CN110162084A - Cruising missile group system formation control method based on congruity theory - Google Patents
Cruising missile group system formation control method based on congruity theory Download PDFInfo
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Abstract
The present invention provides a kind of cruising missile group system formation control method based on congruity theory obtains topological structure parameter, the monomer sites information, reference information of forming into columns, the relative velocity for being bordered by monomer of cruising missile group system first；It is then based on the expectation acceleration that the formation control that congruity theory calculates in guidance loop is restrained, and tracked using formation control rule as acceleration in control loop；Desired acceleration is finally decomposed into speed system x to, z to desired acceleration, using engine throttle, speed inclination angle as cruising missile executing agency, tracking x is controlled to, z to acceleration using PI, passes through control guided missile acceleration tracking expectation acceleration and realizes cruising missile group system formation control.The formation control method has the characteristics that the complete distributed computing of monomer, resources occupation rate are low, control precision is high, algorithm is easily achieved, and has preferable practicability.
Description
Technical field
The present invention relates to guided missile formation control technical field more particularly to a kind of formation for cruising missile group system
Control method.
Background technique
Group system is to pass through the system that the network interconnection is constituted by a large amount of autonomous or semi-autonomous main bodys of distribution configuration.
For missile weapon system, guided missile can be promoted from relatively simple single bouncing function to more complicated collection by cluster collaboration
The direction of group's cooperation is developed, and the various functions that single complicated optimal in structure has can be distributed to greatly by guided missile group system
In amount low cost, the infinitesimal guided missile having a single function, originally complicated system function is realized by a large amount of isomeries, special-shaped individual
Can, the fight capability that guided missile cluster will be made to have remote super single platform that increases benefit again of system.
Traditional formation control strategy is divided into three classes: based on leader-follower formation control strategy, Behavior-based control
Formation control strategy and formation control strategy based on virtual architecture.In cruising missile system regions, cluster fight is mainly used
Be neck from playing control model, bee colony self-organizing cluster fight mode, guided missile monomer mission planning mode.
Neck belongs to from control model is played based on leader-follower formation control strategy, and basic thought is one specified
Or multiple guided missiles, as leader, remaining guided missile makees follower, neck bullet is moved by specified path, keeps specific from bullet and neck bullet
Relative position or angular relationship movement.Neck is simple from the advantages of bullet control model, it is easy to accomplish, the problem is that robustness
Difference, neck bullet are formed into columns if failure and be cannot keep, and formation error is transmitted step by step.
Bee colony self-organizing cluster fight mode belongs to the formation control strategy of Behavior-based control, and basic thought is each guided missile list
Body has several scheduled behavior patterns, such as close, alignment, dispersion, avoidance, and every kind of behavior can produce corresponding control and make
With the final controller of guided missile monomer is obtained by the control action weighted sum of these behaviors.Bee colony self-organizing cluster fight mould
Formula can combine formation holding, collision prevention, avoidance, the behavior pattern moved to specific objective, and intelligence degree is higher, but mould
Type is excessively complicated, is difficult theoretically to analyze it.
Guided missile monomer mission planning mode belongs to the formation control strategy based on virtual architecture, and basic thought is to pass through task
The desired formation of planning and designing is regarded as rigid virtual architecture for forming into columns, and guided missile monomer tracks corresponding points movement on virtual architecture.
Guided missile monomer mission planning mode robustness is preferable, and formation precision is high, but the mode communication amount and computationally intensive, needs to own
Guided missile monomer real-time and accurately tracing task planning path.
In conclusion there is control precision, model complexity, algorithm in existing cruising missile group system formation control method
Complexity etc. is difficult to the problem of coordinating, and is badly in need of the cruising missile cluster that a kind of control precision is high, model is simple, algorithm is easy
System formation control method.
Summary of the invention
It is multiple to there is control precision, model complexity, algorithm for cruising missile group system formation control in the prior art
Miscellaneous degree etc. is difficult to the technical issues of coordinating, the cruising missile group system based on congruity theory that the present invention provides a kind of
Formation control method.
The present invention solve above-mentioned technical problem the technical solution adopted is that: a kind of cruising missile collection based on congruity theory
Group's system formation control method, includes the following steps:
S1, it the topological structure parameter for obtaining cruising missile group system, monomer sites information, formation reference information, is bordered by
The relative velocity of monomer；
S2, the information obtained according to step S1 calculate the formation control in guidance loop based on congruity theory and restrain, and with
The expectation acceleration that formation control rule is tracked as acceleration in control loop；
S3, it desired acceleration is decomposed obtains speed system x in X-O-Z plane to, z to desired acceleration；With engine
Throttle, speed inclination angle are cruising missile executing agency, control tracking x to, z to acceleration using PI；Added by controlling guided missile
Speed tracing it is expected that acceleration realizes cruising missile group system formation control.
Further, in the step S1, the topological structure parameter includes adjacency matrix W, indegree matrix D, La Pula
This matrix L, calculation method are as follows:
D=diag { degin(vi), i=1,2 ..., N }
L=D-W
Wherein, wijIndicate side (vj,vi) weight；For node viIn-degree；Node viIndicate flight
Guided missile monomer i (i ∈ { 1,2 ..., N }), N are guided missile monomer number in cruising missile group system, side (vi,vj) indicate that flight is led
Play information transfering relation；
Measure the location information x of cruising missile monomer ii(t), it is bordered by relative velocity (the v of monomeri(t)-vj(t)) (i, j=
1,…,N)；
The formation reference information isWherein, hi(t)=[hix(t),
hiv(t)]T(i ∈ { 1,2 ..., N }), hix(t)、hiv(t) be respectively guided missile monomer i position form into columns reference, speed form into columns ginseng
It examines.
Further, formation control rule is in the step S2
Wherein, k < 0 is constant, and
Further, the step S3 specifically comprises the following steps:
Establish the dynamical motion equation of monomer in cruising missile group system:
Wherein,WithRespectively speed system x is to, to acceleration, P is thrust with z, and m is vehicle mass, and α is the angle of attack, g
For acceleration of gravity, γvFor speed inclination angle, CyFor lift coefficient, CxFor resistance coefficient, q is incoming flow dynamic pressure, and S is the plane of reference
Product；
Wherein,WithRespectively indicate x to z to expectation acceleration,WithIndicate acceleration measurement, kpz,
kiz, kpx, kixIndicate PI control parameter；S is the complex variable of Laplace transformation, and τ is time constant.
Technical solution of the present invention controls mould from bullet compared to the neck in current cruising missile group system formation control field
Formula, bee colony self-organizing cluster fight mode, guided missile monomer mission planning mode, guided missile monomer are complete without perceiving global information
Full distributed control, quickly and accurately realize formation control under limited resources occupation rate, guidance loop, control loop
It is expected that formation acceleration tracking strategy provide it is a kind of can Multiple-step mode thinking, the control law based on congruity theory is succinct,
It is easy to carry out, it can fast and accurately realize consolidation formation team type.
Detailed description of the invention
Attached drawing is used to provide and be further understood from the embodiment of the present invention, for illustrating the embodiment of the present invention, and with
Verbal description comes together to illustrate the principle of the present invention.It should be evident that the accompanying drawings in the following description is only of the invention some
Embodiment for those of ordinary skill in the art without creative efforts, can also be attached according to these
Figure obtains other attached drawings.
Fig. 1 shows the cruising missile group system formation control circuit the present invention is based on congruity theory；
Fig. 2 shows cruising missile group system formation control flow charts of the present invention；
Fig. 3 shows guided missile monolithic acceleration tracing control schematic diagram of the present invention；
Fig. 4 shows the cruising missile group system topological structure of a specific embodiment according to the present invention；
Fig. 5 shows the location view of cruising missile group system different moments in Fig. 4；
Fig. 6 shows the speed view of cruising missile group system different moments in Fig. 4；
Fig. 7 shows each guided missile acceleration expectation curve in Fig. 4；
Fig. 8 shows the acceleration aircraft pursuit course of guided missile 3 in Fig. 4；
Fig. 9 shows the engine throttle operation curve of guided missile 3 in Fig. 4；
Figure 10 shows the speed angle of obliquity of action curve of guided missile 3 in Fig. 4.
Specific embodiment
The basic thought of formation control strategy based on consistency is the state or output phase pair of all monomers of group system
In common formation with reference to the specific deviation of holding.When forming into columns beginning, formation reference pair monomer keeps unknown, passes through distribution
After Collaborative Control, all monomers, which just form into columns to refer to, reaches an agreement, and then realizes that expectation is formed into columns.
In view of advantage of the formation control strategy based on consistency in terms of group system distributed collaboration control, the present invention
It is proposed the cooperative control method based on congruity theory towards cruising missile group system, and it is winged to generate to design guidance loop
Boat guided missile group system forms into columns expectation acceleration, design control loop to control the corresponding acceleration of cruising missile monomer tracking, such as
Shown in Fig. 1.Time-varying formation reference information is stored in advance in guidance loop, obtains formation control rule based on congruity theory, and input
Second-order system kinematics model obtains the expectation acceleration in X-O-Z plane.Control loop is it is expected acceleration and accelerometer
The actual acceleration deviation of measurement is control amount, adjusts engine throttle, speed inclination angle using PI controller, input flight is led
Springing mechanical model is to control guided missile acceleration tracking expectation acceleration.In the communication for reducing guided missile monomer and the feelings for calculating demand
Under condition, cruising missile group system cooperative combat ability is formed.With the complete distributed computing of monomer, resources occupation rate is low, controls
The characteristics of precision processed is high, algorithm is easily achieved has preferable practicability.
The present invention is based on the cruising missile group system formation control method of congruity theory, process is as shown in Figure 2:
Step 1: obtaining the topological structure parameter of networking cruising missile group system, monomer sites information, forming into columns with reference to letter
Cease, be bordered by the relative velocity of monomer.
(1) topological structure parameter adjacency matrix W, the indegree matrix D, Laplacian Matrix of cruising missile group system are calculated
L。
The topological relation of cruising missile group system is described using the digraph of Graph Theory in the present invention, in order to just
In understanding, first topological relation of the general introduction based on graph theory:
Based on Graph Theory, the topological relation of group system is described using digraph G=(V (G), E (G)), includes node
Set V (G)={ v1,v2,…,vNAnd line setEach edge eijBy a pair of of node
(vi,vj) indicate, interior joint vi、vjRespectively father node, child node.The adjacency matrix of digraph G is defined as For real number field, wherein wijIndicate side (vj,vi) weight.Node viNeighborhood be defined as Ni=
{vj∈V(G):(vi,vj)∈E(G)}.Node viIn-degree be defined asThe indegree matrix of figure G is defined as D
=diag { degin(vi), i=1,2 ..., N }.The LaPlacian matrix definition of digraph G is L=D-W.
The Graph Theory with reference to " Graph Theory & Its Application " (Zhang Xiandi, Li Zhengliang, Higher Education Publishing House, 2005,
2.13-19,31-40.).
In the cruising missile group system containing N number of guided missile monomer, respectively with graph theory node viWith side (vi,vj) indicate to fly
Navigate guided missile monomer i (i ∈ { 1,2 ..., N }), information transfering relation, then the topological relation of cruising missile group system can be converted into
Analysis description to digraph G.
The topological structure parameter of cruising missile group system includes adjacency matrix W, indegree matrix D, Laplacian Matrix L,
Calculation formula is as follows:
D=diag { degin(vi), i=1,2 ..., N }
L=D-W
Wherein, wijIndicate side (vj,vi) weight；For node viIn-degree.
(2) it measures the monomer sites information of cruising missile group system, be bordered by the relative velocity of monomer, setting, which is formed into columns, to be referred to
Information.
The present invention describes cruising missile group system kinetics equation using second-order system.For containing N number of guided missile monomer
Cruising missile group system, kinetics equation are as follows:
Wherein,The respectively position of guided missile monomer i, speed, acceleration,
State space dimension is 2.
It is bordered by the relative velocity of monomer are as follows: (vi(t)-vj(t)) (i, j=1 ..., N).
Time-varying vector is used in the formation reference of cruising missile group systemIt indicates,
Wherein, hi(t)=[hix(t),hiv(t)]T(i ∈ { 1,2 ..., N }), hix(t)、hiv(t) be respectively guided missile monomer i position compile
Team's reference, speed, which are formed into columns, to be referred to.
Cruising missile group system realizes the time-varying formation control formed into columns and determined with reference to h (t), then cruising missile group system
In all monomers should meet following formula
Wherein, i, j ∈ 1,2 ..., N.
The principle of control method of the present invention proposes formation control strategy, so that cruising missile group system realizes formula (2)
Shown in formation control.
Step 2: being input with step 1 information, the formation control rule in guidance loop is calculated based on congruity theory, and
The expectation acceleration tracked using formation control rule as acceleration in control loop.
In guidance loop, it is based on congruity theory, proposes that formation control rule is as follows:
Wherein, k < 0 is constant, and
By formula (3) it is found that the formation control rule design of guidance loop need to only know topological structure parameter wij, guided missile monomer
The location information x of ii(t), formation reference information h (t) (i=1 ..., N), be bordered by the relative velocity (v of monomeri(t)-vj(t))
(i, j=1 ..., N), the velocity information v without the monomer i that knows for surei(t).And parameter to be designed is only related to location information
Parameter k.
Speed system x is obtained in X-O-Z plane to, z to desired acceleration Step 3: desired acceleration is decomposedWithUsing engine throttle, speed inclination angle as cruising missile executing agency, tracking x is controlled to, z to acceleration using PI.
The tracking of cruising missile group system formation control uses guidance loop, control loop separate design, and guidance loop is set
Meter target is the expectation acceleration that formation control is restrained, and control loop design object is tracking expectation acceleration.
Formation control is restrained into ui(t) it is used as desired acceleration, is decomposed into X-O-Z planeWithTo cruising missile
All monomers carry out acceleration tracing control.
For simplified mathematical model, guided missile monomer meets height-lock control, uses skew back turning, breaks away as zero in the present invention.
The influence of negligible short cycle process and rotation, only considers the influence of dynamics lag.
The present invention only considers the acceleration tracking problem in horizontal plane, then in cruising missile group system monomer dynamics
The equation of motion are as follows:
Wherein,WithSpeed system x is respectively indicated to, to acceleration, P indicates thrust, m vehicle mass, the α angle of attack, g with z
Acceleration of gravity, γvSpeed inclination angle, CyLift coefficient, CxResistance coefficient, q incoming flow dynamic pressure, S area of reference.
In formula (4), thrust P is mainly related to engine throttle φ, i.e. P=P (φ), lift coefficient CyWith resistance coefficient Cx
It is represented by cx0To construct coefficient.
By the equation of motion (4) it is found that by adjusting engine throttle φ and speed inclination angle γvCruising missile may be implemented
Monolithic accelerationWithTracing control.
For turbojet engine, the adjustment of thrust can be realized by changing revolving speed, model can use first order inertial loop
It is next approximate, therefore motor power adjusting model is expressed asS is the complex variable of Laplace transformation, timeconstantτ
Range be 0.2~0.4, as shown in figure 3, engine throttle control φcEngine throttle is obtained after adjusting model by thrust
φ, φ=φc·Gf(s)。
Low-pass filtering is introduced into control loop in z, thus speed inclination angle are as follows:
Throttle Opening Control equation is
Wherein,WithRespectively indicate x to z to expectation acceleration,WithIndicate acceleration measurement, kpz,
kiz, kpx, kixIndicate proportional-plus-integral controller (PI) control parameter.
Control loop is controlled using the actual acceleration deviation for it is expected acceleration and accelerometer measures as control amount using PI
Device adjust engine throttle, speed inclination angle, input cruising missile kinetic model, that is, formula (4) with control guided missile acceleration with
Track it is expected acceleration.
In order to better understand the present invention, control method of the present invention is carried out below with reference to a specific embodiments and the drawings
It illustrates.The present embodiment is studied in two-dimensional surface X-O-Z.Certain cruising missile group system is by 6 pieces of guided missile monomer compositions, topology
Structure is as shown in figure 4, then the cruising missile group system topological structure parameter is corresponding:
Formation is referenced as equilateral regular hexagon, according to the angular speed of 0.2rad/s around center rotating, deflecting when referring to of forming into columns
Amount is with hi(t) it describes, vector element successively indicates X to position xXi(t), X is to speed vXi(t), Z-direction position xZi(t), Z-direction speed
vZi(t)。
The initial position of default group system monomer is ξij(0)=8 (Θ -0.5) (i=1,2 ..., 6；J=1,2,3,4),
Random number between wherein Θ represents 0~1.
Formula (3) are restrained by formation control, select k=-0.6, then:
Cruising missile group system is as shown in Figure 5, Figure 6 in the position of different moments, speed view.By Fig. 5, Fig. 6 it is found that
According to formation control method provided by the invention, which realizes time-varying formation control.Fig. 7 is restrained based on formation control
Acceleration it is expected in the formation that calculation formula (3) obtains.
In the present embodiment, use certain type using turbojet engine as the cruising missile of power, key parameter is shown in Table 2:
Certain the type cruising missile key parameter of table 2
Make acceleration tracing control by taking guided missile monomer 3 as an example, select PI control parameter: X is to kpx=1.2, kix=0.5；Z
To kpz=10, kiz=12.Tracking effect is referring to Fig. 8, and as shown in Figure 8, guided missile monomer can quickly and accurately track expectation and form into columns
Acceleration.Fig. 9, Figure 10 show that during formation control, executing agency's movement of guided missile is gentle, are easy to physics realization.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (4)
1. a kind of cruising missile group system formation control method based on congruity theory, which is characterized in that the method packet
Include following steps:
S1, the topological structure parameter for obtaining cruising missile group system, monomer sites information, reference information of forming into columns, it is bordered by monomer
Relative velocity；
S2, the information obtained according to step S1 calculate the formation control rule in guidance loop based on congruity theory, and with the volume
The expectation acceleration that team's control law is tracked as acceleration in control loop；
S3, it desired acceleration is decomposed obtains speed system x in X-O-Z plane to, z to desired acceleration；For with engine oil
Door, speed inclination angle are cruising missile executing agency, control tracking x to, z to acceleration using PI；Accelerated by control guided missile
Degree tracking expectation acceleration realizes cruising missile group system formation control.
2. cruising missile group system formation control method as described in claim 1, which is characterized in that in the step S1,
The topological structure parameter includes adjacency matrix W, indegree matrix D, Laplacian Matrix L, and calculation method is as follows:
D=diag { degin(vi), i=1,2 ..., N }
L=D-W
Wherein, wijIndicate side (vj,vi) weight；For node viIn-degree；Node viIndicate cruising missile
Monomer i (i ∈ { 1,2 ..., N }), N are guided missile monomer number in cruising missile group system, side (vi,vj) indicate cruising missile letter
Cease transitive relation；
Measure the location information x of cruising missile monomer ii(t), it is bordered by relative velocity (the v of monomeri(t)-vj(t)) (i, j=
1,…,N)；
The formation reference information isWherein, hi(t)=[hix(t),hiv
(t)]T(i ∈ { 1,2 ..., N }), hix(t)、hiv(t) be respectively guided missile monomer i position form into columns reference, speed form into columns reference.
3. cruising missile group system formation control method as claimed in claim 2, which is characterized in that compiled in the step S2
Team control law be
Wherein, k < 0 is constant, and
4. cruising missile group system formation control method as claimed in claim 3, which is characterized in that the step S3 is specific
Include the following steps:
Establish the dynamical motion equation of monomer in cruising missile group system:
Wherein,WithRespectively speed system x is to, to acceleration, P is thrust with z, and m is vehicle mass, and α is the angle of attack, and g attaches most importance to
Power acceleration, γvFor speed inclination angle, CyFor lift coefficient, CxFor resistance coefficient, q is incoming flow dynamic pressure, and S is area of reference；
Wherein,WithRespectively indicate x to z to expectation acceleration,WithIndicate acceleration measurement, kpz, kiz, kpx,
kixIndicate PI control parameter；S is the complex variable of Laplace transformation, and τ is time constant.
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| CN113741548A (en) * | 2021-10-20 | 2021-12-03 | 北京机电工程研究所 | Nonlinear cooperative guidance method and device for formation of unmanned aerial vehicles and storage medium |
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