CN110032209A - A kind of multiple no-manned plane mission area assembly distributed control method - Google Patents
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Abstract
The invention belongs to multiple no-manned plane Collaborative Control technical fields, and in particular to a kind of multiple no-manned plane mission area assembly distributed control method;Assembling process is divided into loose assembly of forming into columns and assembled with close form into columns by method of the invention;The loose formation Clustering Phase assembles control strategy based on the loose formation of single order consistency algorithm and completes traditional assembly task object;The close formation Clustering Phase assembles control strategy based on the close formation of second order consistency algorithm and completes transition of the loose formation to close formation;Method of the invention introduces pitch of the laps waiting strategy in single order consistency algorithm, the assembly control strategy of virtual leader is introduced in second order consistency algorithm, by controlling the movement of virtual leader, realizes the state convergence that unmanned plane is formed into columns, finally realize that the speed of each unmanned plane and course angle are reached an agreement.
Description
Technical field
The invention belongs to multiple no-manned plane Collaborative Control technical fields, and in particular to a kind of multiple no-manned plane mission area assembly distribution
Formula control method.
Background technique
Since the fight capability of single rack unmanned plane is limited, multi-machine collaborative will become the important pattern of operation of the following unmanned plane, and
It is the basis for realizing multi-aircraft cooperative combat that mission area, which is assembled,.Existing assembly control method mainly to reach staging post and be simultaneously
Index, end state when seldom reaching assembly place to unmanned plane is controlled, and when assembly, each drone status differs greatly,
Speed, course angle, which can not restrain, reaches an agreement, and is unfavorable for follow-up work execution.
Summary of the invention
The object of the present invention is to provide a kind of multiple no-manned plane mission areas to assemble distributed control method, to solve side at present
Speed, course angle can not restrain the technical issues of reaching an agreement when multiple no-manned plane reaches assembly place in method.
To solve this technical problem, the technical scheme is that
A kind of multiple no-manned plane mission area assembly distributed control method, the assembly distributed control method will assemble
Journey is divided into loose assembly of forming into columns and assembles with close form into columns;The loose pine of the formation Clustering Phase based on single order consistency algorithm
It dissipates assembly control strategy of forming into columns and completes traditional assembly task object;The close formation Clustering Phase is based on second order consistency
The close formation of algorithm assembles control strategy and completes transition of the loose formation to close formation, and the fortune by controlling virtual leader
It is dynamic, it realizes the state convergence that unmanned plane is formed into columns, realizes that the speed of each unmanned plane and course angle are reached an agreement.
Traditional assembly task object is while reaching specified staging post.
It includes pitch of the laps waiting strategy in control strategy that the loose formation of the single order consistency algorithm, which is assembled, it is described around
Enclosing waiting strategy specifically: the shorter unmanned plane in path increases path length by circuit, thus increase arrival time, etc.
To other unmanned planes.
Control strategy is assembled in the close formation based on second order consistency algorithm specifically: assembles rank in close form into columns
Section, the respective speed of each unmanned plane real-time exchange, course angle and location information generate unmanned plane based on second order consistency algorithm
Speed and course angle instruction, by automatic pilot tracking velocity and course angle control instruction realize multiple no-manned plane speed,
Course angle is reached an agreement, and constitutes close formation.
The pitch of the laps waiting strategy it is specific as follows:
I-th frame unmanned plane path length is Li, flying speed is limited to vi∈[vmin,vmax], then this unmanned plane arrives
Range the time required to target position is Ti∈[Li/vmax,Li/vmin];Since all unmanned planes need while reaching specific bit
It sets, then the range of arrival time are as follows:
Ta=T1∩T2∩…∩TN
Work as TaWhen for empty set, the method for taking pitch of the laps to wait at this time, specific method be the shorter unmanned plane in path by around
Circle flight increases path length, waits other unmanned planes.
The close assembly control assembled in control strategy comprising virtual leader of forming into columns based on second order consistency algorithm
System strategy, the assembly control strategy comprising virtual leader are specific as follows:
In formula, v0、ψ0For the speed and course angle of virtual leader, βiReceive the weighting of virtual long machine information for unmanned plane;
γvAnd γψFor state component weight coefficient;NiFor the neighborhood of the i-th frame unmanned plane;aijFor pair of communication network adjacency matrix
Answer element;WithThe respectively desired distance of leader and the i-th frame unmanned plane on the formation direction coordinate system x and the direction y,WithRespectively the expectation of jth frame unmanned plane and the i-th frame unmanned plane on the formation direction coordinate system x and the direction y away from
From.
The i-th frame unmanned plane pitch of the laps number niCalculation method it is as follows:
Wherein i=1,2 ..., n, ceil={ ... } indicate to be greater than or equal to smallest positive integral digital in bracket;I-th frame without
It is man-machine in current location with minimum turning radius RminIt is niSecondary complete circular motion, then the flight time increases Δ ti=ni(2π
Rmin/vi);Assuming that tmini=Li/vmax, tmaxi=Li/vmin, then t is usedmin=max { tmin 1,tmin 2…tmin NIndicate institute whether there is or not
Minimum time needed for man-machine while arrival.
The beneficial effects of the present invention are: distributed control method is assembled with following good in multiple no-manned plane mission area of the invention
Place:
1, it in loose formation Clustering Phase, each unmanned plane real-time perfoming information exchange, therefore when path length or flies fast
When degree mutates, expected approach time can restrain unanimously again.And the pitch of the laps waiting strategy proposed can solve when each nothing
Man-machine Distance To Go differs the problem of can not reaching simultaneously caused by larger or variable velocity range very little.
2, in close formation Clustering Phase, realize transition and multiple no-manned plane speed of the loose formation to close formation,
Course angle is reached an agreement.
3, the state of remaining unmanned plane can be made to reach a certain desired value by controlling the movement of virtual leader, and with it is traditional
Navigator-follow-up strategy is compared, and virtual leader leads to the problem of paralysing of entirely forming into columns there is no breaking down.
4, designed control strategy uses distributed control architecture, and unmanned plane only need to carry out information friendship with the neighbours of oneself
Mutually, with the traffic is small, calculation amount is small, high reliability.
Detailed description of the invention
Fig. 1 is that distributed control method flow chart is assembled in multiple no-manned plane mission area of the invention;
Fig. 2 is the schematic diagram of four based on Dubins algorithm feasible path of the invention;
Fig. 3 is that the air route Dubins of the invention solves schematic diagram;
Fig. 4 is diamond box formation schematic diagram of the invention;
Fig. 5 is the remaining arrival time change curve of each unmanned plane in the loose formation assembling process obtained according to the present invention;
Fig. 6 is unmanned aerial vehicle flight path figure in the close formation assembling process obtained according to the present invention;
Fig. 7 is the distance change curve in the close formation assembling process obtained according to the present invention between unmanned plane;
Fig. 8 is each unmanned plane speed change curves in the close formation assembling process obtained according to the present invention.
Specific embodiment
The present invention will be further described with reference to the accompanying drawings and examples:
The invention proposes one kind under the conditions of distributed communication, realizes the control method that multiple no-manned plane mission area is assembled.
Assembling process is divided into loose assembly of forming into columns and assembled with close form into columns by this method, and loose formation Clustering Phase completes traditional assembly
Task object reaches specified staging post for the target simultaneously and proposes the loose formation based on single order consistency algorithm
Assemble control strategy;And Clustering Phase of closely forming into columns completes transition of the loose formation to close formation, and realizes each unmanned plane
Speed and course angle are reached an agreement, and for the target, are proposed the close formation based on second order consistency algorithm and are assembled control plan
Slightly.In addition, introducing virtual leader concept on the basis of designed control strategy, by controlling the movement of virtual leader, realize
The state that unmanned plane is formed into columns, which converges to, a certain determines desired value.
Control strategy is assembled in loose formation based on single order consistency algorithm.In loose formation Clustering Phase, each unmanned plane
Good respective air route is planned in advance, and the respective expected approach time of real-time exchange is generated real-time based on single order consistency algorithm
Rate control instruction realizes that multiple no-manned plane reaches specified staging post simultaneously by automatic pilot tracking velocity control instruction,
Form loose formation.Consistent problem can not be restrained for the arrival time being likely to occur, and propose a kind of pitch of the laps waiting strategy,
I.e. the shorter unmanned plane in path waits other unmanned planes to increase arrival time by circuit increase path length.
Control strategy is assembled in close formation based on second order consistency algorithm.In close formation Clustering Phase, each unmanned plane
The respective speed of real-time exchange, course angle and location information generate the speed and boat of unmanned plane based on second order consistency algorithm
It is instructed to angle, realizes that speed, the course angle of multiple no-manned plane are reached by automatic pilot tracking velocity and course angle control instruction
Unanimously, and close formation is constituted.
Introduce the assembly control strategy of virtual leader.Virtual leader is introduced in control strategy, makes the state of each unmanned plane
Tend to the virtual leader.Based on the strategy multiple no-manned plane can be realized within a specified time by adjusting the movement of virtual leader
Reach assembly area, and the speed of all unmanned planes, course angle made to reach a certain desired value, in favor of subsequent formation flight into
Row.
Basic principle of the invention is as shown in Figure 1, distributed AC servo system algorithm packet is assembled in the multiple no-manned plane mission area proposed
It includes loose form into columns assembly and close form into columns and assembles two stages.Wherein loose formation Clustering Phase realizes the unmanned plane in a wide range of
It reaches appointed task area simultaneously and constitutes loose formation;And realize loose formation to close formation in close formation Clustering Phase
Transition, and each unmanned plane speed, course angle is made to reach an agreement.
1. loose formation assembling process including the following steps:
1) Dubins routeing module cooks up every frame unmanned plane according to the initial and terminal's status information of each unmanned plane
Can flight mark, and obtain the residue path to be flown of every frame unmanned plane.
The air route Dubins can easily solve the problems, such as the shortest path planning of the beginning and end with fixed-direction,
When considering curvature limitation, shortest path is made of two sections of circular arcs and one section of straight line.Position for starting point and ending point and
Situation known to directional velocity shares four paths Dubins, as shown in Figure 2.The initial position of unmanned plane and target are assembled
Position is denoted as P respectivelyS(xs,ys) and PF(xf,yf), initial heading angle and target course are denoted as ψ respectivelys,ψf, originate round and whole
Only radius of circle is respectively Rs,Rf.Solution procedure is provided with Dubins path shown in Fig. 3:
A) it is drawn starting circle by beginning and end information and is terminated and justified, and determined and originate circle CsWith terminal circle CfThe center of circle sit
Mark Os(xcs,ycs)、Of(xcf,ycf);
B) in OfSentence Rf-RsMake circle C for radiust, from OsPoint draws tangent line to circle Ct, point of contact T, connection OfAnd T, then prolong
It is long to hand over circle CfIn point PN, then PNPoint is the point of penetration in the path Dubins;
C) O is crossedsPoint makees an OfPNParallel lines, hand over circle CsIn PXPoint, then PXPoint is that the path Dubins is cut out a little;
D) P is connectedXAnd PNThe straightway in the path Dubins can be obtained in point;
E) can acquire path total length is
According to above-mentioned steps, the incision that can find out the path Dubins is cut out a little and path length, excess-three kind situation
Calculating process is similar, and the shortest final planning path as unmanned plane of length is chosen from obtained four curves.
2) consistency control module receive routeing module residual paths information, itself velocity information and neighbours nobody
The collaboration temporal information of machine is then based on time consistency algorithm and calculates unmanned plane rate control instruction.Wherein consistency control
System strategy is as follows:
Wherein, NiFor the neighborhood of the i-th frame unmanned plane, aijFor the corresponding element of communication network adjacency matrix, τi,τjPoint
Not Wei the i-th frame unmanned plane and jth frame unmanned plane reach the residual non-uniformity of target assembly place, viFor flying for the i-th frame unmanned plane
Scanning frequency degree, kv,iFor automatic pilot dependent constant,For rate control instruction.Above-mentioned consistency algorithm is it is to be understood that every frame
Unmanned plane obtains the status information of neighbours' unmanned plane by communication network, and makes the difference with oneself state, and will be with all neighbours'
State difference value summation, which is fed back to speed control, keeps each unmanned plane arrival time consistent eventually by adjustment speed.
On this basis, to realize that multiple no-manned plane can be reached in a certain given time, the virtual leader of a frame is introduced, is made each
The arrival time of unmanned plane tends to the arrival time of the virtual leader.Assuming that the number of virtual leader is 0, expected approach time
For τ0=L0/v0.The movement of virtual leader not will receive the influence of other unmanned planes, therefore neighborhood is sky.By artificial pre-
Its speed and path are set, first to control the movement of virtual leader.Regard virtual leader as a frame unmanned plane in forming into columns, with it
Its unmanned plane is put on an equal footing, and the consistency control strategy containing virtual leader can be obtained:
Wherein, βiReceive the weighting of virtual long machine information for unmanned plane.If the i-th frame unmanned plane can receive virtual leader
Information, then have βi> 0, otherwise βi=0.
Assuming that being L according to the i-th frame unmanned plane path length that Dubins routeing module obtainsi, since unmanned plane has
The limitation of flying speed, i.e. vi∈[vmin,vmax], then the time required to this unmanned plane reaches target position along institute's planning path
Range is Ti∈[Li/vmax,Li/vmin].Due to all unmanned planes needs while designated position is reached, then the range of arrival time
Are as follows:
Ta=T1∩T2∩…∩TN (3)
Real-time judge T during unmanned plane during flyingaIt whether is empty set,When, consistency calculation can be directly used
Method is realized while being reached;When the Distance To Go of unmanned plane differs larger or variable velocity range very little, may result inAt this point, cannot achieve multiple no-manned plane while the target reached.For this problem, this patent proposes a kind of pitch of the laps etc.
To method, i.e. the shorter unmanned plane in path increases path length by circuit and to increase arrival time waits other
Unmanned plane.
If making the i-th frame unmanned plane in current location with minimum turning radius RminIt is niSecondary complete circular motion, then fly
The row time can increase Δ ti=ni(2πRmin/vi).Assuming that tmini=Li/vmax, tmaxi=Li/vmin, then t is usedmin=max { tmin 1,
tmin 2…tmin NIndicate that all unmanned planes reach required minimum time simultaneously.The pitch of the laps of every frame unmanned plane is determined by formula (4)
Number:
Wherein i=1,2 ..., n, ceil={ ... } indicate to be greater than or equal to smallest positive integral digital in bracket.According to this
Method calculates the circle number to detour required for every frame unmanned plane, residual paths length is then calculated, using one shown in formula (2)
Cause property algorithm realizes that multiple UAVs reach assembly position simultaneously.
3) automatic pilot control unmanned plane completes the tracking of rate control instruction.
The tracking and execution of automatic pilot completion unmanned plane speed command.Assuming that the automatic pilot of unmanned plane has speed
Holding capacity is spent, approximate can be described using first-order mathematic model are as follows:
In formulaIndicate the speed and course angle control instruction of the i-th frame unmanned plane, kv,iIndicate the correlation of automatic pilot often
Number.
2. it is loose form into columns assemble after the completion of, the speed of each unmanned plane is not reached an agreement, and the position between unmanned plane with
There is also certain gaps for standard formation, therefore in close formation Clustering Phase, need to realize the building of close formation and make to own
The speed and course angle of unmanned plane are reached an agreement.The stage etch is as follows:
1) relative positional relationship between unmanned plane is determined.
The present invention calculates the opposite position between unmanned plane using diamond box as shown in Figure 4 as object, using l-l method
It sets.It is known in earth axes xgoygUnder, using the formation direction of motion as the positive direction of the x-axis of formation coordinate system, y-axis is perpendicular to x-axis.
Assuming that diamond shape side length is d, UAV1Yaw angle be ψ1, with UAV1For vertex, the angle being made of the side of diamond formation and diagonal line
For α.Then the formation position relationship in figure can use matrix Sx,SyIt indicates, is illustrated respectively in every frame unmanned plane and ginseng under formation coordinate system
Projection of the distance in x-axis and y-axis direction between examination point, SxThe i-th row indicate using the i-th frame unmanned plane as reference point when, each nothing
It is man-machine at a distance from the i-th frame unmanned plane in the projection of x-axis direction.
Due to this method research be unmanned plane under formation coordinate system relative positional relationship, so when in use, Ying Jiang
Earth coordinates rotate a yaw angle counterclockwise, are transformed into unmanned plane relative positional relationship under formation coordinate system:
Formula (7) left side indicates the distance under formation coordinate system between unmanned plane, and the right indicates unmanned plane under earth coordinates
Between distance.
2) it is based on second order consistency control algolithm, design control strategy is as follows:
In formula (8),Respectively Sx,SyIn corresponding element.First item indicates unmanned plane speed and boat on the right of equation
It is controlled to the consistency at angle, Section 2 indicates the consistency control of unmanned plane position, γvAnd γψFor state component weight coefficient.
So that speed can be obtained and course angle control instruction is respectively as follows:
Wherein kv,i,kψ,iIndicate the dependent constant of automatic pilot.Consistency algorithm shown in formula (9) cannot be guaranteed nobody
The status information of machine reaches a certain particular value, therefore proposes the assembly control strategy containing virtual leader.Assuming that there is a frame empty
Quasi- unmanned plane, kinematics model is identical as other unmanned planes, and other unmanned plane movements of forming into columns are led as leader.It is virtual long
The neighborhood of machine is sky, i.e. its movement is not influenced by other unmanned planes.Regard virtual leader as a frame unmanned plane in forming into columns,
The consistency control strategy containing virtual leader can then be obtained:
Wherein, βiReceive the weighting of virtual long machine information for unmanned plane.
3) automatic pilot control unmanned plane completes the tracking of speed, course angle control instruction.
The tracking and execution of automatic pilot completion unmanned plane speed and directional command.Assuming that the automatic pilot of unmanned plane
With speed and course keeping ability, approximate can be described using first-order mathematic model are as follows:
In formulaIndicate the speed and course angle control instruction of the i-th frame unmanned plane.
In order to verify the validity that the present invention assembles multiple no-manned plane mission area, emulated as follows.Emulation tool uses
MATLAB software.Experiment setting: four frame unmanned planes are shared, initial velocity is respectively 40m/s, 48m/s, 54m/s and 60m/s, road
Electrical path length is respectively 5531m, 5238m, 4441m and 4222m.Assuming that the speed of virtual leader is 50m/s, path overall length is
5000m, then expected approach time is 100s.Loose formation simulation result is as shown in Figure 5, it can be seen that the residue of each unmanned plane arrives
Reach an agreement up to the time in 10s or so, finally reaches staging post simultaneously in 100s.Close formation simulation result such as Fig. 6-8
It is shown, it can be seen that unmanned plane has finally constituted desired diamond formation from Fig. 6, Fig. 7, as can be seen from Figure 8 the speed of each unmanned plane
Degree is finally in agreement with the speed of virtual leader and course angle.Experiment shows that a kind of multiple no-manned plane of the present invention is appointed
Business area assemble distributed control method can effectively realize multiple no-manned plane in specific time and meanwhile reach assembly position constitute refer to
Determine formation, and realizes that speed and course angle tend to a certain particular value.
Under the conditions of distributed communication, the present invention can control in a wide range of the multiple UAVs to take off from different places
Multiple UAVs reach specified assembly area simultaneously and constitute close formation, and the state for controlling each unmanned plane reaches unanimously, makes it
Speed and course angle converge on a certain desired value, in favor of the holding and flight of subsequent formation, improve Operational Effectiveness Rat.
Claims (10)
1. distributed control method is assembled in a kind of multiple no-manned plane mission area, it is characterised in that: the assembly distributed AC servo system side
Assembling process is divided into loose assembly of forming into columns and assembled with close form into columns by method;It is consistent that the loose formation Clustering Phase is based on single order
Property algorithm loose formation assemble control strategy complete traditional assembly task object;The close formation Clustering Phase is based on
The close formation of second order consistency algorithm assembles control strategy and completes transition of the loose formation to close formation, and empty by control
The movement of quasi- leader realizes the state convergence that unmanned plane is formed into columns, realizes that the speed of each unmanned plane and course angle are reached an agreement.
2. distributed control method is assembled in multiple no-manned plane mission area according to claim 1, it is characterised in that: the biography
The assembly task object of system is while reaching specified staging post.
3. distributed control method is assembled in multiple no-manned plane mission area according to claim 1, it is characterised in that: described one
It includes pitch of the laps waiting strategy in control strategy that the loose formation of rank consistency algorithm, which is assembled,.
4. distributed control method is assembled in multiple no-manned plane mission area according to claim 1, it is characterised in that: the base
Assemble control strategy in the close formation of second order consistency algorithm specifically: in close formation Clustering Phase, each unmanned plane is real-time
Respective speed, course angle and location information are exchanged, the speed and course angle of unmanned plane are generated based on second order consistency algorithm
Instruction, tracking velocity and course angle control instruction realize that speed, the course angle of multiple no-manned plane are reached an agreement.
5. distributed control method is assembled in multiple no-manned plane mission area according to claim 3, it is characterised in that: it is described around
Enclose waiting strategy are as follows: the shorter unmanned plane in path increases path length by circuit and waits it to increase arrival time
His unmanned plane.
6. distributed control method is assembled in multiple no-manned plane mission area according to claim 5, it is characterised in that: it is described around
Enclose the specific as follows of waiting strategy:
I-th frame unmanned plane path length is Li, flying speed is limited to vi∈[vmin,vmax], then this unmanned plane reaches mesh
Range the time required to cursor position is Ti∈[Li/vmax,Li/vmin];Since all unmanned planes need while reaching designated position,
The then range of arrival time are as follows:
Ta=T1∩T2∩…∩TN
Work as TaWhen for empty set, the method for taking pitch of the laps to wait at this time, specific method is that the shorter unmanned plane in path passes through circuit
Increase path length, waits other unmanned planes.
7. distributed control method is assembled in multiple no-manned plane mission area according to claim 4, it is characterised in that: the base
In the close assembly control strategy assembled in control strategy comprising virtual leader of forming into columns of second order consistency algorithm.
8. distributed control method is assembled in multiple no-manned plane mission area according to claim 4, it is characterised in that: it is described with
The mode of track speed and course angle control instruction is to be tracked by automatic pilot.
9. distributed control method is assembled in multiple no-manned plane mission area according to claim 7, it is characterised in that: the void
The assembly control strategy of quasi- leader is specific as follows:
In formula, v0、ψ0For the speed and course angle of virtual leader, βiReceive the weighting of virtual long machine information for unmanned plane;γvWith
γψFor state component weight coefficient;NiFor the neighborhood of the i-th frame unmanned plane;aijFor the corresponding element of communication network adjacency matrix
Element;WithThe respectively desired distance of leader and the i-th frame unmanned plane on the formation direction coordinate system x and the direction y,WithRespectively the expectation of jth frame unmanned plane and the i-th frame unmanned plane on the formation direction coordinate system x and the direction y away from
From.
10. distributed control method is assembled in multiple no-manned plane mission area according to claim 6, it is characterised in that: described
I-th frame unmanned plane pitch of the laps number niCalculation method it is as follows:
Wherein i=1,2 ..., n, ceil={ ... } indicate to be greater than or equal to smallest positive integral digital in bracket;I-th frame unmanned plane
In current location with minimum turning radius RminIt is niSecondary complete circular motion, then the flight time increases Δ ti=ni(2πRmin/
vi);Assuming that tmini=Li/vmax, tmaxi=Li/vmin, then t is usedmin=max { tmin1,tmin2…tminNIndicate that all unmanned planes are same
When reach needed for minimum time.
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