CN114326781A - Fully-distributed missile formation cooperative self-adaptive fault-tolerant compensation controller - Google Patents
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Abstract
The invention discloses a fully distributed missile formation cooperative self-adaptive fault-tolerant compensation controller, which comprises the following construction steps: firstly, establishing a motion model of missile formation in an actuator fault mode; then, constructing a directed communication topological structure diagram of the missile formation system, obtaining an adjacent matrix and a communication matrix according to the directed diagram, and determining a formation communication mode; and finally, constructing a fully distributed self-adaptive fault-tolerant control law according to a motion model of missile formation under the fault condition, thereby realizing expected formation flight. The fault-tolerant compensator realizes expected formation flight of guided missile formation under the conditions that a plurality of guided missiles simultaneously have faults and various uncertainties and external environment disturbance, and can remarkably improve the reliability and the anti-interference capability of guided missile formation flight.
Description
Technical Field
The invention relates to the technical field of missile formation control, in particular to an auxiliary module added in a fault-tolerant control module for missile formation cooperative control, namely a fully-distributed missile formation cooperative self-adaptive fault-tolerant compensation controller.
Background
Formation control of multi-agent systems is receiving increasing attention from multiple scientific fields, and a group of multi-agents performing formation cooperative tasks can complete complex tasks which cannot be completed by a single agent. Compared with a single missile, the cooperative formation of a plurality of missiles is more easily affected by actuator faults under complex flight conditions, so that the performance is reduced, and even disasters are caused. Therefore, it is necessary to research a fault-tolerant formation control scheme of a multi-agent formation system to ensure reliable and safe operation of the system.
The cooperative operation of a plurality of missiles is a main operation mode of a future missile weapon system, and is an important way for reducing operation cost, improving task implementation reliability and enhancing comprehensive operation efficiency of weapons. The multiple missiles can effectively improve the stealth effect of part of missiles by utilizing the cooperative technology, so that the integral defense capability is improved. Moreover, by the advantages of coordination and performance complementation, the uncertainty and the limitation of a single sensor can be overcome, and the target tracking precision of the guided missile guiding section is improved. However, missile weapons systems are extremely complex systems that, even if a tiny component fails, may render the entire system incapable of performing combat missions and even result in the death of a missile. Therefore, how to realize the effective control flight of the missile in an unpredictable and variable environment, the safety of the missile is enhanced, the running cost is reduced, the reliability and the fault tolerance of the system are improved, and the missile becomes a research hotspot in the field of unmanned aerial vehicles.
The system structure of the missile autonomous formation cooperative guidance control system is introduced on page 50 of a missile autonomous formation cooperative guidance control technology published in 9 th edition in 2015, Wusentang, and 1 st edition. Referring to fig. 1, the system comprises an information acquisition system, a formation decision and management system, a formation flight control system, a member flight control system and a formation support network system. Page 55 introduces the formation control function of missile formation, which means that the formation is controlled and kept to stably fly as required in the specified flight process according to the air route planning/cooperative guidance instruction under the scheduling of the departure and entry management module, and the functional structure is shown in fig. 2.
In the prior art, many methods are not completely distributed, a designed controller needs a communication matrix of the whole system, and the designed controller cannot be completely distributed, and because the space distribution of the groups of bullets and the distance between signal receiving/transmitters are limited, the communication between information is not smooth, even the groups of bullets can be crashed, and thus the task fails.
The existing unmanned aerial vehicle formation fault-tolerant control method adopts a disturbance observer-based technology to estimate the fault of a executor, but because of the amplification of factors such as modeling errors, external disturbance and parameter uncertainty, the control gain becomes very large, so that the system is unstable, and the method is difficult to be applied to actual missile formation.
The existing missile formation fault-tolerant control method is based on a linear model linear type, environmental disturbance and uncertainty factors are not considered, and only a single missile is considered to have a fault in a fault mode. The methods cannot simultaneously solve the formation control problem of the missile formation system under the conditions of various uncertainties, external environment interference and simultaneous actuator faults of a plurality of missiles, so that the method has no practical physical significance.
Therefore, a new fully distributed fault-tolerant formation control method is needed to be provided to realize fault-tolerant formation control of missile formation under the conditions that multiple missile actuator faults and multiple uncertainties and external environment interferences occur simultaneously.
Disclosure of Invention
The invention discloses a fully distributed missile formation cooperative self-adaptive fault-tolerant compensation controller, and aims to provide a self-adaptive fault-tolerant control method for fully distributed missile formation so as to ensure that the missile formation can realize expected safe and stable flight under the conditions that a plurality of missiles simultaneously have actuator faults and various uncertainties and external environment disturbance exist.
The fully distributed missile formation cooperative self-adaptive fault-tolerant compensation controller is stored in a fault-tolerant control module and is an auxiliary compensation for a traditional missile autonomous formation cooperative guidance control algorithm.
The invention relates to a fully distributed missile formation cooperative self-adaptive fault-tolerant compensation controller, which is implemented by utilizing missile motion parameters in an autonomous missile formation cooperative guidance control algorithm; the method is characterized by comprising six construction steps:
step 1, extracting a missile formation motion model from a formation flight control module;
according to the missile formation information in the formation flight control module, the obtained missile formation motion model is
the missile formation motion model is static; when the missile formation carries out cooperative flight in the actual flight task execution process, the missile formation is interfered by external airflow, and t is used as the current moment; the moment before the current moment t is marked as the last moment t-1; the moment after the current moment t is recorded as the next moment t + 1;
d is caused because the formation of missiles is disturbed by external air flow when performing flight missionsix,diy,dizD is applied to the missile subjected to external disturbanceix,diy,dizLoaded in the formula (1) for correction to obtain a corrected missile formation motion model of
Step 3, recording the motion vector of each missile;
the motion of each missile is recorded in a long vector mode, and the motion vector is provided by a formation flight control module;
the missile motion vector received by the fault-tolerant compensator is UUi＝[ui,x ui,y ui,z]T；
Considering the actuator fault model, in practical application, the motion quantity of a single missile in the aspect of driving is
ρiThe efficiency of the missile actuator loss after the missile actuator fails is shown, and rho is more than or equal to 0iLess than or equal to 1; if ρi1 means that the missile actuator has failed completely if p i0 means that the actuator is not in fault and still works normally;
combining the missile formation movement and the interference source loading to obtain a movement model of the missile formation under a fault mode as
constructing a directed communication topological structure diagram of the missile formation system, and obtaining an adjacent matrix and a connected matrix according to the directed communication topology structure diagram;
according to the missile formation motion models under various uncertainty, external environment disturbance and actuator fault modes, a completely distributed self-adaptive fault-tolerant control law UU is designedi(s) effecting a desired formation flight;
UU (fully distributed adaptive fault-tolerant control law)i(s) is
Compared with the mode in the prior art, the fully distributed missile formation cooperative adaptive fault-tolerant compensation controller has the following advantages:
(1) the missile formation self-adaptive fault-tolerant control algorithm provided by the invention can effectively solve the problem that a plurality of missiles simultaneously fail when the plurality of missiles form a formation flight. However, the existing technology mainly studies the fault tolerance method of a single missile. And a fault-tolerant method for formation of a plurality of missiles is not researched.
(2) Compared with the prior art, the fault-tolerant control method can simultaneously inhibit the faults of a plurality of missile actuators in the formation of the missiles, various uncertainties and the influence of disturbance of the external environment. The invention completely considers various disturbances and actuator faults of missile formation, so that the designed controller is more perfect and concrete, the reliability and the safety of aircraft formation are greatly improved, and the invention is more suitable for practical application.
(3) Compared with the prior art, the formation controller designed by the invention does not need to estimate the fault of the actuator, does not need any fault information of the actuator, and only needs the position and speed information of the adjacent aircraft and the self information, so that the complexity of the self-adaptive fault-tolerant compensation controller is almost equal to that of a PID (proportion integration differentiation) controller, and compared with the existing self-adaptive fault-tolerant method, the self-adaptive fault-tolerant compensation controller is easier to realize in practice.
(4) In the prior art, many methods are not completely distributed, a designed controller needs a communication matrix of the whole system and cannot reach the complete distribution, and due to the fact that the space distribution of the bullet groups and the distance between a signal receiver and a signal transmitter are limited, communication among information is possibly not smooth, and the bullet groups are crashed. The control method of the invention is completely distributed, all controller parameters are irrelevant to the global information of the communication topology, the structure information of the communication structure chart is not needed, and the control method only depends on the relative position and speed of the controller and the neighbors thereof, thereby greatly improving the reliability and the safety of the formation of the aircrafts.
Drawings
Fig. 1 is an architecture diagram of a conventional missile autonomous formation cooperative guidance control system.
Fig. 2 is a structure diagram of a traditional missile autonomous formation control function.
FIG. 3 is a block diagram of the missile formation adaptive fault-tolerant control system structure of the invention.
FIG. 4 is a 3-dimensional spatial position response curve of a simulated missile formation under the conditions of actuator failure and various uncertainties and external environment disturbances.
FIG. 5 is a position response curve of a simulated missile formation under the condition of actuator failure and various uncertainties and external environment disturbances.
FIG. 6 is a flight path angle response curve of a simulated missile formation under the conditions of actuator failure and various uncertainties and external environment disturbances.
FIG. 7 is a course angle response curve of a simulated missile formation under the condition of actuator failure and various uncertainties and external environment disturbances.
FIG. 8 is a position error response curve for a simulated missile formation under actuator failure and a variety of uncertainty and external environmental disturbance conditions in accordance with the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
As shown in fig. 3, the invention provides a fully distributed missile formation cooperative adaptive fault-tolerant compensation controller (referred to as a fault-tolerant compensator for short) for a missile formation system under the conditions of an actuator fault mode, various uncertainties and external environment disturbances, so that the missile formation can still realize safe and stable flight under the conditions of various uncertainties, external environment disturbances and various actuator faults. The fault-tolerant compensator designed by the invention can effectively inhibit the influence of the interference and improve the stability of formation flight. As shown in FIG. 2, the fully distributed missile formation cooperative adaptive fault-tolerant compensation controller designed by the invention is stored in a fault-tolerant control module and is used as a compensation of the fault-tolerant control module. Therefore, the self-adaptive fault-tolerant formation control algorithm is an auxiliary compensation for the traditional missile autonomous formation cooperative guidance control algorithm.
The invention relates to a fully distributed missile formation cooperative self-adaptive fault-tolerant compensation controller, which comprises the following specific construction steps:
step 1, extracting a missile formation motion model from a formation flight control module;
according to the missile formation information in the formation flight control module, the obtained missile formation motion model is as follows:
the lower corner mark i indicates the identification number of the missile.
ViIndicating the flight speed of the missile.
θiRepresenting the trajectory angle of the missile.
ψiIndicating the heading angle of the missile.
g denotes an attractive constant.
ui,xRepresenting the components of the missile overload vector in the longitudinal direction of the missile coordinate system.
ui,yRepresenting the component of the missile overload vector in the lateral direction of the missile coordinate system.
ui,zRepresenting the component of the missile overload vector in the height direction of the missile coordinate system.
in the present invention, the missile formation motion model is static. When the missile formation carries out cooperative flight in the actual flight task execution process, the missile formation is interfered by external airflow, and t is used as the current moment; the moment before the current moment t is marked as the last moment t-1; the time after the current time t is recorded as the next time t + 1.
In the invention, d is caused because the missile formation is disturbed by external air flow when the missile formation carries out the flight missionix,diy,dizD is applied to the missile subjected to external disturbanceix,diy,dizThe missile formation motion model (missile formation motion correction model for short) obtained by loading the missile formation motion model in the formula (1) for correction is as follows:
di,xrepresenting the external interference on the missile in the longitudinal direction at the current moment of the missile coordinate system.
di,yRepresenting the external interference to which the missile is subjected laterally at the current moment of the missile coordinate system.
di,zAnd the external interference on the missile in the height direction of the missile coordinate system at the current moment is represented.
Step 3, recording the motion vector of each missile;
in the invention, the motion of each missile is recorded in a long vector mode, the motion vector is provided by a formation flight control module, namely, the fault-tolerant compensator of the invention judges whether the self fault of the missile (the fault can be an actuator fault, a steering engine and the like) occurs by utilizing the motion quantity of the missile at different moments,
the missile motion vector received by the fault-tolerant compensator is as follows:
UUi＝[ui,x ui,y ui,z]T (3)
UUiindicating missile guidance in formation flightThe amount of motion of the elastic coordinate system.
The superscript T is the coordinate transpose.
In the present invention, as modern missile systems become increasingly complex, many combat missions require missiles capable of flying in a variety of harsh environments. Meanwhile, various disturbances have greater and greater effects on the missile, so that various faults of the flying missile can occur in the flying process.
Considering the actuator failure model, in practical applications, the steering engine may be partially or completely failed. In this case, the amount of movement of the individual missile in terms of actuation is therefore:
ρiThe efficiency of the missile actuator loss after the missile actuator fails is shown, and rho is more than or equal to 0iLess than or equal to 1. If ρi1 means that the missile actuator has failed completely if piAnd 0 means that the actuator is not in fault and still works normally.
by combining the formula (1), the formula (2) and the formula (4), the motion model of the missile formation under the fault mode is obtained as follows:
BiRepresents a flight parameter matrix of the missile, an
DiRepresenting the acceleration of the missile due to the gravitational attraction, and Di＝[0 -g 0]TAnd g represents an attractive constant.
ddiRepresents the differential vector of the external interference on the missile in three directions under the inertial coordinate system, and
during formation flight, BiWill be subject to uncertainty due to interference from the external atmospheric wind field, said BiDivided into a nominal parameter part and an uncertainty part, then
Representing the known flight parameters of the missile,
representing unknown missile flight parameters caused by uncertain disturbance factors.
Similarly, during formation flight, said DiWill be subject to uncertainty due to interference from the external atmospheric wind field, and thus said DiDivided into a nominal parameter part and an uncertainty part, then
Representing a known acceleration vector generated by the earth's gravity,
representing an unknown acceleration vector caused by uncertain disturbance factors.
The missile motion correction model after the interference source is carried in the formula (5) can be written as the following formula:
DLithe equivalent disturbance of the missile is represented, and the uncertainty such as parameter uncertainty, nonlinearity, external atmospheric wind field interference and the like is included. The above-mentioned
in the invention, a directed communication topological structure diagram of a missile formation system is constructed, and an adjacent matrix and a communication matrix are obtained according to the directed communication topological structure diagram. Which has a directed communication topology diagram such as the formation support network system on the left in fig. 1.
in the invention, a fully distributed self-adaptive fault-tolerant control law UU is designed according to a motion model of missile formation under various uncertainty, external environment disturbance and actuator fault modesi(s) to effect a desired formation flight.
UU (fully distributed adaptive fault-tolerant control law)i(s) is:
s represents the laplacian operator.
αi(s) represents the weight coupling gain of the missile motion modification model.
KiA feedback gain matrix representing a model of the missile motion correction.
γi(s) communication relationship between missile and neighbor missile
Gi(s) represents the filter structure of the missile motion correction model.
piRepresenting the position of the missile in an inertial frame.
I3Representing a 3 x 3 matrix of missile motion vectors.
In the invention, as can be seen from equation (7), each missile controller consists of a nominal control law when no fault exists and an adaptive control law. The designed adaptive mechanism restrains the influence of multiple faults and uncertainties on the closed-loop control system. And the controller parameters are time invariant. The complexity of the designed controller is almost equal to that of the PID controller. Therefore, the method is relatively easy to realize in practical application.
Example 1
In the invention, a fault-tolerant compensation controller simulation system in accordance with the invention is established by Matlab software under the condition of time-varying formation of missile formation in a three-dimensional space and under various uncertainty and interference conditions. Example simulations are performed on missile formation to verify the effectiveness of the fault-tolerant compensation controller designed by the invention.
An example is a simulation test for a set of five missiles flying in formation. The control objective is to ensure that a predetermined pentagonal shape formation pattern is maintained in the event of multiple actuator failures and uncertainties. In simulation, a plurality of missiles can simultaneously break down.
Missile 1 and missile 3 work normally, and missile 2, missile 4 and missile 5 have actuator faults in 9 seconds.
The failure mode is selected as rho2＝0.55,ρ4＝0.6,ρ5＝0.8。
The virtual leader track is chosen as MA ═ 240t 60sin (t/10) 60sin (t/2)]TAnd time units are seconds.
The actual parameters of each missile were assumed to be 20% greater than the nominal parameters. If the external disturbance acting on the missile is non-vanishing and time-varying, the output is di,x＝10sin(t),di,y＝9sin(t),di,z＝8sin(t)。
The initial state of the missile is selected as p1(0)＝[40 -40 -60]T， p2(0)＝[-45 45 -50]T，p3(0)＝[-60 60 70]T，p4(0)＝[65 -45 60]T， p5(0)＝[9 5 118]T。
The 3-dimensional spatial positions of five missiles flying in formation under the fully distributed adaptive fault-tolerant controller are shown in fig. 4. It can be seen from fig. 5 that the positions, the track angles, the course angles and the position tracking errors in the 3 directions can well complete the expected distributed formation flight by using the proposed fully distributed adaptive fault-tolerant formation controller for five missiles under the condition that a plurality of actuators have faults and uncertainties. As seen in fig. 6 and 7, the formation attitude dynamics remained stable after 9s of the fault. As can be seen from fig. 8, the tracking errors in three directions of the proposed adaptive controller stabilize in a small neighborhood after a failure occurs. The simulation result shows that the controller has higher robustness and fault tolerance. The completely distributed formation control method provided by the invention can realize good tracking performance and robustness of missile formation under the conditions of actuator failure, parameter uncertainty and external interference.
Claims (2)
1. A fully distributed missile formation cooperative self-adaptive fault-tolerant compensation controller is carried out by utilizing missile motion parameters in a missile autonomous formation cooperative guidance control algorithm; the method is characterized by comprising six construction steps:
step 1, extracting a missile formation motion model from a formation flight control module;
according to the missile formation information in the formation flight control module, the obtained missile formation motion model is as follows:
the lower corner mark i represents the identification number of the missile;
Virepresenting the flight speed of the missile;
θirepresenting the trajectory angle of the missile;
ψirepresenting the course angle of the missile;
g represents a gravitational constant;
ui,xrepresenting the component of the missile overload vector in the longitudinal direction of the missile coordinate system;
ui,yrepresenting the component of the missile overload vector in the lateral direction of the missile coordinate system;
ui,zrepresenting the component of the missile overload vector in the height direction of the missile coordinate system;
step 2, correcting a missile formation motion model by using an interference source in the formation cooperative flight process;
the missile formation motion model is static; when the missile formation carries out cooperative flight in the actual flight task execution process, the missile formation is interfered by external airflow, and t is used as the current moment; the moment before the current moment t is marked as the last moment t-1; the moment after the current moment t is recorded as the next moment t + 1;
d is caused because the formation of missiles is disturbed by external air flow when performing flight missionsix,diy,dizD is applied to the missile subjected to external disturbanceix,diy,dizThe missile formation motion model is obtained by loading the missile formation motion model in the formula (1) for correction:
di,xrepresenting external interference on the missile in the longitudinal direction at the current moment of the missile coordinate system;
di,yrepresenting the external interference on the missile in the lateral direction at the current moment of the missile coordinate system;
di,zrepresenting the external interference of the missile on the height direction of the missile coordinate system at the current moment;
step 3, recording the motion vector of each missile;
the motion of each missile is recorded in a long vector mode, and the motion vector is provided by a formation flight control module;
the missile motion vector received by the fault-tolerant compensator is as follows:
UUi＝[ui,x ui,y ui,z]T (3)
UUirepresenting the motion quantity of the missiles in formation flight in a missile coordinate system;
the upper corner mark T is a coordinate transpose;
considering an actuator fault model, in practical application, the motion quantity of a single missile in the driving aspect is as follows:
ρithe efficiency of the missile actuator loss after the missile actuator fails is shown, and rho is more than or equal to 0iLess than or equal to 1; if ρi1 means that the missile actuator has failed completely if pi0 means that the actuator is not in fault and still works normally;
step 4, constructing a missile formation motion correction model under a fault mode;
combining the formula (1), the formula (2) and the formula (4), the motion model of the missile formation under the fault mode is obtained as follows:
Birepresents a flight parameter matrix of the missile, an
DiRepresenting the acceleration of the missile due to the gravitational attraction, and Di＝[0 -g 0]TG represents a gravitational constant;
ddirepresents the differential vector of the external interference on the missile in three directions under the inertial coordinate system, and
during formation flight, BiWill be subject to uncertainty due to interference from the external atmospheric wind field, and therefore said BiDivided into a nominal parameter part and an uncertainty part, then
Representing the known flight parameters of the missile,
representing unknown missile flight parameters caused by uncertain disturbance factors;
similarly, during formation flight, said DiWill be subject to uncertainty due to interference from the external atmospheric wind field, and thus said DiDivided into a nominal parameter part and an uncertainty part, then
Representing production by earth's gravityThe resulting known acceleration vector is then used to determine,
representing an unknown acceleration vector caused by an uncertain disturbance factor;
the missile motion correction model after the interference source is borne in the formula (5) is written as the following formula:
DLirepresenting equivalent disturbance of the missile, including uncertainty of parameters, nonlinearity, external atmospheric wind field interference and other uncertainties; the above-mentioned
Step 5, constructing a directed connection topological structure diagram of the missile formation flight mission;
constructing a directed communication topological structure diagram of the missile formation system, and obtaining an adjacent matrix and a connected matrix according to the directed communication topological structure diagram;
step 6, setting a fully distributed self-adaptive fault-tolerant control law;
according to the missile formation motion models under various uncertainty, external environment disturbance and actuator fault modes, a completely distributed self-adaptive fault-tolerant control law UU is designedi(s) effecting a desired formation flight;
UU (fully distributed adaptive fault-tolerant control law)i(s) is:
s represents the laplacian operator;
αi(s) weight coupling gains representing missile motion modification models;
Kifeedback gain representing missile motion modification modelA matrix;
γi(s) communication relationship between missile and neighbor missile
Gi(s) a filter structure representing a missile motion modification model;
pirepresenting the position of the missile in an inertial coordinate system;
I3representing a 3 x 3 missile motion vector matrix;
2. The fully distributed missile formation cooperative adaptive fault-tolerant compensation controller of claim 1, wherein: the system is stored in a fault-tolerant control module and is an auxiliary compensation for the traditional missile autonomous formation cooperative guidance control algorithm.
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| CN115639830B (en) * | 2022-12-15 | 2023-03-14 | 北京航空航天大学 | Air-ground intelligent agent cooperative formation control system and formation control method thereof |
| CN115877718A (en) * | 2023-02-23 | 2023-03-31 | 北京航空航天大学 | Data-driven heterogeneous missile formation switching communication topology cooperative control method |
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