CN114020018B - Determination method and device of missile control strategy, storage medium and electronic equipment - Google Patents

Abstract

This application provides a method, device, storage medium and electronic equipment for determining a missile control strategy. The determination method includes: determining the control amount data of the missile system to be analyzed based on the initial control strategy set by the missile system to be analyzed; based on the control Iteratively solve the quantitative data to obtain the first control strategy, and obtain the reference value function and reference control strategy based on the first control strategy; use the reference control strategy to update the first control strategy until the updated control strategy meets the preset control strategy update After conditions, the optimal control strategy and the optimal value function are obtained; based on the optimal control strategy, the unknown parameter matrix in the missile system to be analyzed is determined, and combined with the parameter equations of the missile system to be analyzed, the parameters for the missile system to be analyzed are determined. Describe the control strategy of the missile system to be analyzed. In this way, the missile status data is used in combination with the optimal control algorithm to determine the unknown parameters and achieve optimal control of the missile trajectory tracking.

Description

Method, device, storage medium and electronic device for determining missile control strategy

Technical Field

The present application relates to the field of control algorithm technology, and in particular to a method, device, storage medium and electronic device for determining a missile control strategy.

Background Art

In the field of automatic control, there are many control methods. For example: robust control technology, sliding mode control technology, backstepping control technology and predictive control technology. These control schemes combine their own control advantages and adjust the controller parameters to obtain better control performance. However, these control methods can only ensure the stability of the system, and cannot combine performance indicators with controller design. Whether the final control result meets the performance indicators is more of a human judgment, and the controller design and the required performance indicators cannot be combined through theoretical analysis. Therefore, optimal control theory has received widespread attention. It can design the optimal controller under given performance indicators. There are many methods to solve the optimal controller, such as: maximum and minimum principle, linear quadratic optimal control, optimal robust control, and dynamic programming.

At the current stage, nonlinear control algorithms, such as robust compensation algorithm, H infinite control method and sliding film control method, are designed under the condition of parameter uncertainty to solve the influence of parameter uncertainty on missile performance. However, such methods need to suppress the influence of missile parameter uncertainty based on the model information of the controlled object. However, there are uncertainties in the actual missile dynamic model (such as uncertainty in tracking targets and uncertainty in aerodynamic parameters). It is not applicable to the situation where the parameters are completely unknown and the model information of the controlled object is unknown. Therefore, it is urgent to realize a method for determining the missile control strategy to achieve accurate control of the missile system.

Summary of the invention

In view of this, the purpose of the present application is to provide a method, device, storage medium and electronic device for determining a missile control strategy. When determining the control strategy for the missile system to be analyzed, the nonlinearity and uncertain system parameters in the missile system are taken into account. Through the optimal control strategy, the unknown parameter matrix containing the nonlinearity and uncertain system parameters is determined, and the control strategy for the missile system to be analyzed is determined, thereby improving the accuracy of the control of the missile system to be analyzed.

The embodiment of the present application provides a method for determining a missile control strategy, the method comprising:

Based on the initial control strategy set for the missile system to be analyzed, the control quantity data of the missile system to be analyzed is determined;

Performing an iterative solution based on the control quantity data to obtain a first control strategy, and obtaining a reference value function and a reference control strategy based on the first control strategy;

Using the reference control strategy to update the first control strategy until the updated control strategy meets the preset control strategy update condition, thereby obtaining an optimal control strategy and an optimal value function;

Based on the optimal control strategy, an unknown parameter matrix in the missile system to be analyzed is determined, and combined with the parameter equation of the missile system to be analyzed, a control strategy for the missile system to be analyzed is determined.

Furthermore, the parameter equation of the missile system to be analyzed is established by the following method:

Obtaining the position information of the missile in three-dimensional inertial coordinates, the operating state parameter information of the missile and the parameter information of air to determine the motion linear equation of the missile;

Obtaining the position vector and the velocity vector of the missile, and determining the initial model equation of the missile;

Determine a first reference target equation, a second reference target equation, a first target equation, and a second target equation based on the linear motion 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;

Based on the control force vector equation of the missile and the initial model equation of the missile, the parameter equation of the missile system to be analyzed is determined.

Furthermore, before the control strategy is updated based on the control strategy and the reference control strategy until the updated control strategy satisfies the preset control strategy update condition and the optimal control strategy and the optimal value function method are obtained, the determination method includes:

Acquire a reference signal in the missile system to be analyzed, and determine an augmented function based on a parameter equation of the missile system to be analyzed and the reference signal;

Determine the value function based on the position tracking error parameter, control quantity data, discount factor parameter, system parameter and matrix parameter of the augmented function;

The value function is derivatized 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 update status of the value function and the first control strategy based on the second value function parameter equation.

Furthermore, the determination method includes:

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 augmented function.

Furthermore, the determination method further includes:

Based on the optimal value function, the optimal controller in the optimal control strategy and the system parameters, an unknown parameter matrix in the missile system to be analyzed is determined.

The embodiment of the present application also provides a device for determining a missile control strategy, the determining device comprising:

An output determination module is used to determine the control quantity data of the missile system to be analyzed based on the initial control strategy set for the missile system to be analyzed;

An iterative solution module, 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 updating module, used to update the first control strategy using the reference control strategy until the updated control strategy satisfies a preset control strategy update condition, thereby obtaining an optimal control strategy and an optimal value function;

The control module is used to determine the unknown parameter matrix in the missile system to be analyzed based on the optimal control strategy, so as to track and control the missile based on the optimal control strategy, the unknown parameter matrix and the parameter equation of the missile system to be analyzed.

Furthermore, the determining device further includes a system establishing module, and the system establishing module is used to:

Obtaining the position information of the missile in three-dimensional inertial coordinates, the operating state parameter information of the missile and the parameter information of air to determine the motion linear equation of the missile;

Obtaining the position vector and the velocity vector of the missile, and determining the initial model equation of the missile;

Determine a first reference target equation, a second reference target equation, a first target equation, and a second target equation based on the linear motion 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;

Based on the control force vector equation of the missile and the initial model equation of the missile, the parameter equation of the missile system to be analyzed is determined.

Further, the determining device includes a function determining module, and the function determining module is used to:

Acquire a reference signal in the missile system to be analyzed, and determine an augmented function based on a parameter equation of the missile system to be analyzed and the reference signal;

Determine the value function based on the position tracking error parameter, control quantity data, discount factor parameter, system parameter and matrix parameter of the augmented function;

The value function is derivatized 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 update status of the value function and the first control strategy based on the second value function parameter equation.

An embodiment of the present application also provides an electronic device, comprising: a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate via the bus, and when the machine-readable instructions are executed by the processor, the steps of the method for determining the missile control strategy as described above are performed.

An embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the method for determining the missile control strategy as described above are executed.

The present application provides a method for determining a missile control strategy, and the tracking control determination method includes: determining control quantity data of the missile system to be analyzed based on an initial control strategy set for the missile system to be analyzed; obtaining a first control strategy by iteratively solving the control quantity data, and obtaining a reference value function and a reference control strategy based on the first control strategy; updating the first control strategy using the reference control strategy until the updated control strategy meets a preset control strategy update condition, thereby obtaining an optimal control strategy and an optimal value function; determining an unknown parameter matrix in the missile system to be analyzed based on the optimal control strategy, and determining the control strategy for the missile system to be analyzed in combination with a parameter equation of the missile system to be analyzed.

In this way, when determining the control strategy for the missile system to be analyzed, the nonlinearity and uncertain system parameters in the missile system are taken into account. Through the optimal control strategy, the unknown parameter matrix containing the nonlinearity and uncertain system parameters is determined, and the control strategy for the missile system to be analyzed is determined, thereby improving the accuracy of the control of the missile system to be analyzed.

In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

FIG1 is a flow chart of a method for determining a missile control strategy provided by an embodiment of the present application;

FIG2 is a missile trajectory tracking diagram provided by an embodiment of the present application;

FIG3 is a schematic diagram of a structure of a device for determining a missile control strategy provided in an embodiment of the present application;

FIG4 is a second structural schematic diagram of a missile control strategy determination device provided in an embodiment of the present application;

FIG5 is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

DETAILED DESCRIPTION

To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the drawings in the present application only serve the purpose of explanation and description and are not used to limit the scope of protection of the present application. In addition, it should be understood that the schematic drawings are not drawn in real proportion. The flowchart used in this application shows the operations implemented according to some embodiments of the present application. It should be understood that the operations of the flowchart can be implemented out of sequence, and the steps without logical context can be reversed in order or implemented simultaneously. In addition, those skilled in the art, under the guidance of the content of the present application, can add one or more other operations to the flowchart, 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, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

In order to enable those skilled in the art to use the contents of this application, the following implementation methods are given in combination with the specific application scenario "field of control algorithm technology". For those skilled in the art, the general principles defined here can be applied to other embodiments and application scenarios without departing from the spirit and scope of this application.

The following methods, devices, electronic devices or computer-readable storage media of the embodiments of the present application can be applied to any scenario requiring control algorithm technology. The embodiments of the present application are not limited to specific application scenarios. Any scheme using a method and device for determining a missile control strategy provided by the embodiments of the present application is within the scope of protection of the present application.

According to research, at present, the missile model is simplified into a linear model, and the optimal control strategy is obtained based on some optimization methods (such as Riccati differential method, θ-D method) and combined with traditional optimal control methods. Since such methods simplify the system into a linear model, and the traditional optimal control method requires complete model parameter information. However, the dynamics of the missile in actual flight are strongly nonlinear, so such methods do not achieve the true optimal control strategy due to the inaccuracy of the research model. Or for nonlinear models, nonlinear control algorithms are designed under the condition of parameter uncertainty, such as robust compensation algorithm, H infinite control method and sliding film control method, etc., to solve the influence of parameter uncertainty on missile performance. However, such methods need to suppress the influence of missile parameter uncertainty based on the model information of the controlled object. However, there are uncertainties in the actual missile dynamic model (such as tracking target uncertainty and aerodynamic parameter uncertainty). It is not applicable to the situation where the parameters are completely unknown and the model information of the controlled object is unknown.

Based on this, the purpose of this application is to provide a method for determining a missile control strategy. When determining the control strategy of the missile system to be analyzed, the nonlinearity and uncertain system parameters in the missile system are taken into account. Through the optimal control strategy, the unknown parameter matrix containing the nonlinearity and uncertain system parameters is determined, and the control strategy for the missile system to be analyzed is determined, thereby improving the accuracy of the control of the missile system to be analyzed.

Please refer to Figure 1, which is a flow chart of a method for determining a missile control strategy provided by an embodiment of the present application. As shown in Figure 1, the method for determining a control strategy provided by an embodiment of the present application includes:

S101: Based on the initial control strategy set for the missile system to be analyzed, control quantity data of the missile system to be analyzed is determined.

In this step, an initial control strategy is set for the missile system to be analyzed, so that the initial control strategy performs strategy control on the initial controller, thereby determining the flight error data and control quantity data of the missile system under the initial control strategy.

Here, by setting The initial controller is set up, where is a steady-state control variable, and u _ve is the exploration noise.

Here, the initial control strategy may be a strategy for controlling and tracking the missile, which is not limited in this part.

Among them, the initial controller is used to apply to the missile trajectory tracking task.

S102: Performing an iterative solution based on the control quantity data to obtain a first control strategy, and obtaining a reference value function and a reference control strategy based on the first control strategy.

In this step, the acquired control quantity data is iteratively solved to obtain a first control strategy, and the first control strategy uses the 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, such as is the control strategy updated at the nth iteration.

Here, for any V ⁿ and The Bellman equation is as follows:

Among them, eβt is the definition parameter, Δt is the time interval, ^Vn is the reference value function, ep is the position tracking error parameter, Q is one of the system parameters, R is one of the system parameters, is the reference control strategy, is a steady-state control quantity, u _ve is the exploration noise, x is the reference signal dynamics, This is the first control strategy.

Here, because the reference value function is unknown, the optimal controller cannot be obtained directly, so the above iterative algorithm is introduced to approach the optimal performance index and the optimal controller.

S103: Using the reference control strategy to update the first control strategy until the updated control strategy meets a preset control strategy update condition, thereby obtaining an optimal control strategy and an optimal value function.

In this step, after obtaining the reference control strategy, the first control strategy is updated according to the reference control strategy until the updated control strategy meets the preset control strategy update condition, thereby obtaining the optimal control strategy and the optimal value function.

Here, the update strategy is Make the reference strategy The value of is assigned to the first control strategy

Here, the preset control strategy update condition is First control strategy With reference control If the difference is less than ε, the control strategy update is stopped.

Wherein, ε＞0 is an acceptable calculation accuracy.

Among them, when the preset control update conditions are met, the reinforcement learning algorithm is used to continuously learn and update the optimal control parameters and finally obtain the optimal control strategy. Here, V ^* is the optimal value function, is the optimal control tracker, R is the system parameter, B is the unknown matrix, and the optimal control strategy is determined by using the system parameters, the unknown matrix, the optimal value function and the optimal control tracker, and then the missile is tracked and controlled using the optimal control strategy.

S104: 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 in combination with a parameter equation of the missile system to be analyzed.

In this step, the unknown parameter matrix in the missile system to be analyzed is determined based on the optimal control strategy obtained, and then the missile is tracked and controlled based on the optimal control strategy, the unknown parameter matrix and the parameter equation of the missile system to be analyzed, so as to realize the tracker of the optimal control strategy by combining the optimal control algorithm with the missile state data, thereby realizing the optimal control method for missile trajectory tracking.

Here, the unknown parameter matrix is some unknown parameters of the missile during flight, 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: Obtain the position information of the missile in three-dimensional inertial coordinates, the operating state parameter information of the missile and the parameter information of air to determine the linear motion equation of the missile.

The motion of the missile in space is described by the following linear equation of motion by treating the missile as a point mass:

Among them, x represents the lateral 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 lateral and longitudinal coordinates in the three-dimensional inertial coordinate system, V is the velocity information of the missile, θ is the ballistic inclination angle of the missile, ψ is the ballistic deflection angle, and m is the mass of the missile; X represents the resistance encountered by the missile during flight, F _X is the control force of the missile in the lateral coordinate, F _y is the control force of the missile in the lateral coordinate, and F _z is the control force of the missile in the direction perpendicular to the lateral and longitudinal coordinates.

B: Obtain the position vector and velocity vector of the missile, and determine the initial model equation of the missile.

Among them, F = [F _x F _y F _z ] ^T represents the missile control force vector, F _x is the missile control force on the lateral coordinate, F _y is the missile control force on the lateral coordinate, and F _z is the missile control force in the direction perpendicular to the lateral coordinate and the longitudinal coordinate. In the actual flight of the missile, from the launch of the missile from the ground to the rise into the high altitude, its drag coefficient c _x and air density ρ will continue to change, so it has gradual and uncertain characteristics. In addition, the missile's motion model has the characteristics of affine nonlinearity, and the various channels are coupled with each other. It is difficult to directly solve the optimal control problem of the model, so it is necessary to solve the problem with the affine nonlinear system feedback linearization method based on differential geometry theory.

In order to apply the feedback linearization method to the missile system, let p = [xyz] ^T represent the position vector of the missile, Represents the missile velocity vector, where x represents the lateral 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, and z represents the position information of the missile in the direction perpendicular to the lateral and longitudinal coordinates in the three-dimensional inertial coordinate system.

Based on the position vector and velocity vector of the missile, the initial model equation of the missile is determined as: Among them, c _3,2 = [0 1 0] ^T , α(p, v) is the first reference target equation, β(p, v) is the second target reference equation, P is the position vector of the missile, and v is the velocity vector of the missile. Here, the initial model of the missile is determined using the position vector and velocity vector of the missile.

C: Determine the first reference target equation, the second reference target equation, the first target equation and the second target equation based on the linear motion equation of the missile.

Here, the first reference objective equation is:

Wherein, V is the missile's velocity information, θ is the missile's trajectory inclination angle, and ψ is the trajectory deviation angle. And, where m is the missile's mass, ρ is the air density parameter, and c _x is the drag coefficient. Here, the first reference target equation is determined using the missile's velocity information, the missile's trajectory inclination angle, the trajectory deviation angle, the missile's mass, the air density parameter, and the drag coefficient.

Here, the second reference objective equation is:

Among them, V is the missile's velocity information, θ is the missile's ballistic inclination angle, ψ is the ballistic deviation angle, and m is the missile's mass. Here, the second reference target equation is determined using the missile's velocity information, the missile's ballistic inclination angle, the ballistic deviation angle, and the missile's mass.

Considering that the ballistic inclination angle θ and the ballistic deviation angle ψ are both measurable in the actual flight of the missile, while the drag coefficient c _x , air density ρ and mass m are uncertain quantities, the uncertain parameters are set as:

Here, the first objective equation is:

Wherein, V is the velocity information of the missile, θ is the trajectory inclination angle of the missile, and ψ is the trajectory deviation angle. Here, the first target equation is determined using the velocity information of the missile, the trajectory inclination angle of the missile, and the trajectory deviation angle.

Here, the second objective equation is:

Wherein, V is the velocity information of the missile, θ is the trajectory inclination angle of the missile, and ψ is the trajectory deviation angle. Here, the second target equation is determined using the velocity information of the missile, the trajectory inclination angle of the missile, and the trajectory deviation angle.

D: 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, a control force vector equation of the missile is determined.

Here, the control force vector equation of the missile is determined 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.

Among them, firstly, the calculation is performed step by step. According to the above first reference target equation, second reference target equation, first target equation and second target equation, we can get:

α(p, v)=σ·α′(p, v) and

Then, when the state feedback variable is set to u _v , the control force vector equation of the missile is determined as:

F=σ·β(p, v) ^-1 (u _y -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: Based on the control force vector equation of the missile and the initial model equation of the missile, the parameter equation of the missile system to be analyzed is determined.

Among them, the obtained missile control force vector equation is substituted into the missile's initial model equation, and then the parameter equation of the missile system to be analyzed is determined as follows: Among them, P is the position vector of the missile, V is the velocity parameter of the missile, σ is the uncertain parameter, _uv is the control quantity data, and g is the gravity constant.

Furthermore, the tracking control determination method includes:

a: Obtain a reference signal in the missile system to be analyzed, and determine an augmenting function based on a parameter equation of the missile system to be analyzed and the reference signal.

In which, x is set to [pv] ^T and the following is determined based on the parameter equation of the missile system to be analyzed:

v = Cx;

Among them, A＝[0 _6×3 c _6，1 c _6，2 c _6，3 ], B＝[0 _3×3 σI ₃ ] ^T , y is the system state output, and C＝[I _3×3 0 _3×3 ] is the output matrix of the missile system to be analyzed.

Set the reference signal dynamics as follows:

y ₀ =C ₀ x ₀ ;

Among them, x ₀ ∈R ^6×1 represents the reference signal state, and A ₀ ∈R ^6×1 represents the reference signal dynamic matrix. y＝Cx and the reference signal can obtain an augmented function:

in, e _p ∈R ^6×1 represents the position tracking error,

b: Determine the value function based on the position tracking error parameters, control quantity data, discount factor parameters, system parameters and matrix parameters of the augmented function.

Among them, the design value function is:

Among them, β is the discount factor, P is the matrix, Q>0, R>0, Q and R are the set system parameters, _ep is the position tracking error parameter, and _uv is the control quantity data.

Furthermore, the above value function is derived to obtain formula 1:

Here, β is the discount factor, P is the matrix, Q>0, R>0, Q and R are the set system parameters, _ep is the position tracking error parameter, and _uv is the control quantity data.

in Let V ^* be the optimal value function. Based on the classical optimal control theory, the optimal control strategy can be obtained:

Here, V ^* is the optimal value function, is the optimal control tracker, R is the system parameter, and B is the unknown matrix.

Further, Substituting into formula 1, we get the Hamiltonian equation as follows:

Here, V ^* is the optimal value function, is the optimal control tracker, R is the system parameter, B is the unknown matrix, _ep is the position tracking error parameter, A＝diag(A, _A0 ), and β is the discount factor.

Among them, in actual application, due to the unknown parameters of the missile The matrix is unknown, so it is difficult to obtain the exact Hamiltonian equation. This makes it impossible for the optimal solution obtained based on the traditional optimal control algorithm to maintain optimality in practice. The following will introduce a reinforcement learning algorithm that uses the missile state information to obtain the optimal solution that conforms to the actual situation and identify the actual system parameter matrix B.

Furthermore, in order to accurately determine the optimal value of Hamiltonian, an exploratory steady-state control quantity is added to the missile system.

c: Derivative operation is performed 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 update status of the value function and the first control strategy based on the second value function parameter equation.

Among them, after adding an exploratory steady-state control quantity to the missile system to be analyzed, the augmented system at this time is:

in, is a steady-state control variable, u _ve is the exploration noise, is the control strategy updated at the nth iteration.

The parameter equation of the second value function is determined by taking the derivative of the value function using the exploratory steady-state control quantity in the missile system to be analyzed:

Wherein, ^Vn is the reference value function, _ep is the position tracking error parameter, Q is one of the system parameters, R is one of the system parameters, is a steady-state control variable, u _ve is the exploration noise, is the control strategy updated at the nth iteration.

Furthermore, by multiplying both ends of the above second value function parameter equation by e ^βt and integrating, the second value function parameter equation can be obtained:

Wherein, ^Vn is the reference value function, _ep is the position tracking error parameter, Q is one of the system parameters, R is one of the system parameters, is a steady-state control variable, u _ve is the exploration noise, is the control strategy updated at the nth iteration.

Furthermore, the value function V ⁿ and the first control strategy can be determined according to the above second value function parameter equation: Update at the same time.

Furthermore, the optimal control strategy is determined based on the position tracking error parameter, the discount factor parameter, the system parameter, the control quantity data and the augmented function.

Here, the optimal tracking control strategy is obtained using iterative learning and neural network technology, and the optimal value function and the optimal controller can be approximated through multiple iterations of the above iterative algorithm.

Furthermore, based on the optimal value function, the optimal controller in the optimal control strategy and the system parameters, an unknown parameter matrix in the missile system to be analyzed is determined.

Here, after determining the optimal control strategy, we use Determine the unknown parameter matrix

In a specific embodiment, a missile flight simulation system is built, wherein the parameters are set as follows: the missile mass is m=158kg, the aerodynamic parameter c _x =0.74, the air density ρ=0.868, and the missile characteristic area S=0.0324. The value of the unknown parameter σ is σ=6.5858×10 ^-5 . The initial position of the missile is set to: P=[250 -240 -250] ^T m. In the reinforcement learning algorithm, the time interval Δt=0.05s, the matrix is set to Q=50, and R=I ₃ . The discount factor is set to β=0.01. Through the reinforcement learning algorithm, the optimal controller is learned and applied to the trajectory tracking task, and the unknown parameter σ=6.5835×10 ^-5 is identified using the learned optimal strategy. Please refer to FIG. 2, which is a missile trajectory tracking diagram provided in the application embodiment. As shown in FIG. 2, it can be seen that in this embodiment, the missile position under the longitudinal position can determine that the optimal controller has good trajectory tracking performance.

The present application provides a method for determining a missile control strategy, and the tracking control determination method includes: determining control quantity data of the missile system to be analyzed based on an initial control strategy set for the missile system to be analyzed; iteratively solving based on the control quantity data to obtain a first control strategy, and obtaining a reference value function and a reference control strategy based on the first control strategy; updating the first control strategy using the reference control strategy until the updated control strategy meets a preset control strategy update condition, thereby obtaining an optimal control strategy and an optimal value function; determining an unknown parameter matrix in the missile system to be analyzed based on the optimal control strategy, so that the missile is tracked and controlled based on the optimal control strategy, the unknown parameter matrix and the parameter equation of the missile system to be analyzed.

In this way, when determining the control strategy for the missile system to be analyzed, the nonlinearity and uncertain system parameters in the missile system are taken into account. Through the optimal control strategy, the unknown parameter matrix containing the nonlinearity and uncertain system parameters is determined, and the control strategy for the missile system to be analyzed is determined, thereby improving the accuracy of the control of the missile system to be analyzed.

Please refer to FIG. 3 and FIG. 4. FIG. 3 is a schematic diagram of a structure of a device for determining a missile control strategy provided in an embodiment of the present application; FIG. 4 is a schematic diagram of a structure of a device for determining a missile control strategy provided in an embodiment of the present application; as shown in FIG. 3, the determining device 300 includes:

An output determination module 310 is used to determine the control quantity data of the missile system to be analyzed based on the initial control strategy set for the missile system to be analyzed;

An iterative solution module 320, 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 updating and solving module 330 is used to update the first control strategy using the reference control strategy until the updated control strategy satisfies a preset control strategy updating condition, thereby obtaining an optimal control strategy and an optimal value function;

The control module 340 is used to determine the unknown parameter matrix in the missile system to be analyzed based on the optimal control strategy, and determine the control strategy for the missile system to be analyzed in combination with the parameter equation of the missile system to be analyzed.

Furthermore, as shown in FIG. 4 , the determining device 300 further includes a system establishing module 350, and the system establishing module 350 is used to:

Obtaining the position information of the missile in three-dimensional inertial coordinates, the operating state parameter information of the missile and the parameter information of air to determine the motion linear equation of the missile;

Obtaining the position vector and the velocity vector of the missile, and determining the initial model equation of the missile;

Determine a first reference target equation, a second reference target equation, a first target equation, and a second target equation based on the linear motion 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;

Based on the control force vector equation of the missile and the initial model equation of the missile, the parameter equation of the missile system to be analyzed is determined.

Further, as shown in FIG4 , the determining device 300 includes a function determining module 360, and the function determining module 360 is used to:

Acquire a reference signal in the missile system to be analyzed, and determine an augmenting function based on a parameter equation of the missile system to be analyzed and the reference signal;

Determine the value function based on the position tracking error parameter, control quantity data, discount factor parameter, system parameter and matrix parameter of the augmented function;

The value function is derivatized 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 update status of the value function and the first control strategy based on the second value function parameter equation.

Further, as shown in FIG4 , the control module 340 is used to:

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 augmented function.

Further, as shown in FIG4 , the update solution module 330 is used to:

Based on the optimal value function, the optimal controller in the optimal control strategy and the system parameters, an unknown parameter matrix in the missile system to be analyzed is determined.

An embodiment of the present application provides a device for determining a missile control strategy, the device comprising: an output determination module, used to determine control quantity data of the missile system to be analyzed based on an initial control strategy set for the missile system to be analyzed; an iterative solution module, used 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 solution module, used to update the first control strategy using the reference control strategy until the updated control strategy meets a preset control strategy update condition, thereby obtaining an optimal control strategy and an optimal value function; a control module, used to determine an unknown parameter matrix in the missile system to be analyzed based on the optimal control strategy, and determine the control strategy for the missile system to be analyzed in combination with a parameter equation of the missile system to be analyzed.

In this way, when determining the control strategy for the missile system to be analyzed, the nonlinearity and uncertain system parameters in the missile system are taken into account. Through the optimal control strategy, the unknown parameter matrix containing the nonlinearity and uncertain system parameters is determined, and the control strategy for the missile system to be analyzed is determined, thereby improving the accuracy of the control of the missile system to be analyzed.

Please refer to FIG5 , which is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. As shown in FIG5 , 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 is running, the processor 510 communicates with the memory 520 through the bus 530. When the machine-readable instructions are executed by the processor 510, the steps of the method for determining the missile control strategy in the method embodiment shown in Figure 1 above can be executed. The specific implementation method can be found in the method embodiment, which will not be repeated here.

The embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the method for determining the missile control strategy in the method embodiment shown in Figure 1 above can be executed. The specific implementation method can be found in the method embodiment, which will not be repeated here.

Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile 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-described embodiments are only specific implementation methods of the present application, which are used to illustrate the technical solutions of the present application, rather than to limit them. The protection scope of the present application is not limited thereto. Although the present application is described in detail with reference to the above-mentioned embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-mentioned embodiments within the technical scope disclosed in the present application, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims (6)

1. A method for determining a missile control strategy, characterized in that the determining method includes: Based on the initial control strategy set by the missile system to be analyzed, the control volume data of the missile system to be analyzed is determined; 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; Using the reference control strategy to update the first control strategy, until the updated control strategy meets the preset control strategy update conditions, the optimal control strategy and the optimal value function are obtained; Determine the unknown parameter matrix in the missile system to be analyzed based on the optimal control strategy, and determine the control strategy for the missile system to be analyzed in combination with the parameter equations of the missile system to be analyzed; Before the control strategy is updated based on the control strategy and the reference control strategy until the updated control strategy meets the preset control strategy update conditions and the optimal control strategy and the optimal value function method are obtained, the Determination methods include: Obtain the reference signal in the missile system to be analyzed, and determine the augmented function based on the parametric equation of the missile system to be analyzed and the reference signal; Based on the position tracking error parameters, control volume data, discount factor parameters, system parameters and matrix parameters of the augmented function, the value function is determined; The value function is differentiated 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 value function and the value function based on the second value function parameter equation. Describe the parallel update situation of the first control strategy; The determination method includes: Determine the optimal control strategy based on the position tracking error parameter, the discount factor parameter, the system parameter, the control quantity data and the augmented function; The determination method also includes: Based on the optimal value function, the optimal controller in the optimal control strategy, and system parameters, an unknown parameter matrix in the missile system to be analyzed is determined. 2. The determination method according to claim 1, characterized in that the parametric equation of the missile system to be analyzed is established by the following method: Obtain the position information of the missile in three-dimensional inertial coordinates, the operating status parameter information of the missile, and the parameter information of the air to determine the linear equation of motion of the missile; Obtain the position vector and velocity vector of the missile, and determine the initial model equation of the missile; Determine the first reference target equation, the second reference target equation, the first target equation and the second target equation based on the linear equation of motion 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 variables, determine the control force vector equation of the missile; Based on the missile's control force vector equation and the missile's initial model equation, the parameter equations of the missile system to be analyzed are determined. 3. A missile control strategy determining device, characterized in that the determining device includes: The output determination module is used to determine 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; An iterative solution module, 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 solution module, configured to use the reference control strategy to update the first control strategy until the updated control strategy meets the preset control strategy update conditions, and then obtain the optimal control strategy and the optimal value function; A control module configured to determine the unknown parameter matrix in the missile system to be analyzed based on the optimal control strategy, and to determine a control strategy for the missile system to be analyzed in combination with the parameter equations of the missile system to be analyzed; The determination device includes a function determination module, and the function determination module is used for: Obtain the reference signal in the missile system to be analyzed, and determine the augmented function based on the parametric equation of the missile system to be analyzed and the reference signal; Based on the position tracking error parameters, control volume data, discount factor parameters, system parameters and matrix parameters of the augmented function, the value function is determined; The value function is differentiated 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 value function and the value function based on the second value function parameter equation. Describe the parallel update situation of the first control strategy; The control module is used for: Determine the optimal control strategy based on the position tracking error parameter, the discount factor parameter, the system parameter, the control quantity data and the augmented function; The update solution module is used to: Based on the optimal value function, the optimal controller in the optimal control strategy, and system parameters, an unknown parameter matrix in the missile system to be analyzed is determined. 4. The determination device according to claim 3, characterized in that the determination device further includes a system establishment module, and the system establishment module is used for: Obtain the position information of the missile in three-dimensional inertial coordinates, the operating status parameter information of the missile, and the parameter information of the air to determine the linear equation of motion of the missile; Obtain the position vector and velocity vector of the missile, and determine the initial model equation of the missile; Determine the first reference target equation, the second reference target equation, the first target equation and the second target equation based on the linear equation of motion 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 variables, determine the control force vector equation of the missile; Based on the missile's control force vector equation and the missile's initial model equation, the parameter equations of the missile system to be analyzed are determined. 5. An electronic device, characterized in that it includes: a processor, a memory and a bus, the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the Memories communicate through the bus, and when the machine-readable instructions are executed by the processor, the steps of the method for determining a missile control strategy according to any one of claims 1 and 2 are performed. 6. A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, and when the computer program is run by a processor, it executes a method according to any one of claims 1 and 2. The steps of determining the missile control strategy.