CN114020018A - Missile control strategy determination method and device, storage medium and electronic equipment - Google Patents
Missile control strategy determination method and device, storage medium and electronic equipment Download PDFInfo
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Abstract
The application provides a method and a device for determining a missile control strategy, a storage medium and electronic equipment, wherein the determining method comprises the following steps: determining control quantity data of the missile system to be analyzed based on an initial control strategy set by the missile system to be analyzed; carrying out iterative solution on the basis of the control quantity data to obtain a first control strategy, and obtaining a reference value function and a reference control strategy on the basis of the first control strategy; updating the first control strategy by using a reference control strategy until the updated control strategy meets a preset control strategy updating condition, and then obtaining an optimal control strategy and an optimal value function; and determining an unknown parameter matrix in the missile system to be analyzed based on the optimal control strategy, and determining the control strategy of the missile system to be analyzed by combining a parameter equation of the missile system to be analyzed. Therefore, by combining with the optimal control algorithm, the unknown parameters are determined by utilizing the missile state data, and the optimal control on the missile trajectory tracking is realized.
Description
Technical Field
The present application relates to the technical field of control algorithms, and in particular, to a method and an apparatus for determining a missile control policy, a storage medium, and an electronic device.
Background
In the field of automatic control, there are many control methods. For example: robust control technology, sliding mode control technology, backstepping control technology, prediction control technology and the like. These control schemes combine their own control advantages to achieve better control performance by adjusting controller parameters. However, these control methods can ensure system stability and cannot combine performance criteria with controller design. Whether the final control result meets the performance index is more judged by people, and the design of the controller and the required performance index cannot be combined through theoretical analysis. Therefore, the optimal control theory has received a lot of attention, and it can design the optimal controller under the given performance index. There are various methods for solving the optimal controller, such as: maximum and minimum value principle, linear quadratic optimal control, optimal robust control and dynamic programming method.
In the existing stage, under the condition of considering parameter uncertainty, a nonlinear control algorithm, such as a robust compensation algorithm, an H infinite control method, a sliding mode control method and the like, is designed, so that the influence of parameter uncertainty and the like on the missile performance is solved. However, such methods require suppression of the effects caused by uncertainty in missile parameters based on controlled object model information. And the actual missile dynamic model has uncertainty (such as uncertain tracking target and uncertain pneumatic parameters). The method is not suitable for the situation that the parameters are completely unknown and the model information of the controlled object is unknown. Therefore, it is urgently needed to implement a method for determining a missile control strategy to accurately control a missile system.
Disclosure of Invention
In view of this, an object of the present application is to provide a method, an apparatus, a storage medium, and an electronic device for determining a missile control strategy, wherein when determining a control strategy of a missile system to be analyzed, nonlinear and uncertain system parameters in the missile system are considered, an unknown parameter matrix including the nonlinear and uncertain system parameters is determined through an optimal control strategy, and a control strategy for implementing the missile system to be analyzed is determined, so as to improve the accuracy of controlling the missile system to be analyzed.
The embodiment of the application provides a method for determining a missile control strategy, which comprises the following steps:
determining control quantity data of the missile system to be analyzed based on an initial control strategy set by the missile system to be analyzed;
carrying out iterative solution on the basis of the control quantity data to obtain a first control strategy, and obtaining a reference value function and a reference control strategy on the basis of the first control strategy;
updating the first control strategy by using the reference control strategy until the updated control strategy meets a preset control strategy updating condition, and obtaining an optimal control strategy and an optimal value function;
and determining an unknown parameter matrix in the missile system to be analyzed based on the optimal control strategy, and determining the control strategy of the missile system to be analyzed by combining a parameter equation of the missile system to be analyzed.
Further, a parameter equation of the missile system to be analyzed is established by the following method:
acquiring position information of the missile under a three-dimensional inertial coordinate, operating state parameter information of the missile and parameter information of air to determine a motion linear equation of the missile;
acquiring a position vector and a speed vector of the missile, and determining an initial model equation of the missile;
determining a first reference target equation, a second reference target equation, a first target equation and a second target equation based on the motion linear equation of the missile;
determining a control force vector equation of the missile based on the first reference target equation, the second reference target equation, the first target equation, the second target equation and the state feedback variable;
and determining a parameter equation of the missile system to be analyzed based on the control force vector equation of the missile and the initial model equation of the missile.
Further, before the method for updating the control strategy based on the control strategy and the reference control strategy until the updated control strategy meets the preset control strategy updating condition and obtaining the optimal control strategy and the optimal value function, the determining method includes:
acquiring a reference signal in a missile system to be analyzed, and determining an augmentation function based on a parameter equation of the missile system to be analyzed and the reference signal;
determining a value function based on the position tracking error parameter, the control quantity data, the discount factor parameter, the system parameter and the matrix parameter of the augmentation function;
and carrying out derivation operation on the value function based on the explored steady-state control quantity in the missile system to be analyzed to determine a second value function parameter equation so as to determine the parallel updating condition of the value function and the first control strategy based on the second value function parameter equation.
Further, the determination method comprises:
determining the optimal control strategy based on the position tracking error parameter, the discount factor parameter, the system parameter, the control quantity data, and the augmentation function.
Further, the determining method further includes:
and determining an unknown parameter matrix in the missile system to be analyzed based on the optimal value function, the optimal controller in the optimal control strategy and the system parameters.
The embodiment of the application also provides a device for determining the missile control strategy, wherein the device comprises:
the output determining module is used for determining the control quantity data of the missile system to be analyzed based on the initial control strategy set by the missile system to be analyzed;
the iteration solving module is used for carrying out iteration solving on the basis of the control quantity data to obtain a first control strategy and obtaining a reference value function and a reference control strategy on the basis of the first control strategy;
the updating module is used for updating the first control strategy by using the reference control strategy until the updated control strategy meets a preset control strategy updating condition, and then obtaining an optimal control strategy and an optimal value function;
and the control module is used for determining an unknown parameter matrix in the missile system to be analyzed based on the optimal control strategy so as to enable the missile to be tracked and controlled based on the optimal control strategy, the unknown parameter matrix and a parameter equation of the missile system to be analyzed.
Further, the determining apparatus further includes a system establishing module, where the system establishing module is configured to:
acquiring position information of the missile under a three-dimensional inertial coordinate, operating state parameter information of the missile and parameter information of air to determine a motion linear equation of the missile;
acquiring a position vector and a speed vector of the missile, and determining an initial model equation of the missile;
determining a first reference target equation, a second reference target equation, a first target equation and a second target equation based on the motion linear equation of the missile;
determining a control force vector equation of the missile based on the first reference target equation, the second reference target equation, the first target equation, the second target equation and the state feedback variable;
and determining a parameter equation of the missile system to be analyzed based on the control force vector equation of the missile and the initial model equation of the missile.
Further, the determining apparatus includes a function determining module configured to:
acquiring a reference signal in a missile system to be analyzed, and determining an augmentation function based on a parameter equation of the missile system to be analyzed and the reference signal;
determining a value function based on the position tracking error parameter, the control quantity data, the discount factor parameter, the system parameter and the matrix parameter of the augmentation function;
and carrying out derivation operation on the value function based on the explored steady-state control quantity in the missile system to be analyzed to determine a second value function parameter equation so as to determine the parallel updating condition of the value function and the first control strategy based on the second value function parameter equation.
An embodiment of the present application further provides an electronic device, including: a processor, a memory and a bus, the memory storing machine readable instructions executable by the processor, the processor and the memory communicating over the bus when the electronic device is running, the machine readable instructions when executed by the processor performing the steps of the method of determining a missile control strategy as described above.
The embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to perform the steps of the missile control strategy determination method.
The application provides a missile control strategy determination method, which comprises the following steps: determining control quantity data of the missile system to be analyzed based on an initial control strategy set by the missile system to be analyzed; carrying out iterative solution on the basis of the control quantity data to obtain a first control strategy, and obtaining a reference value function and a reference control strategy on the basis of the first control strategy; updating the first control strategy by using a reference control strategy until the updated control strategy meets a preset control strategy updating condition, and then obtaining an optimal control strategy and an optimal value function; and determining an unknown parameter matrix in the missile system to be analyzed based on the optimal control strategy, and determining the control strategy of the missile system to be analyzed by combining a parameter equation of the missile system to be analyzed.
Therefore, when the control strategy of the missile system to be analyzed is determined, the nonlinear and uncertain system parameters in the missile system are considered, the unknown parameter matrix containing the nonlinear and uncertain system parameters is determined through the optimal control strategy, the control strategy for realizing the missile system to be analyzed is determined, and therefore the accuracy of the control of the missile system to be analyzed is improved.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
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In order to more clearly explain the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments are briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
FIG. 1 is a flow chart of a method for determining a missile control strategy according to an embodiment of the present disclosure;
FIG. 2 is a diagram of missile trajectory tracking provided by an embodiment of the present application;
fig. 3 is a schematic structural diagram of a missile control strategy determination device according to an embodiment of the present disclosure;
fig. 4 is a second schematic structural diagram of a missile control strategy determination device according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
To make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it should be understood that the drawings in the present application are for illustrative and descriptive purposes only and are not used to limit the scope of protection of the present application. Additionally, it should be understood that the schematic drawings are not necessarily drawn to scale. The flowcharts used in this application illustrate operations implemented according to some embodiments of the present application. It should be understood that the operations of the flow diagrams may be performed out of order, and that steps without logical context may be performed in reverse order or concurrently. One skilled in the art, under the guidance of this application, may add one or more other operations to, or remove one or more operations from, the flowchart.
In addition, the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
To enable those skilled in the art to utilize the present disclosure, the following embodiments are presented in conjunction with a specific application scenario "control algorithm technology field", and it will be apparent to those skilled in the art that the general principles defined herein may be applied to other embodiments and application scenarios without departing from the spirit and scope of the present disclosure.
The method, the apparatus, the electronic device, or the computer-readable storage medium described in the embodiments of the present application may be applied to any scenario that requires a control algorithm technology, and the embodiments of the present application do not limit a specific application scenario, and any scheme that uses the method and the apparatus for determining a missile control policy provided in the embodiments of the present application is within the scope of the present application.
Research shows that in the present stage, a missile model is simplified into a linear model, and an optimal control strategy is obtained based on some optimization methods (such as a Riccati differential method and a theta-D method) and in combination with a traditional optimal control method. Since such methods simplify the system to a linear model, and the conventional optimal control method requires complete model parameter information. However, the dynamics of the missile in actual flight are strongly nonlinear, so that the method does not achieve a true optimal control strategy due to the inaccuracy of a research model. Or aiming at the nonlinear model, under the condition of considering parameter uncertainty, designing a nonlinear control algorithm, such as a robust compensation algorithm, an H infinite control method, a sliding film control method and the like, so as to solve the influence of parameter uncertainty and the like on the missile performance. However, such methods require suppression of the effects caused by uncertainty in missile parameters based on controlled object model information. And the actual missile dynamic model has uncertainty (such as uncertain tracking target and uncertain pneumatic parameters). The method is not suitable for the situation that the parameters are completely unknown and the model information of the controlled object is unknown.
Based on this, the method for determining the missile control strategy is provided, when the control strategy of the missile system to be analyzed is determined, the nonlinear and uncertain system parameters in the missile system are considered, the unknown parameter matrix containing the nonlinear and uncertain system parameters is determined through the optimal control strategy, and the control strategy for realizing the missile system to be analyzed is determined, so that the accuracy of the control of the missile system to be analyzed is improved.
Referring to fig. 1, fig. 1 is a flowchart illustrating a missile control strategy determination method according to an embodiment of the present disclosure. As shown in fig. 1, an embodiment of the present application provides a method for determining a control policy, including:
s101: and determining the control quantity data of the missile system to be analyzed based on the initial control strategy set by the missile system to be analyzed.
In the step, an initial control strategy is set for the missile system to be analyzed, and then the initial control strategy performs strategy control on an initial controller, so that flight error data and control quantity data of the missile system under the initial control strategy are determined.
Here, by setting
Setting an initial controller, wherein,
is a steady state control quantity, uveTo explore the noise.
Here, the initial control strategy may be a strategy for performing control tracking control on the missile, and this section is not limited.
Wherein, the initial controller is used for being applied to the missile trajectory tracking task.
S102: and carrying out iterative solution on the basis of the control quantity data to obtain a first control strategy, and obtaining a reference value function and a reference control strategy on the basis of the first control strategy.
In the step, iteration solution is carried out on the obtained control quantity data to obtain a first control strategy, and the first control strategy utilizes a Bellman equation to obtain a reference value function and a reference control strategy.
Here, the first control strategy is obtained by iteratively solving the control quantity data, e.g. by
The updated control strategy for the nth iteration.
Here, for any
V can be obtained by the following Bellman equationnAnd
the Bellman equation is as follows:
wherein e β t is a defining parameter, Δ t is a time interval, VnAs a function of the reference values, ep is a position tracking error parameter, Q is one of the system parameters, R is one of the system parameters,
for reference to the control strategy, it is,
is a steady state control quantity, uveTo explore the noise, x is the reference signal dynamics,
is a first control strategy.
Here, since the reference value function is unknown, it may result in that the optimal controller cannot be directly obtained, and therefore the iterative algorithm introduced above approaches the optimal performance index and the optimal controller.
S103: and updating the first control strategy by using the reference control strategy until the updated control strategy meets a preset control strategy updating condition, and then obtaining an optimal control strategy and an optimal value function.
In the step, after the reference control strategy is obtained, the first control strategy is updated according to the reference control strategy until the updated control strategy meets the preset control strategy updating condition, and then the optimal control strategy and the optimal value function are obtained.
Here, the update policy is
So that the policy will be referenced
Is assigned to the first control strategy
Here, the preset control strategy update condition is
First control strategy
And control with reference
If the difference is smaller than epsilon, the control strategy updating is stopped.
Where ε > 0 is a set acceptable computational accuracy.
After meeting the preset control updating condition, continuously learning and updating the optimal control parameters by using a reinforcement learning algorithm to finally obtain the optimal control strategy
Here, V*In order to be a function of the optimum value,
and (3) for an optimal control tracker, R is a system parameter, B is an unknown matrix, the optimal control strategy is determined by utilizing the system parameter, the unknown matrix, the optimal value function and the optimal control tracker, and then the missile is subjected to tracking control by utilizing the optimal control strategy.
S104: and determining an unknown parameter matrix in the missile system to be analyzed based on the optimal control strategy, and determining the control strategy of the missile system to be analyzed by combining a parameter equation of the missile system to be analyzed.
In the step, an unknown parameter matrix in the missile system to be analyzed is determined according to the obtained optimal control strategy, and then the missile is tracked and controlled according to the optimal control strategy, the unknown parameter matrix and a parameter equation of the missile system to be analyzed, so that the tracker of the optimal control strategy is learned by combining the optimal control algorithm and utilizing the state data of the missile, and the optimal control method for tracking the trajectory of the missile is realized.
Here, the unknown parameter matrix is some unknown parameters of the missile in the flight process, such as the dynamic unknown parameters of the missile.
Here, the parameter equation of the missile system to be analyzed is established by the following method:
a: and obtaining the position information of the missile under the three-dimensional inertial coordinate, the running state parameter information of the missile and the parameter information of air to determine a motion linear equation of the missile.
Wherein, by considering the missile as a particle, the motion of the missile in space is described by the following linear equation of motion:
wherein x represents the transverse position information of the missile in the three-dimensional inertial coordinate system, y represents the longitudinal position information of the missile in the three-dimensional inertial coordinate system, z represents the position information of the missile in the direction perpendicular to the transverse coordinate and the longitudinal coordinate in the three-dimensional inertial coordinate system, V is the velocity information of the missile, theta is the trajectory inclination angle of the missile, psi is the trajectory deflection angle, and m is the mass of the missile; x represents the resistance to which the missile is subjected during flight, FXFor the control force of the missile in the transverse coordinate, FyFor the control force of the missile in the transverse coordinate, FzThe control force of the missile in the direction perpendicular to the transverse coordinate and the longitudinal coordinate.
B: and acquiring the position vector and the speed vector of the missile, and determining an initial model equation of the missile.
Wherein F ═ Fx Fy Fz]TRepresenting missile control force vector, FXFor the control force of the missile in the transverse coordinate, FyFor the control force of the missile in the transverse coordinate, FzThe control force of the missile in the direction perpendicular to the transverse coordinate and the longitudinal coordinate. During the actual flight of the missile, the missile is launched from the ground to ascend to the high altitude, and the drag coefficient c of the missilexAnd the air density p, will be constantly changing and therefore have a gradual change and uncertainty. The motion model of the missile has the characteristic of affine nonlinearity, and each channelThe models are coupled with each other, and the problem of directly solving the optimal control problem is difficult, so that an affine nonlinear system feedback linearization method based on a differential geometric theory is needed to solve the problem.
In order to apply the feedback linearization method to the missile system, let p ═ x yz]TA position vector representing the missile is shown,
and expressing a missile velocity vector, wherein x expresses the transverse position information of the missile in a three-dimensional inertia coordinate system, y expresses the longitudinal position information of the missile in the three-dimensional inertia coordinate system, and z expresses the position information of the missile in the direction perpendicular to the transverse coordinate and the longitudinal coordinate in the three-dimensional inertia coordinate system.
Based on the position vector and the velocity vector of the missile, determining an initial model equation of the missile as
Wherein, c3,2＝[0 1 0]TWhere α (P, v) is a first reference target equation, β (P, v) is a second reference target equation, P is a position vector of the missile, and v is a velocity vector of the missile. Here, an initial model of the missile is determined using the position vector of the missile and the velocity vector of the missile.
C: and determining a first reference target equation, a second reference target equation, a first target equation and a second target equation based on the linear equation of motion of the missile.
Here, the first reference target equation is:
wherein V is the speed information of the missile, theta is the trajectory inclination angle of the missile, and psi is the trajectory deflection angle. And wherein m is the missile mass and ρ is the air density parameter，cxIs the coefficient of resistance. Here, a first reference target equation is determined using velocity information of the missile, a trajectory inclination angle of the missile, a trajectory deflection angle, a mass of the missile, an air density parameter, and a drag coefficient.
Here, the second reference target equation is:
v is the speed information of the missile, theta is the trajectory inclination angle of the missile, psi is the trajectory deflection angle, and m is the mass of the missile, wherein a second reference target equation is determined by utilizing the speed information of the missile, the trajectory inclination angle of the missile, the trajectory deflection angle and the mass of the missile.
Considering that the trajectory inclination angle theta and the trajectory deflection angle psi can be measured in the actual flight of the missile, and the drag coefficient cxThe air density ρ, the mass m, and the like are indeterminate quantities, and the indeterminate parameters are set as follows:
here, the first objective equation is:
wherein V is the speed information of the missile, theta is the trajectory inclination angle of the missile, and psi is the trajectory deflection angle. Here, a first target equation is determined using the velocity information of the missile, the trajectory inclination angle of the missile, and the trajectory deflection angle.
Here, the second objective equation is:
wherein V is the speed information of the missile, theta is the trajectory inclination angle of the missile, and psi is the trajectory deflection angle. Here, a second target equation is determined using the velocity information of the missile, the trajectory inclination angle of the missile, and the trajectory deflection angle.
D: and determining a control force vector equation of the missile based on the first reference target equation, the second reference target equation, the first target equation, the second target equation and the state feedback variable.
Here, the control force vector equation of the missile is determined jointly according to the first reference target equation, the second reference target equation, the first target equation, the second target equation and the state feedback variable.
Firstly, calculating step by step, and obtaining the following data according to the first reference target equation, the second reference target equation, the first target equation and the second target equation:
α (p, v) ═ σ · α' (p, v) and
then, the feedback variable is set to u in the set statevAnd satisfying and further determining that the control force vector equation of the missile is as follows:
F＝σ·β(p，v)-1(uy-α′(p，v))；
β (p, v) is the second target reference equation, α' (p, v) is the first target equation, and σ is an indeterminate parameter.
E: and determining a parameter equation of the missile system to be analyzed based on the control force vector equation of the missile and the initial model equation of the missile.
Substituting the obtained control force vector equation of the missile into the initial model equation of the missile, and further determining the parameter equation of the missile system to be analyzed as
Wherein P is the position vector of the missile, V is the speed parameter of the missile, sigma is an uncertain parameter, uvFor control quantity data, g is the gravity constant.
Further, the tracking control determination method includes:
a: acquiring a reference signal in the missile system to be analyzed, and determining an augmentation function based on a parameter equation of the missile system to be analyzed and the reference signal.
Wherein x is set to [ p v ]]TDetermining according to a parameter equation of the missile system to be analyzed:
v＝Cx；
wherein A ═ 06×3 c6，1 c6，2 c6，3]，B＝[03×3 σI3]TY is the system state output, C ═ I3×3 03×3]And outputting a matrix for the missile system to be analyzed.
The reference signal dynamics are set as follows:
y0＝C0x0；
wherein x is0∈R6×1Representing the state of the reference signal, A0∈R6×1Representing a reference signal dynamic matrix. Determined according to the missile system to be analyzed
X and the reference signal can yield an amplification function:
wherein,
ep∈R6×1which is indicative of a position tracking error,
b: and determining a value function based on the position tracking error parameter, the control quantity data, the discount factor parameter, the system parameter and the matrix parameter of the augmentation function.
Wherein the design value function is:
where β is the discount factor, P is the matrix, Q>0，R>0, Q, R is the set system parameter, epFor position tracking error parameters, uvIs control quantity data.
Further, the derivation is performed on the above value function to obtain formula 1:
here, β is the discount factor, P is the matrix, Q>0，R>0, Q, R is the set system parameter, epFor position tracking error parameters, uvIs control quantity data.
Wherein
Let V*Is an optimum function. Based on the classical optimal control theory, an optimal control strategy can be obtained:
here, V*In order to be a function of the optimum value,
for optimal control of the tracker, R is the system parameter and B is the unknown matrix.
Further, will
Substituting into equation 1 to obtain the hamiltonian equation as follows:
here, V*In order to be a function of the optimum value,
for optimal control of the tracker, R is the system parameter, B is the unknown matrix, epFor position tracking error parameters, A ═ diag (A, A)0) And β is the discount factor.
Wherein, in practical application, the partial parameters of the missile are unknown
The matrix is unknown and it is therefore difficult to obtain an accurate hamiltonian. This makes it impossible for the optimal solution obtained based on the conventional optimal control algorithm to maintain optimality in practice. Next, a reinforcement learning algorithm is introduced, which obtains an optimal solution according with the actual situation by using the missile state information and identifies the actual system parameter matrix B.
And further, in order to accurately determine the optimal value of Hamilton, an explored steady-state control quantity is added into the missile system.
c: and carrying out derivation operation on the value function based on the explored steady-state control quantity in the missile system to be analyzed to determine a second value function parameter equation so as to determine the parallel updating condition of the value function and the first control strategy based on the second value function parameter equation.
After a steady-state control quantity for exploration is added into a missile system to be analyzed, the augmentation system at the moment is as follows:
wherein,
is a steady state control quantity, uveIn order to explore the noise,
the updated control strategy for the nth iteration.
And performing derivation operation on the value function by utilizing the explored steady-state control quantity in the missile system to be analyzed to determine a second value function parameter equation:
wherein, VnAs a function of the reference value, epQ is one of the system parameters, R is one of the system parameters,
is a steady state control quantity, uveIn order to explore the noise,
the updated control strategy for the nth iteration.
Further, e is multiplied at both ends of the second value function parameter equationβtAnd integrating to obtain a second value function parameter equation:
wherein, VnAs a function of the reference value, epQ is one of the system parameters, R is one of the system parameters,
is a steady state control quantity, uveIn order to explore the noise,
the updated control strategy for the nth iteration.
Further, a value function V can be determined according to the second value function parameter equationnAnd a first control strategy
And updating at the same time.
Further, the optimal control strategy is determined based on the position tracking error parameter, the discount factor parameter, the system parameter, the control amount data, and the augmentation function.
Here, the optimal tracking control strategy is found using iterative learning and neural network techniques, and the optimal value function and the optimal controller can be approximated through a plurality of iterations of the above iterative algorithm.
Further, an unknown parameter matrix in the missile system to be analyzed is determined based on the optimal value function, the optimal controller in the optimal control strategy and the system parameters.
Here, after the optimal control strategy is determined, use is made of
Determining an unknown parameter matrix
In a specific embodiment, a missile flight simulation system is set up, wherein the parameters are set as follows: the mass of the missile is 158kg, and the pneumatic parameter cx0.74, 0.868, 0.0324. The value of the unknown parameter σ is obtained as 6.5858 × 10-5. The initial position of the missile is set as follows: p [ < 250- > 240- > 250-]TAnd m is selected. In the reinforcement learning algorithm, the time interval delta t is 0.05s, the matrix is set to be Q is 50, and R is I3. The discount factor is set to 0.01. Learning an optimal controller through a reinforcement learning algorithm, applying the optimal controller to a track tracking task, and identifying an unknown parameter sigma of 6.5835 multiplied by 10 by using the learned optimal strategy-5. Referring to fig. 2, fig. 2 is a diagram of missile trajectory tracking provided by the application embodiment. As shown in fig. 2, it can be seen that in this embodiment, the positions of the missiles in the longitudinal position can determine that the optimal controller has good trajectory tracking performance.
The application provides a missile control strategy determination method, which comprises the following steps: determining control quantity data of the missile system to be analyzed based on an initial control strategy set by the missile system to be analyzed; carrying out iterative solution on the basis of the control quantity data to obtain a first control strategy, and obtaining a reference value function and a reference control strategy on the basis of the first control strategy; updating the first control strategy by using a reference control strategy until the updated control strategy meets a preset control strategy updating condition, and then obtaining an optimal control strategy and an optimal value function; and determining an unknown parameter matrix in the missile system to be analyzed based on the optimal control strategy so as to enable the missile to be tracked and controlled based on the optimal control strategy, the unknown parameter matrix and a parameter equation of the missile system to be analyzed.
Therefore, when the control strategy of the missile system to be analyzed is determined, the nonlinear and uncertain system parameters in the missile system are considered, the unknown parameter matrix containing the nonlinear and uncertain system parameters is determined through the optimal control strategy, the control strategy for realizing the missile system to be analyzed is determined, and therefore the accuracy of the control of the missile system to be analyzed is improved.
Referring to fig. 3 and 4, fig. 3 is a schematic structural diagram of a missile control strategy determination device according to an embodiment of the present disclosure; fig. 4 is a second schematic structural diagram of a missile control strategy determination device according to an embodiment of the present application; as shown in fig. 3, the determining means 300 includes:
the output determining module 310 is configured to determine control quantity data of the missile system to be analyzed based on an initial control strategy set by the missile system to be analyzed;
the iterative solution module 320 is configured to perform iterative solution based on the control quantity data to obtain a first control strategy, and obtain a reference value function and a reference control strategy based on the first control strategy;
an update solving module 330, configured to update the first control policy with the reference control policy, until the updated control policy meets a preset control policy update condition, to obtain an optimal control policy and an optimal value function;
and the control module 340 is configured to determine an unknown parameter matrix in the missile system to be analyzed based on the optimal control strategy, and determine a control strategy for the missile system to be analyzed by combining a parameter equation of the missile system to be analyzed.
Further, as shown in fig. 4, the determining apparatus 300 further includes a system establishing module 350, where the system establishing module 350 is configured to:
acquiring position information of the missile under a three-dimensional inertial coordinate, operating state parameter information of the missile and parameter information of air to determine a motion linear equation of the missile;
acquiring a position vector and a speed vector of the missile, and determining an initial model equation of the missile;
determining a first reference target equation, a second reference target equation, a first target equation and a second target equation based on the motion linear equation of the missile;
determining a control force vector equation of the missile based on the first reference target equation, the second reference target equation, the first target equation, the second target equation and the state feedback variable;
and determining a parameter equation of the missile system to be analyzed based on the control force vector equation of the missile and the initial model equation of the missile.
Further, as shown in fig. 4, the determining apparatus 300 includes a function determining module 360, and the function determining module 360 is configured to:
acquiring a reference signal in a missile system to be analyzed, and determining an augmentation function based on a parameter equation of the missile system to be analyzed and the reference signal;
determining a value function based on the position tracking error parameter, the control quantity data, the discount factor parameter, the system parameter and the matrix parameter of the augmentation function;
and carrying out derivation operation on the value function based on the explored steady-state control quantity in the missile system to be analyzed to determine a second value function parameter equation so as to determine the parallel updating condition of the value function and the first control strategy based on the second value function parameter equation.
Further, as shown in fig. 4, the control module 340 is configured to:
determining the optimal control strategy based on the position tracking error parameter, the discount factor parameter, the system parameter, the control quantity data, and the augmentation function.
Further, as shown in fig. 4, the update solving module 330 is configured to:
and determining an unknown parameter matrix in the missile system to be analyzed based on the optimal value function, the optimal controller in the optimal control strategy and the system parameters.
The device for determining the missile control strategy provided by the embodiment of the application comprises: the output determining module is used for determining the control quantity data of the missile system to be analyzed based on the initial control strategy set by the missile system to be analyzed; the iteration solving module is used for carrying out iteration solving on the basis of the control quantity data to obtain a first control strategy and obtaining a reference value function and a reference control strategy on the basis of the first control strategy; the updating and solving module is used for updating the first control strategy by using the reference control strategy until the updated control strategy meets a preset control strategy updating condition, and then obtaining an optimal control strategy and an optimal value function; and the control module is used for determining an unknown parameter matrix in the missile system to be analyzed based on the optimal control strategy and determining the control strategy of the missile system to be analyzed by combining a parameter equation of the missile system to be analyzed.
Therefore, when the control strategy of the missile system to be analyzed is determined, the nonlinear and uncertain system parameters in the missile system are considered, the unknown parameter matrix containing the nonlinear and uncertain system parameters is determined through the optimal control strategy, the control strategy for realizing the missile system to be analyzed is determined, and therefore the accuracy of the control of the missile system to be analyzed is improved.
Referring to fig. 5, fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure. As shown in fig. 5, the electronic device 500 includes a processor 510, a memory 520, and a bus 530.
The memory 520 stores machine-readable instructions executable by the processor 510, when the electronic device 500 runs, the processor 510 communicates with the memory 520 through the bus 530, and when the machine-readable instructions are executed by the processor 510, the steps of the method for determining a missile control policy in the method embodiment shown in fig. 1 may be performed.
An embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method for determining a missile control policy in the method embodiment shown in fig. 1 may be executed.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer-readable storage medium executable by a processor. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present application, and are used for illustrating the technical solutions of the present application, but not limiting the same, and the scope of the present application is not limited thereto, and although the present application is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope disclosed in the present application; such modifications, changes or substitutions do not depart from the spirit and scope of the exemplary embodiments of the present application, and are intended to be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A method for determining a missile control strategy, the method comprising:
determining control quantity data of the missile system to be analyzed based on an initial control strategy set by the missile system to be analyzed;
carrying out iterative solution on the basis of the control quantity data to obtain a first control strategy, and obtaining a reference value function and a reference control strategy on the basis of the first control strategy;
updating the first control strategy by using the reference control strategy until the updated control strategy meets a preset control strategy updating condition, and obtaining an optimal control strategy and an optimal value function;
and determining an unknown parameter matrix in the missile system to be analyzed based on the optimal control strategy, and determining the control strategy of the missile system to be analyzed by combining a parameter equation of the missile system to be analyzed.
2. The determination method according to claim 1, characterized in that the parametric equation of the missile system to be analyzed is established by:
acquiring position information of the missile under a three-dimensional inertial coordinate, operating state parameter information of the missile and parameter information of air to determine a motion linear equation of the missile;
acquiring a position vector and a speed vector of the missile, and determining an initial model equation of the missile;
determining a first reference target equation, a second reference target equation, a first target equation and a second target equation based on the motion linear equation of the missile;
determining a control force vector equation of the missile based on the first reference target equation, the second reference target equation, the first target equation, the second target equation and the state feedback variable;
and determining a parameter equation of the missile system to be analyzed based on the control force vector equation of the missile and the initial model equation of the missile.
3. The determination method according to claim 1, wherein before obtaining the optimal control strategy and the optimal value function method after the control strategy update based on the control strategy and the reference control strategy is performed until the updated control strategy satisfies a preset control strategy update condition, the determination method comprises:
acquiring a reference signal in a missile system to be analyzed, and determining an augmentation function based on a parameter equation of the missile system to be analyzed and the reference signal;
determining a value function based on the position tracking error parameter, the control quantity data, the discount factor parameter, the system parameter and the matrix parameter of the augmentation function;
and carrying out derivation operation on the value function based on the explored steady-state control quantity in the missile system to be analyzed to determine a second value function parameter equation so as to determine the parallel updating condition of the value function and the first control strategy based on the second value function parameter equation.
4. The determination method according to claim 3, characterized in that the determination method comprises:
determining the optimal control strategy based on the position tracking error parameter, the discount factor parameter, the system parameter, the control quantity data, and the augmentation function.
5. The determination method according to claim 1, characterized in that the determination method further comprises:
and determining an unknown parameter matrix in the missile system to be analyzed based on the optimal value function, the optimal controller in the optimal control strategy and the system parameters.
6. A missile control strategy determination device, the determination device comprising:
the output determining module is used for determining the control quantity data of the missile system to be analyzed based on the initial control strategy set by the missile system to be analyzed;
the iteration solving module is used for carrying out iteration solving on the basis of the control quantity data to obtain a first control strategy and obtaining a reference value function and a reference control strategy on the basis of the first control strategy;
the updating and solving module is used for updating the first control strategy by using the reference control strategy until the updated control strategy meets a preset control strategy updating condition, and then obtaining an optimal control strategy and an optimal value function;
and the control module is used for determining an unknown parameter matrix in the missile system to be analyzed based on the optimal control strategy and determining the control strategy of the missile system to be analyzed by combining a parameter equation of the missile system to be analyzed.
7. The apparatus of claim 6, further comprising a system setup module configured to:
acquiring position information of the missile under a three-dimensional inertial coordinate, operating state parameter information of the missile and parameter information of air to determine a motion linear equation of the missile;
acquiring a position vector and a speed vector of the missile, and determining an initial model equation of the missile;
determining a first reference target equation, a second reference target equation, a first target equation and a second target equation based on the motion linear equation of the missile;
determining a control force vector equation of the missile based on the first reference target equation, the second reference target equation, the first target equation, the second target equation and the state feedback variable;
and determining a parameter equation of the missile system to be analyzed based on the control force vector equation of the missile and the initial model equation of the missile.
8. The determination apparatus of claim 6, wherein the determination apparatus comprises a function determination module configured to:
acquiring a reference signal in a missile system to be analyzed, and determining an augmentation function based on a parameter equation of the missile system to be analyzed and the reference signal;
determining a value function based on the position tracking error parameter, the control quantity data, the discount factor parameter, the system parameter and the matrix parameter of the augmentation function;
and carrying out derivation operation on the value function based on the explored steady-state control quantity in the missile system to be analyzed to determine a second value function parameter equation so as to determine the parallel updating condition of the value function and the first control strategy based on the second value function parameter equation.
9. An electronic device, comprising: a processor, a memory and a bus, the memory storing machine readable instructions executable by the processor, the processor and the memory communicating over the bus when the electronic device is operating, the machine readable instructions when executed by the processor performing the steps of a method of missile control strategy determination as claimed in any one of claims 1 to 5.
10. A computer-readable storage medium, having stored thereon a computer program which, when being executed by a processor, carries out the steps of a method of missile control strategy determination according to any one of claims 1 to 5.
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