a that acquisition module obtainsT, i, the aircraft for aerial mission of respectively taking off, simultaneously participate in from diverse location is carried out
Control so that the aircraft for aerial mission of respectively taking off, simultaneously participate in from diverse location drop to the same drop point specified at the same time；
Wherein,
TcFor preassigned convergence time, for different aircraft, TcTake different values；
In formula, kξ、ρξFor constant, wherein, kξ0,0 ＜ ρ of ＞ξ＜ 1；λ2For Laplce's square
Battle arrayMinimum non-zero characteristic value, LaPlacian matrix definition isIn i=jI ≠
L during jij=-aij, wherein aI, jIt is for describing to communicate topological adjacency matrix between aircraft's
Member.Wherein,Represent the collaboration variable of i-th of aircraft, riRepresent i-th
Relative distance between aircraft and target, VM, iFor the speed of i-th of aircraft.Represent that the collaboration of j-th of aircraft becomes
Amount.
Wherein,
Normal acceleration acquisition module perform calculation formula be：
In formula (1)：
k0＞ 2, kσ、ρσFor constant, wherein, kσ0,0 ＜ ρ of ＞σ＜ 1,
Sgn () is a sign function, γM, iThe course angle of i-th of aircraft, V are represented respectivelyR, iAnd Vλ, iIt is respectively
The horizontal and vertical relative velocity component in sight, riRepresent the relative distance between i-th of aircraft and target；
g(xI, i, ti) and σiExpression formula in xI, iFirst subscript represent i-th of quantity of state, i=1,2；Second
I-th of aircraft that subscript represents, i=1 ..., n,
Wherein tGo, i=Tc-ti；
Wherein,
Tangential acceleration acquisition module perform calculation formula be：
In formula (2)：
Sgn () is a sign function,
For cooperate with error, represent i-th of aircraft collaboration variable with
Difference between the collaboration variable of Adjacent aircraft.
kξ、ρξFor constant, wherein, kξ0,0 ＜ ρ of ＞ξ＜ 1.
Wherein,
Normal acceleration acquisition module perform calculation formula be：
In formula (1)：
k0＞ 2, kσ、ρσFor constant, wherein, kσ0,0 ＜ ρ of ＞σ＜ 1,
Sgn () is a sign function, γM, iThe course angle of i-th of aircraft, V are represented respectivelyR, iAnd Vλ, iIt is respectively
The horizontal and vertical relative velocity component in sight, riRepresent the relative distance between i-th of aircraft and target；
g(xI, i, ti) and σiExpression formula in xI, iFirst subscript represent i-th of quantity of state, i=1,2；Second
I-th of aircraft that subscript represents, i=1 ..., n,
Wherein tGo, i=Tc-ti；
Wherein,
Tangential acceleration acquisition module perform calculation formula be：
In formula (2)：
Sgn () is a sign function,
For cooperate with error, represent i-th of aircraft collaboration variable with
Difference between the collaboration variable of Adjacent aircraft.
kξ、ρξFor constant, wherein, kξ0,0 ＜ ρ of ＞ξ＜ 1.
Embodiment three
Flight is stored with the computer-readable recording medium computer-readable recording medium that the embodiment of the present invention three provides
Device Collaborative Control program, the aircraft that the sight embodiment of the present invention one provides when aircraft Collaborative Control program is executed by processor
The step of cooperative control method.
Example IV
The terminal that the embodiment of the present invention four provides includes processor, memory and storage on a memory and can handle it
The aircraft Collaborative Control program of upper operation, the sight embodiment of the present invention one when aircraft Collaborative Control program is executed by processor
The step of aircraft cooperative control method of offer.
The aerocraft system control dress that the aircraft cooperative control method of the offer of the embodiment of the present invention one, embodiment two provide
Put, the computer-readable recording medium that embodiment three provides and the terminal that example IV provides enable to multiple aircraft with pre-
Parameter as defined in elder generation performs aerial mission, it obtains the aircraft for aerial mission of respectively taking off, simultaneously participate in from diverse location first
Normal acceleration aN, i, tangential acceleration aT, i, then, according to each normal acceleration aN, i, tangential acceleration aT, i, to each described
The aircraft of aerial mission of taking off, simultaneously participate in from diverse location is controlled so that each described to take off from diverse location, at the same time
The aircraft for participating in aerial mission drop to the same drop point specified at the same time, also, logical process is simpler.
Embodiment five
As shown in figure 3, consider that n aircraft attacks static target on vertical section.The main object of the present invention is
In order to allow all aircraft to attack static target at the same time
Relative motion geometrical model between i-th of aircraft of structure and target as shown in Figure 4.
Wherein, MiRepresent i-th of aircraft and target respectively with T；VM, i、aiAnd γM, iRespectively represent aircraft speed,
The course angle of acceleration and aircraft.λiRepresent the angle of sight.riRepresent the relative distance between i-th of aircraft and target.According to
Fig. 4 can be obtained
Wherein, VR, iAnd Vλ, iIt is the horizontal and vertical relative velocity component in sight respectively.aT, iAnd aN, iTo be horizontal and vertical
The component of acceleration of straight aircraft directional velocity.
For the purpose that all aircraft of sight reach at the same time, with figureAdjacency matrixTo describe
Communication topology between all aircraft, defines aii=0 and if i-th of aircraft and j-th of aircraft have the friendship of information
Mutually, then aij=1, otherwise aij=0.
Definition collaboration errorWherein riAnd VM, iThe relative distance and speed of i-th of aircraft are represented respectively.
Collaboration error is defined asIt represents i-th of aircraft and its adjacent aircraft
Collaboration variable it is different.
Wherein,
A. normal acceleration designs
Because for all aircraft for participating in attack, normal acceleration is identical, so to put it more simply, can be with
Ignore subscript i.Design normal acceleration can cause aircraft to carry out interception target with specified angle-of-attack.
X1=λ-λ * andAs state vector,
Design variableAs the function of state of system, wherein tgo=Tc- t, TcFor preassigned convergence
Time, for different aircraft, TcDifferent values can be taken.k0＞ 2.
The normal acceleration of design is
Wherein,
k0＞ 2, kσ、ρσFor constant, wherein, kσ0,0 ＜ ρ of ＞σ＜ 1,
Sgn () is a sign function, γM, iThe course angle of i-th of aircraft, V are represented respectivelyR, iAnd Vλ, iIt is respectively
The horizontal and vertical relative velocity component in sight, riRepresent the relative distance between i-th of aircraft and target；
g(xI, i, ti) and σiExpression formula in xI, iFirst subscript represent i-th of quantity of state, i=1,2；Second
I-th of aircraft that subscript represents, i=1 ..., n,
Wherein tGo, i=Tc-ti；
B. tangential acceleration designs
Designing tangential acceleration is
Wherein, sgn () is a sign function,
For cooperate with error, represent i-th of aircraft collaboration variable with
Difference between the collaboration variable of Adjacent aircraft；
kξ、ρξFor constant, wherein, kξ0,0 ＜ ρ of ＞ξ＜ 1.
In short, the design of whole Guidance Law includes two parts：
Normal acceleration：Design aN, iSo that in t → TcWhen,WithIn t >=TcWhenWith
Tangential acceleration：Design aT, iSo that in t → TsWhen, ξi→0；In t >=TsWhen, ξi=0
It is to a kind of verification of the salvo attack cooperative control method with angle-of-attack constraint below：
Assuming that five aircraft attack a static object, the primary condition such as table of five aircraft from different positions
Shown in 1：
1 aircraft primary condition of table
Note：The position of target is (5000,0)
The communication topologys of five aircraft is as shown in figure 3, wherein, shown in simulation parameter table 2：
The simulation parameter of 2 five aircraft of table
The state x of first aircraftI, 1=1,2, tangential acceleration atWith normal acceleration anAs shown in Fig. 6 a, 6b, 6c.
Relative distance r (t), the collaboration variable of five aircraftThe track of error ξ (t) and aircraft is cooperateed with as schemed
Shown in 7a, 7b, 7c, 7d, according to Fig. 7 a, 7b, 7c, 7d, the aircraft cooperative control method provided by the embodiment of the present invention one,
Aircraft M1, M2, M3, M4, the M5 for enable to 5 to take off from diverse location, simultaneously participating in aerial mission are drop to together at the same time
One drop point specified.
Although preferred embodiments of the present invention have been described, but those skilled in the art once know basic creation
Property concept, then can make these embodiments other change and modification.So appended claims be intended to be construed to include it is excellent
Select embodiment and fall into all change and modification of the scope of the invention.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
God and scope.In this way, if these modifications and changes of the present invention belongs to the scope of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to comprising including these modification and variations.
Claims (10)
1. a kind of aircraft cooperative control method, it is characterised in that comprise the following steps：
Obtain the normal acceleration a of the aircraft for aerial mission of taking off, simultaneously participate in from diverse locationN, iSo that：It is each it is described from
Diverse location take off, simultaneously participate in aerial mission aircraft angle of sight λiIn specified convergence time TcInside tend to what is specified
Angle, the line-of-sight rate by line of the aircraft of each aerial mission of taking off, simultaneously participate in from diverse locationIn specified convergence
Time TcInside tend to 0 until equal to 0；
Obtain the tangential acceleration a of the aircraft for aerial mission of taking off, simultaneously participate in from diverse locationT, iSo that：It is each it is described from
Diverse location take off, simultaneously participate in aerial mission aircraft collaboration error ξiIn time TsInside tend to 0 until equal to 0；
According to the normal acceleration aN, i, the tangential acceleration aT, i, to it is each it is described take off from diverse location, simultaneously participate in it is winged
The aircraft of row task is controlled so that the aircraft of each aerial mission of taking off, simultaneously participate in from diverse location is at the same time
It drop to the same drop point specified；
Wherein,
TcFor preassigned convergence time, for different aircraft, TcTake different values；
In formula, κξ、ρξFor constant, wherein, kξ0,0 ＜ ρ of ＜ξ＜ 1；λ2For Laplacian Matrix's
Minimum non-zero characteristic value, LaPlacian matrix definition areIn i=jThe l in i ≠ jij
=-aij, wherein aI, jIt is for describing to communicate topological adjacency matrix between aircraftMember.Wherein,Represent the collaboration variable of i-th of aircraft, riRepresent to fly for i-th
Relative distance between row device and target, VM, iFor the speed of i-th of aircraft.Represent that the collaboration of j-th of aircraft becomes
Amount.
2. aircraft cooperative control method according to claim 1, it is characterised in that
When the flight time of the aircraft of each aerial mission of taking off, simultaneously participate in from diverse location being less than the convergence specified
Between TcWhen：
The angle of sight λ of the aircraft of each aerial mission of taking off, simultaneously participate in from diverse locationiLevel off to the angle of fall specified
Degree
The line-of-sight rate by line of the aircraft of each aerial mission of taking off, simultaneously participate in from diverse locationIn specified convergence
Between TcInside tend to 0；
It is greater than or equal to what is specified when the flight time of the aircraft of each aerial mission of taking off, simultaneously participate in from diverse location
Convergence time TcWhen：
The angle of sight λ of the aircraft of each aerial mission of taking off, simultaneously participate in from diverse locationiEqual to the landing angle specified
The line-of-sight rate by line of the aircraft of each aerial mission of taking off, simultaneously participate in from diverse locationEqual to 0.
3. aircraft cooperative control method according to claim 2, it is characterised in that the normal acceleration aN, iMeter
Calculating formula is：
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<mo>,</mo>
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<mo>,</mo>
<mi>i</mi>
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</mrow>
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<mo>&lsqb;</mo>
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<mn>2</mn>
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<mi>V</mi>
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<mi>r</mi>
<mo>,</mo>
<mi>i</mi>
</mrow>
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<mi>V</mi>
<mrow>
<mi>&lambda;</mi>
<mo>,</mo>
<mi>i</mi>
</mrow>
</msub>
</mrow>
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<mi>r</mi>
<mi>i</mi>
<mn>2</mn>
</msubsup>
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<mo>,</mo>
<mi>i</mi>
</mrow>
</msub>
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<msub>
<mi>k</mi>
<mn>0</mn>
</msub>
<mi>g</mi>
<mrow>
<mo>(</mo>
<msub>
<mi>x</mi>
<mrow>
<mi>i</mi>
<mo>,</mo>
<mi>i</mi>
</mrow>
</msub>
<mo>,</mo>
<msub>
<mi>t</mi>
<mi>i</mi>
</msub>
<mo>)</mo>
</mrow>
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<msub>
<mi>k</mi>
<mi>&sigma;</mi>
</msub>
<msup>
<mrow>
<mo>|</mo>
<msub>
<mi>&sigma;</mi>
<mi>i</mi>
</msub>
<mo>|</mo>
</mrow>
<msub>
<mi>&rho;</mi>
<mi>&sigma;</mi>
</msub>
</msup>
<mi>sgn</mi>
<mrow>
<mo>(</mo>
<msub>
<mi>&sigma;</mi>
<mi>i</mi>
</msub>
<mo>)</mo>
</mrow>
<mo>&rsqb;</mo>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>1</mn>
<mo>)</mo>
</mrow>
</mrow>
In formula (1)：
k0＞ 2, kσ、ρσFor constant, wherein, kσ0,0 ＜ ρ of ＞σ＜ 1,
Sgn () is a sign function, γM, iThe course angle of i-th of aircraft, V are represented respectivelyR, iAnd Vλ, iIt is horizontal respectively
With the relative velocity component perpendicular to sight, riRepresent the relative distance between i-th of aircraft and target；
g(xI, i, ti) and σiExpression formula in xI, iFirst subscript represent i-th of quantity of state, i=1,2；Second subscript
I-th of the aircraft represented, i=1 ..., n,
Wherein tGo, i=Tc-ti；
<mrow>
<msub>
<mi>&sigma;</mi>
<mi>i</mi>
</msub>
<mo>=</mo>
<mfenced open = "{" close = "">
<mtable>
<mtr>
<mtd>
<mrow>
<msub>
<mi>x</mi>
<mrow>
<mn>2</mn>
<mo>,</mo>
<mi>i</mi>
</mrow>
</msub>
<mo>+</mo>
<mfrac>
<msub>
<mi>k</mi>
<mn>0</mn>
</msub>
<msub>
<mi>t</mi>
<mrow>
<mi>g</mi>
<mi>o</mi>
<mo>,</mo>
<mi>i</mi>
</mrow>
</msub>
</mfrac>
<msub>
<mi>x</mi>
<mrow>
<mn>1</mn>
<mo>,</mo>
<mi>i</mi>
</mrow>
</msub>
<mo>,</mo>
</mrow>
</mtd>
<mtd>
<mrow>
<mn>0</mn>
<mo>&le;</mo>
<msub>
<mi>t</mi>
<mi>i</mi>
</msub>
<mo><</mo>
<msub>
<mi>T</mi>
<mi>c</mi>
</msub>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>x</mi>
<mrow>
<mn>2</mn>
<mo>,</mo>
<mi>i</mi>
</mrow>
</msub>
<mo>,</mo>
</mrow>
</mtd>
<mtd>
<mrow>
<msub>
<mi>t</mi>
<mi>i</mi>
</msub>
<mo>&GreaterEqual;</mo>
<msub>
<mi>T</mi>
<mi>c</mi>
</msub>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>.</mo>
</mrow>
4. aircraft cooperative control method according to claim 1, it is characterised in that
It is less than time T when the flight time of the aircraft of each aerial mission of taking off, simultaneously participate in from diverse locationsWhen：
The collaboration error ξ of the aircraft of each aerial mission of taking off, simultaneously participate in from diverse locationiTend to 0；
It is more than or equal to the time when the flight time of the aircraft of each aerial mission of taking off, simultaneously participate in from diverse location
TsWhen：
The collaboration error ξ of the aircraft of each aerial mission of taking off, simultaneously participate in from diverse locationiEqual to 0.
5. aircraft cooperative control method according to claim 4, it is characterised in that the tangential acceleration aT, iMeter
Calculating formula is：
<mrow>
<msub>
<mi>a</mi>
<mrow>
<mi>t</mi>
<mo>,</mo>
<mi>i</mi>
</mrow>
</msub>
<mo>=</mo>
<mo>-</mo>
<mfrac>
<msubsup>
<mi>V</mi>
<mrow>
<mi>M</mi>
<mo>,</mo>
<mi>i</mi>
</mrow>
<mn>2</mn>
</msubsup>
<msub>
<mi>r</mi>
<mi>i</mi>
</msub>
</mfrac>
<msub>
<mi>k</mi>
<mi>&xi;</mi>
</msub>
<msup>
<mrow>
<mo>|</mo>
<msub>
<mi>&xi;</mi>
<mi>i</mi>
</msub>
<mo>|</mo>
</mrow>
<msub>
<mi>&rho;</mi>
<mi>&xi;</mi>
</msub>
</msup>
<mi>sgn</mi>
<mrow>
<mo>(</mo>
<msub>
<mi>&xi;</mi>
<mi>i</mi>
</msub>
<mo>)</mo>
</mrow>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>2</mn>
<mo>)</mo>
</mrow>
</mrow>
In formula (2)：
Sgn () is a sign function,
For cooperate with error, represent i-th of aircraft collaboration variable with it is adjacent
Difference between the collaboration variable of aircraft；
kξ、ρξFor constant, wherein, kξ0,0 ＜ ρ of ＞ξ＜ 1.
A kind of 6. aircraft Collaborative Control device, it is characterised in that including：
Normal acceleration acquisition module, the normal direction of the aircraft for obtaining from diverse location aerial mission of taking off, simultaneously participate in
Acceleration aN, iSo that：The angle of sight λ of the aircraft of each aerial mission of taking off, simultaneously participate in from diverse locationiSpecifying
Convergence time TcInside tend to the angle specified, the aircraft of each aerial mission of taking off, simultaneously participate in from diverse location
Line-of-sight rate by lineIn specified convergence time TcInside tend to 0 until equal to 0；
Tangential acceleration acquisition module, for obtain aerial mission of taking off from diverse location, simultaneously participate in aircraft it is tangential
Acceleration aT, iSo that：The collaboration error ξ of the aircraft of each aerial mission of taking off, simultaneously participate in from diverse locationiWhen
Between TsInside tend to 0 until equal to 0；
Control module, for according to the normal acceleration a obtained from the normal acceleration acquisition moduleN, iWith from described tangential
The tangential acceleration a that acceleration acquisition module obtainsT, i, described take off from diverse location to each, simultaneously participate in aerial mission and fly
Row device is controlled so that the aircraft of each aerial mission of taking off, simultaneously participate in from diverse location drop to same at the same time
The drop point specified；
Wherein,
TcFor preassigned convergence time, for different aircraft, TcTake different values；
In formula, kξ、ρξFor constant, wherein, kξ0,0 ＜ ρ of ＞ξ＜ 1；λ2For Laplacian Matrix's
Minimum non-zero characteristic value, LaPlacian matrix definition areIn i=jThe l in i ≠ jij
=-aij, wherein aI, jIt is for describing to communicate topological adjacency matrix between aircraftMember.Wherein,Represent the collaboration variable of i-th of aircraft, riRepresent to fly for i-th
Relative distance between row device and target, VM, iFor the speed of i-th of aircraft,Represent that the collaboration of j-th of aircraft becomes
Amount.
7. aircraft Collaborative Control device according to claim 6, it is characterised in that
The calculation formula that the normal acceleration acquisition module performs is：
<mrow>
<msub>
<mi>a</mi>
<mrow>
<mi>n</mi>
<mo>,</mo>
<mi>i</mi>
</mrow>
</msub>
<mo>=</mo>
<mo>-</mo>
<mfrac>
<msub>
<mi>r</mi>
<mi>i</mi>
</msub>
<mrow>
<mi>cos</mi>
<mrow>
<mo>(</mo>
<msub>
<mi>&lambda;</mi>
<mi>i</mi>
</msub>
<mo>-</mo>
<msub>
<mi>&gamma;</mi>
<mrow>
<mi>M</mi>
<mo>,</mo>
<mi>i</mi>
</mrow>
</msub>
<mo>)</mo>
</mrow>
</mrow>
</mfrac>
<mo>&lsqb;</mo>
<mfrac>
<mrow>
<mn>2</mn>
<msub>
<mi>V</mi>
<mrow>
<mi>r</mi>
<mo>,</mo>
<mi>i</mi>
</mrow>
</msub>
<msub>
<mi>V</mi>
<mrow>
<mi>&lambda;</mi>
<mo>,</mo>
<mi>i</mi>
</mrow>
</msub>
</mrow>
<msubsup>
<mi>r</mi>
<mi>i</mi>
<mn>2</mn>
</msubsup>
</mfrac>
<mo>-</mo>
<mfrac>
<mrow>
<mi>sin</mi>
<mrow>
<mo>(</mo>
<msub>
<mi>&lambda;</mi>
<mi>i</mi>
</msub>
<mo>-</mo>
<msub>
<mi>&gamma;</mi>
<mrow>
<mi>M</mi>
<mo>,</mo>
<mi>i</mi>
</mrow>
</msub>
<mo>)</mo>
</mrow>
</mrow>
<msub>
<mi>r</mi>
<mi>i</mi>
</msub>
</mfrac>
<msub>
<mi>a</mi>
<mrow>
<mi>t</mi>
<mo>,</mo>
<mi>i</mi>
</mrow>
</msub>
<mo>-</mo>
<msub>
<mi>k</mi>
<mn>0</mn>
</msub>
<mi>g</mi>
<mrow>
<mo>(</mo>
<msub>
<mi>x</mi>
<mrow>
<mi>i</mi>
<mo>,</mo>
<mi>i</mi>
</mrow>
</msub>
<mo>,</mo>
<msub>
<mi>t</mi>
<mi>i</mi>
</msub>
<mo>)</mo>
</mrow>
<mo>-</mo>
<msub>
<mi>k</mi>
<mi>&sigma;</mi>
</msub>
<msup>
<mrow>
<mo>|</mo>
<msub>
<mi>&sigma;</mi>
<mi>i</mi>
</msub>
<mo>|</mo>
</mrow>
<msub>
<mi>&rho;</mi>
<mi>&sigma;</mi>
</msub>
</msup>
<mi>sgn</mi>
<mrow>
<mo>(</mo>
<msub>
<mi>&sigma;</mi>
<mi>i</mi>
</msub>
<mo>)</mo>
</mrow>
<mo>&rsqb;</mo>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>1</mn>
<mo>)</mo>
</mrow>
</mrow>
In formula (1)：
k0＞ 2, kσ、ρσFor constant, wherein, kσ0,0 ＜ ρ of ＞σ＜ 1,
Sgn () is a sign function, γM, iThe course angle of i-th of aircraft, V are represented respectivelyR, iAnd Vλ, iIt is horizontal respectively
With the relative velocity component perpendicular to sight, ri represents the relative distance between i-th of aircraft and target；
g(xI, i, ti) and σiExpression formula in xI, iFirst subscript represent i-th of quantity of state, i=1,2；Second subscript
I-th of the aircraft represented, i=1 ..., n,
Wherein tGo, i=Tc-ti；
<mrow>
<msub>
<mi>&sigma;</mi>
<mi>i</mi>
</msub>
<mo>=</mo>
<mfenced open = "{" close = "">
<mtable>
<mtr>
<mtd>
<mrow>
<msub>
<mi>x</mi>
<mrow>
<mn>2</mn>
<mo>,</mo>
<mi>i</mi>
</mrow>
</msub>
<mo>+</mo>
<mfrac>
<msub>
<mi>k</mi>
<mn>0</mn>
</msub>
<msub>
<mi>t</mi>
<mrow>
<mi>g</mi>
<mi>o</mi>
<mo>,</mo>
<mi>i</mi>
</mrow>
</msub>
</mfrac>
<msub>
<mi>x</mi>
<mrow>
<mn>1</mn>
<mo>,</mo>
<mi>i</mi>
</mrow>
</msub>
<mo>,</mo>
</mrow>
</mtd>
<mtd>
<mrow>
<mn>0</mn>
<mo>&le;</mo>
<msub>
<mi>t</mi>
<mi>i</mi>
</msub>
<mo><</mo>
<msub>
<mi>T</mi>
<mi>c</mi>
</msub>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>x</mi>
<mrow>
<mn>2</mn>
<mo>,</mo>
<mi>i</mi>
</mrow>
</msub>
<mo>,</mo>
</mrow>
</mtd>
<mtd>
<mrow>
<msub>
<mi>t</mi>
<mi>i</mi>
</msub>
<mo>&GreaterEqual;</mo>
<msub>
<mi>T</mi>
<mi>c</mi>
</msub>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>.</mo>
</mrow>
8. aircraft Collaborative Control device according to claim 6, it is characterised in that
The calculation formula that the tangential acceleration acquisition module performs is：
<mrow>
<msub>
<mi>a</mi>
<mrow>
<mi>t</mi>
<mo>,</mo>
<mi>i</mi>
</mrow>
</msub>
<mo>=</mo>
<mo>-</mo>
<mfrac>
<msubsup>
<mi>V</mi>
<mrow>
<mi>M</mi>
<mo>,</mo>
<mi>i</mi>
</mrow>
<mn>2</mn>
</msubsup>
<msub>
<mi>r</mi>
<mi>i</mi>
</msub>
</mfrac>
<msub>
<mi>k</mi>
<mi>&xi;</mi>
</msub>
<msup>
<mrow>
<mo>|</mo>
<msub>
<mi>&xi;</mi>
<mi>i</mi>
</msub>
<mo>|</mo>
</mrow>
<msub>
<mi>&rho;</mi>
<mi>&xi;</mi>
</msub>
</msup>
<mi>sgn</mi>
<mrow>
<mo>(</mo>
<msub>
<mi>&xi;</mi>
<mi>i</mi>
</msub>
<mo>)</mo>
</mrow>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>2</mn>
<mo>)</mo>
</mrow>
</mrow>
In formula (2)：
Sgn () is a sign function,
For cooperate with error, represent i-th of aircraft collaboration variable with it is adjacent
Difference between the collaboration variable of aircraft；
kξ、ρξFor constant, wherein, kξ0,0 ＜ ρ of ＞ξ＜ 1.
9. a kind of computer-readable recording medium, it is characterised in that be stored with aircraft on the computer-readable recording medium
Collaborative Control program, it is any described in sight Claims 1 to 5 when the aircraft Collaborative Control program is executed by processor
The step of aircraft cooperative control method.
10. a kind of terminal, it is characterised in that including processor, memory and be stored on the memory and can be at the place
The aircraft Collaborative Control program run thereon is managed, sight is weighed when the aircraft Collaborative Control program is performed by the processor
Profit requires the step of any described aircraft cooperative control method in 1~5.
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