CN114326781B - Fully distributed missile formation cooperative self-adaptive fault-tolerant compensation controller - Google Patents
Fully distributed missile formation cooperative self-adaptive fault-tolerant compensation controller Download PDFInfo
- Publication number
- CN114326781B CN114326781B CN202111240320.0A CN202111240320A CN114326781B CN 114326781 B CN114326781 B CN 114326781B CN 202111240320 A CN202111240320 A CN 202111240320A CN 114326781 B CN114326781 B CN 114326781B
- Authority
- CN
- China
- Prior art keywords
- missile
- formation
- representing
- fault
- coordinate system
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000015572 biosynthetic process Effects 0.000 title claims abstract description 148
- 230000033001 locomotion Effects 0.000 claims abstract description 59
- 238000004891 communication Methods 0.000 claims abstract description 24
- 239000011159 matrix material Substances 0.000 claims abstract description 16
- 238000010586 diagram Methods 0.000 claims abstract description 15
- 238000000034 method Methods 0.000 claims description 38
- 239000013598 vector Substances 0.000 claims description 30
- 230000001133 acceleration Effects 0.000 claims description 14
- 238000012937 correction Methods 0.000 claims description 13
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 11
- 230000003044 adaptive effect Effects 0.000 claims description 10
- 230000008569 process Effects 0.000 claims description 10
- 230000003068 static effect Effects 0.000 claims description 3
- 230000008878 coupling Effects 0.000 claims description 2
- 238000010168 coupling process Methods 0.000 claims description 2
- 238000005859 coupling reaction Methods 0.000 claims description 2
- 230000017105 transposition Effects 0.000 claims description 2
- 230000007613 environmental effect Effects 0.000 abstract description 8
- 238000010276 construction Methods 0.000 abstract description 2
- 230000004044 response Effects 0.000 description 5
- 238000004088 simulation Methods 0.000 description 5
- 239000003795 chemical substances by application Substances 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000007726 management method Methods 0.000 description 2
- 230000002708 enhancing effect Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000002195 synergetic effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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 movement 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 movement model of missile formation under the fault condition, so as to realize expected formation flight. The fault-tolerant compensator provided by the invention realizes the expected formation flight of missile formation under the conditions of simultaneous faults of a plurality of missiles and various uncertainties and external environmental disturbance, and can obviously improve the reliability and anti-interference capability of 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 missile formation cooperative control fault-tolerant control module, namely a fully distributed missile formation cooperative self-adaptive fault-tolerant compensation controller.
Background
The formation control of multi-agent systems is becoming increasingly interesting in many scientific fields, where a complex task can be accomplished by a group of multi-agents performing a formation collaborative task, which is not accomplished by a single agent. Compared with a single missile, the cooperative formation of a plurality of missiles is more easily affected by the fault of an actuator under the complex flight condition, so that the performance is reduced, and even a disaster is caused. Therefore, a fault-tolerant formation control scheme of the multi-agent formation system needs to be studied to ensure reliable and safe operation of the system.
The cooperation of a plurality of missiles is a main fight mode of a future missile weapon system, and is an important way for reducing fight cost, improving task realization reliability and enhancing comprehensive fight efficiency of the weapon. The synergistic technology can effectively improve the stealth effect of part of missiles, thereby improving the overall burst prevention capability. Moreover, the uncertainty and limitation of a single sensor can be overcome through the advantages of coordination and performance complementation, and the target tracking precision of the guided missile segment can be improved. However, missile weapon systems are extremely complex systems, and even if a tiny element fails, the entire system may not be able to perform the combat task, and even cause a sabotage or death. Therefore, how to realize the effective control flight of the missile in the unexpected and changeable environment, the safety of the missile is enhanced, the running cost is reduced, the reliability and fault tolerance of the system are improved, and the missile becomes a research hot spot in the unmanned plane field.
The system structure of the missile autonomous formation cooperative guidance control system is introduced by an author Wu Sentang and page 50 of a missile autonomous formation cooperative guidance control technology published in the 1 st edition of 9 th month 2015. 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 describes the formation control function of missile formation, which is to control and maintain the formation to fly stably as required in the specified flying process according to the route planning/cooperative guidance instruction under the dispatching of the departure and enqueuing management module, and the functional structure is shown in fig. 2.
In the prior art, many methods are not completely distributed, and the designed controller needs a communication matrix of the whole system, so that the complete distribution cannot be achieved, and due to the limited space distribution of the warheads and the limited distance between signal receiving/transmitting devices, communication between information can be not smooth, and even the warheads can crash, so that tasks fail.
The existing unmanned aerial vehicle formation fault-tolerant control method adopts the technology based on the interference observer to estimate the fault of the actuator, but because factors such as modeling errors, external interference, parameter uncertainty and the like are amplified, the control gain becomes large, so that the system is unstable, and the method is difficult to apply to actual missile formation.
The existing missile formation fault-tolerant control method is based on a linear model, does not consider environmental disturbance and uncertainty factors, and only considers that a single missile breaks down for a fault mode. The method can not solve the formation control problem of the missile formation system under the conditions of various uncertainties, external environment interference and simultaneous occurrence of actuator faults of a plurality of missiles, so that the method has no practical physical significance.
Therefore, it is highly desirable to propose a new fully distributed fault-tolerant formation control method to implement fault-tolerant formation control of missile formation under the condition that multiple missile executors fail simultaneously and multiple uncertainties and external environmental interference occur.
Disclosure of Invention
The invention designs 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 realizes expected safe and stable flight under the conditions that a plurality of missiles simultaneously generate 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 of 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 carried out by utilizing missile motion parameters in a missile autonomous formation cooperative guidance control algorithm; the method is characterized by comprising the following six steps of:
step 1, extracting a missile formation motion model from a formation flight control module;
according to missile formation information in the formation flight control module, the obtained missile formation motion model is as follows
Step 2, correcting a missile formation motion model by utilizing an interference source in the formation cooperative flight process;
the missile formation motion model is static; when the missile formation performs cooperative flight in the process of actually executing the flight task, the missile formation is interfered by external airflow, and t is used as the current moment; the time before the current time t is recorded as the last time t-1; the time after the current time t is recorded as the next time t+1;
since missile formation is disturbed by external airflow when executing flight mission, let d ix ,d iy ,d iz For external disturbance to the missile, the d is calculated ix ,d iy ,d iz Loading the missile formation model in the formula (1) for correction to obtain a corrected missile formation motion model as follows
Step 3, recording the motion vector of each missile;
recording the motion of each missile in a long vector mode, wherein the motion vector is provided by a formation flight control module;
the missile motion vector received by the fault-tolerant compensator is UU i ＝[u i,x u i,y u i,z ] T ；
Considering the actuator fault model, in practical application, the motion quantity of a single missile in driving is as followsρ i Indicating the efficiency of loss after the missile actuator fails, wherein ρ is not less than 0 i Is less than or equal to 1; if ρ i =1 means that the actuator of the missile fails completely, if ρ i =0 indicates that the actuator has not failed and is still operating normally;
step 4, constructing a missile formation motion correction model under a fault mode;
combining missile formation motion and interference source loading to obtain a motion model of missile formation in a fault mode as follows
Step 5, constructing a directional communication topological structure diagram of missile formation flight tasks;
constructing a directional communication topological structure diagram of the missile formation system, and obtaining an adjacent matrix and a communication matrix according to the directional communication topological structure diagram;
step 6, setting a complete distributed self-adaptive fault-tolerant control law;
according to the motion model of missile formation under various uncertainties, external environment disturbance and actuator fault modes, a fully distributed self-adaptive fault-tolerant control law UU is designed i (s) achieving a desired formation flight;
fully distributed adaptive fault-tolerant control law UU i (s) is
Compared with the prior art, the fully distributed missile formation cooperative self-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 generate faults when flying in formation. The prior art is mainly researched into a single missile fault tolerance method. While fault tolerance methods for multiple missile formation have not been studied.
(2) Compared with the prior art, the fault-tolerant control method can simultaneously inhibit the influence of faults, various uncertainties and external environment disturbance of a plurality of missile executors in missile formation. The invention completely considers various disturbance and actuator faults of missile formation, so that the designed controller is more perfect and specific, the reliability and safety of the formation of the aircraft 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 information of the adjacent aircraft, so that the complexity of the self-adaptive fault-tolerant compensation controller is almost equal to that of the PID controller, and the self-adaptive fault-tolerant method is easier to realize in practice compared with the prior self-adaptive fault-tolerant method.
(4) In the prior art, many methods are not completely distributed, and the designed controller needs a communication matrix of the whole system, so that the complete distribution cannot be achieved, and the communication between information is not smooth due to the limited space distribution of the warheads and the limited distance between the signal receiver and the signal transmitter, so that the warheads crash. The control method is completely distributed, all controller parameters are irrelevant to global information of communication topology, structural information of a communication structure diagram is not needed, the control method only depends on the relative positions and speeds of the control method and the neighbors of the control method, and reliability and safety of formation of aircrafts are greatly improved.
Drawings
FIG. 1 is an architecture diagram of a conventional missile autonomous formation collaborative guidance control system.
Fig. 2 is a structural diagram of a conventional missile autonomous formation control function.
FIG. 3 is a block diagram of the missile formation adaptive fault-tolerant control system of the present invention.
FIG. 4 is a 3-dimensional spatial position response curve of a simulated missile formation of the present invention under a variety of uncertainty and external environmental disturbance conditions.
FIG. 5 is a graph of the position response of a simulated missile formation of the present invention under a variety of uncertainty and external environmental disturbances as well as actuator faults.
FIG. 6 is a plot of the track angle response of a simulated missile formation of the present invention under an actuator fault and a variety of uncertainty and external environmental disturbances.
FIG. 7 is a course angle response curve of a simulated missile formation of the present invention under an actuator fault and a variety of uncertainty and external environmental disturbances.
FIG. 8 is a graph of the position error response of a simulated missile formation of the present invention under a variety of uncertainty and external environmental disturbance conditions.
Detailed Description
The invention will be described in further detail with reference to the drawings and examples.
As shown in fig. 3, the invention provides a fully distributed missile formation cooperative self-adaptive fault-tolerant compensation controller (called fault-tolerant compensator for short) aiming at the missile formation system under the conditions of an actuator fault mode, various uncertainties and external environment disturbance, so that the missile formation can realize safe and stable flight under the conditions of various uncertainties, external environment disturbance 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 of the conventional missile autonomous formation cooperative guidance control algorithm.
The invention designs a fully distributed missile formation cooperative self-adaptive fault-tolerant compensation controller, which comprises the following concrete construction steps:
step 1, extracting a missile formation motion model from a formation flight control module;
according to missile formation information in the formation flight control module, the obtained missile formation motion model is as follows:
the subscript i indicates the identification number of the missile.
Representing the flying speed of the missile in the longitudinal direction of the inertial coordinate system.
Representing the speed of flight of the missile in the lateral direction of the inertial frame.
Representing the flying speed of the missile in the height direction of the inertial coordinate system.
Representing the acceleration of flight of the missile.
V i Representing the speed of flight of the missile.
The angular velocity of the track angle of the missile is represented.
θ i Representing the track angle of the missile.
And the angular velocity of the heading angle of the missile.
ψ i Representing the heading angle of the missile.
g represents the gravitational constant.
u i,x Representing the component of the missile overload vector in the longitudinal direction of the missile coordinate system.
u i,y Representing the component of the missile overload vector in the lateral direction of the missile coordinate system.
u i,z Representing 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 utilizing an interference source in the formation cooperative flight process;
in the present invention, the missile formation motion model is static. When the missile formation performs cooperative flight in the process of actually executing the flight task, the missile formation is interfered by external airflow, and t is used as the current moment; the time before the current time t is recorded as the last time t-1; the time after the current time t is denoted as the next time t+1.
In the invention, since missile formation is disturbed by external airflow when the mission is executed, d is the following condition ix ,d iy ,d iz For external disturbance to the missile, the d is calculated ix ,d iy ,d iz Loading is corrected in the formula (1), and the corrected missile formation motion model (simply called as missile formation motion correction model) is obtained as follows:
d i,x the method represents the external interference of the missile in the longitudinal direction of the current moment of the missile coordinate system.
d i,y The method represents the external interference of the missile on the current moment side of the missile coordinate system.
d i,z The method indicates the external interference of the missile in the height direction of the current moment of the missile coordinate system.
The flying speed of the missile at the current moment in the longitudinal direction of the inertial coordinate system is represented.
Representing the speed of flight of the missile at the current moment in the lateral direction of the inertial coordinate system.
The flying speed of the missile at the current moment in the height direction of the inertial coordinate system is represented.
Indicating the flying acceleration of the missile at the current moment.
The angular velocity of the track angle of the missile at the current moment is represented.
And the angular velocity of the heading angle of the missile 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 judges whether the missile itself has faults (the faults can be actuator faults, steering engine faults and the like) by utilizing the motion amounts of the missiles at different moments,
the missile motion vector received by the fault-tolerant compensator is as follows:
UU i ＝[u i,x u i,y u i,z ] T (3)
UU i representing the amount of movement of the missile in the missile coordinate system during formation flight.
The upper corner mark T is the coordinate transposition.
In the present invention, as modern missile system structures become increasingly complex, many combat missiles require that the missiles be capable of flying in a variety of harsh environments. Meanwhile, as the effect of various interferences on the missile is also larger and larger, various faults of the flying missile can occur in the flying process.
Considering the actuator fault model, in practical application, the steering engine may be partially or completely disabled. In this case, therefore, the amount of motion of the individual missiles in terms of actuation is:
the upper corner mark f represents the fault event.
ρ i Indicating the efficiency of loss after the missile actuator fails, wherein ρ is not less than 0 i And is less than or equal to 1. If ρ i =1 means that the actuator of the missile fails completely, if ρ i =0 indicates that the actuator is not malfunctioning and is still operating 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:
the acceleration vectors of the missile in three directions under an inertial coordinate system are represented; and p is i Representing the position of the missile in an inertial coordinate system, and p i ＝[x i y i z i ] T ；x i Representing the position of the missile in the longitudinal direction of the inertial coordinate system, y i Representing the lateral position of the missile on the inertial coordinate system, z i The position of the missile in the height direction of the inertial coordinate system is represented.
B i Representing a matrix of flight parameters of the missile, an
D i D represents acceleration of missile due to gravitational attraction i ＝[0 -g 0] T G represents the gravitational constant.
dd i Representing the external environment of the missile in three directions under an inertial coordinate systemDisturbance differential vector, and
during the formation flying process, the B i Will be subject to uncertainty due to interference from external atmospheric wind fields, thus the B i Divided into nominal parameter part and uncertainty part, then Representing known missile flight parameters +.>Representing unknown missile flight parameters caused by uncertain disturbance factors.
Similarly, during the formation flight, the D i Will be subject to uncertainty due to interference from external atmospheric wind fields, thus the D i Divided into nominal parameter part and uncertainty part, then Representing the known acceleration vector produced by the gravitational force,/->Representing an unknown acceleration vector caused by an uncertain disturbance factor.
The missile motion correction model after bearing the interference source in the formula (5) can be written as follows:
DL i representing equivalent disturbance experienced by a missile, a packageIncluding uncertainty of parameters, nonlinearity, interference of external atmospheric wind field and the like. The said
Step 5, constructing a directional communication topological structure diagram of missile formation flight tasks;
in the invention, a directional communication topological structure diagram of a missile formation system is constructed, and an adjacent matrix and a communication matrix are obtained according to the directional communication topological structure diagram. The directional communication topology structure is shown as a formation support network system on the left in fig. 1.
Step 6, setting a complete distributed self-adaptive fault-tolerant control law;
in the invention, a fully distributed self-adaptive fault-tolerant control law UU is designed according to a movement model of missile formation under various uncertainties, external environment disturbance and actuator fault modes i (s) achieving the desired formation flight.
Fully distributed adaptive fault-tolerant control law UU i (s) is:
s denotes the laplace operator.
α i And(s) represents the weight coupling gain of the missile motion correction model.
K i And a feedback gain matrix representing the missile motion correction model.
γ i (s) represents the communication relationship between the missile and the neighbor missile
G i (s) represents a filter structure of the missile motion correction model.
p i Representing the position of the missile in the inertial coordinate system.
Representing known missile flight parameters.
I 3 Representing a 3 x 3 matrix of missile motion vectors.
Representing a known acceleration vector produced by the gravitational force.
In the present invention, as can be seen from equation (7), each missile controller is composed of a nominal control law without faults and an adaptive control law. The designed adaptive mechanism suppresses the impact 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
According to the invention, a Matlab software is adopted to build a fault-tolerant compensation controller simulation system according with the invention under the condition of time-varying formation of missile formation in a three-dimensional space and under various uncertainty and interference conditions. An example simulation was performed on missile formation to verify the effectiveness of the fault-tolerant compensation controller designed according to the present invention.
An example is a simulation test of a group 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, multiple missiles can simultaneously fail.
Missile 1 and missile 3 work normally, and missile 2, missile 4 and missile 5 have an actuator failure at 9 seconds.
The failure mode is selected as ρ 2 ＝0.55,ρ 4 ＝0.6,ρ 5 ＝0.8。
The virtual leader trace is selected as MA= [240t 60sin (t/10) 60sin (t/2)] T The unit of time is seconds.
It is assumed that the actual parameters for each missile are 20% greater than the nominal parameters. The external disturbance acting on the missile is not disappeared and time-varying, and the output is d i,x ＝10sin(t),d i,y ＝9sin(t),d i,z ＝8sin(t)。
The initial state of the missile is selected as p 1 (0)＝[40 -40 -60] T ，p 2 (0)＝[-45 45 -50] T ，p 3 (0)＝[-60 60 70] T ，p 4 (0)＝[65 -45 60] T ，p 5 (0)＝[9 5 118] T 。
The 3-dimensional spatial position of five missiles flying in formation under the fully distributed adaptive fault-tolerant controller is shown in fig. 4. From fig. 5, the positions, track angles, course angles and position tracking errors in 3 directions can be seen, and under the condition that a plurality of actuator faults and uncertainties exist, five missiles can well complete expected distributed formation flight by adopting the proposed fully distributed self-adaptive fault-tolerant formation controller. As can be seen from fig. 6 and 7, the attitude dynamics of the team remain stable after a fault occurrence of 9 s. As can be seen from fig. 8, the tracking errors of the proposed adaptive controller in three directions after a fault occurs will be stabilized in a small neighborhood. The simulation result shows that the controller has higher robustness and fault tolerance. The full distributed formation control method provided by the invention can realize good tracking performance and robustness of missile formation under the conditions of actuator faults, parameter uncertainty and external interference.
Claims (2)
1. The fully distributed missile formation cooperative self-adaptive fault-tolerant compensation controller is implemented by utilizing missile motion parameters in a missile autonomous formation cooperative guidance control algorithm; the method is characterized by comprising the following six steps of:
step 1, extracting a missile formation motion model from a formation flight control module;
according to missile formation information in the formation flight control module, the obtained missile formation motion model is as follows:
the subscript i represents the identification number of the missile;
representing the flying speed of the missile in the longitudinal direction of an inertial coordinate system;
representing the flying speed of the missile in the lateral direction of an inertial coordinate system;
representing the flying speed of the missile in the height direction of an inertial coordinate system;
representing the flying acceleration of the missile;
V i representing the flying speed of the missile;
an angular velocity representing a track angle of the missile;
θ i representing the track angle of the missile;
an angular velocity representing a heading angle of the missile;
ψ i representing the heading angle of the missile;
g represents an gravitational constant;
u i,x representing the components of the missile overload vector in the longitudinal direction of the missile coordinate system;
u i,y representing the component of the missile overload vector in the lateral direction of the missile coordinate system;
u i,z representing the components of the missile overload vector in the height direction of the missile coordinate system;
step 2, correcting a missile formation motion model by utilizing an interference source in the formation cooperative flight process;
the missile formation motion model is static; when the missile formation performs cooperative flight in the process of actually executing the flight task, the missile formation is interfered by external airflow, and t is used as the current moment; the time before the current time t is recorded as the last time t-1; the time after the current time t is recorded as the next time t+1;
since missile formation is disturbed by external airflow when executing flight mission, let d ix ,d iy ,d iz For external disturbance to the missile, the d is calculated ix ,d iy ,d iz Loading is corrected in the formula (1), and the corrected missile formation motion model is obtained as follows:
d i,x the method comprises the steps of representing external interference of a missile in the longitudinal direction at the current moment of a missile coordinate system;
d i,y the method comprises the steps of representing external interference laterally received by a missile at the current moment of a missile coordinate system;
d i,z the method comprises the steps of representing external interference of a missile in the height direction of the current moment of a missile coordinate system;
representing the flying speed of the missile at the current moment in the longitudinal direction of an inertial coordinate system;
representing the flying speed of the missile at the current moment in the lateral direction of an inertial coordinate system;
indicating the current time guideThe flying speed of the bullet in the height direction of the inertial coordinate system;
representing the flying acceleration of the missile at the current moment;
the angular velocity of the track angle of the missile at the current moment is represented;
the angular velocity of the course angle of the missile at the current moment is represented;
step 3, recording the motion vector of each missile;
recording the motion of each missile in a long vector mode, wherein the motion vector is provided by a formation flight control module;
the missile motion vector received by the fault-tolerant compensator is as follows:
UU i ＝[u i,x u i,y u i,z ] T (3)
UU i representing the movement amount of the missile in the missile coordinate system in formation flight;
the upper corner mark T is a coordinate transposition;
considering an actuator fault model, in practical application, the motion amount of a single missile in the driving aspect is as follows:
the movement control input of the missile after the fault occurs is shown, and the upper corner mark f shows a fault event;
ρ i representing missile executionEfficiency lost after failure of the line device, and ρ is 0 or less i Is less than or equal to 1; if ρ i =1 means that the actuator of the missile fails completely, if ρ i =0 indicates that the actuator has not failed and is still operating 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), and obtaining a movement model of missile formation in a fault mode as follows:
the acceleration vectors of the missile in three directions under an inertial coordinate system are represented; and p is i Representing the position of the missile in an inertial coordinate system, and p i ＝[x i y i z i ] T ；x i Representing the position of the missile in the longitudinal direction of the inertial coordinate system, y i Representing the lateral position of the missile on the inertial coordinate system, z i Representing the position of the missile in the height direction of an inertial coordinate system;
B i representing a matrix of flight parameters of the missile, an
D i D represents acceleration of missile due to gravitational attraction i ＝[0 -g 0] T G represents an gravitational constant;
dd i represents external disturbance differential vectors received by the missile in three directions under an inertial coordinate system, and
during the formation flying process, the B i Will be disturbed by the external atmospheric wind fieldSubject to uncertainty, thus said B i Divided into nominal parameter part and uncertainty part, then Representing known missile flight parameters +.>Representing unknown missile flight parameters caused by uncertain disturbance factors;
similarly, during the formation flight, the D i Will be subject to uncertainty due to interference from external atmospheric wind fields, thus the D i Divided into nominal parameter part and uncertainty part, then Representing the known acceleration vector produced by the gravitational force,/->Representing an unknown acceleration vector caused by an uncertain disturbance factor;
the missile motion correction model after bearing the interference source in the formula (5) is written as follows:
DL i the equivalent disturbance of the missile is represented, and the equivalent disturbance comprises uncertainty of parameters, nonlinearity, interference of an external atmospheric wind field and the like; the said
Step 5, constructing a directional communication topological structure diagram of missile formation flight tasks;
constructing a directional communication topological structure diagram of the missile formation system, and obtaining an adjacent matrix and a communication matrix according to the directional communication topological structure diagram;
step 6, setting a complete distributed self-adaptive fault-tolerant control law;
according to the motion model of missile formation under various uncertainties, external environment disturbance and actuator fault modes, a fully distributed self-adaptive fault-tolerant control law UU is designed i (s) achieving a desired formation flight;
fully distributed adaptive fault-tolerant control law UU i (s) is:
s represents the laplace operator;
α i (s) represents the weight coupling gain of the missile motion correction model;
K i a feedback gain matrix representing a missile motion correction model;
γ i (s) represents the communication relationship between the missile and the neighbor missile
G i (s) represents a filter structure of the missile motion correction model;
p i representing the position of the missile under an inertial coordinate system;
representing known missile flight parameters;
I 3 representing a 3 x 3 missile motion vector matrix;
representing that it is generated by the gravitational forceKnown acceleration vectors.
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 of a traditional missile autonomous formation cooperative guidance control algorithm.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2020114409334 | 2020-12-08 | ||
| CN202011440933 | 2020-12-08 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114326781A CN114326781A (en) | 2022-04-12 |
| CN114326781B true CN114326781B (en) | 2024-03-15 |
Family
ID=81045177
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111240320.0A Active CN114326781B (en) | 2020-12-08 | 2021-10-25 | Fully distributed missile formation cooperative self-adaptive fault-tolerant compensation controller |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114326781B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN115877718B (en) * | 2023-02-23 | 2023-05-30 | 北京航空航天大学 | Data-driven heterogeneous missile formation switching communication topology cooperative control method |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110058519A (en) * | 2019-04-02 | 2019-07-26 | 南京航空航天大学 | A kind of active formation fault tolerant control method based on quick self-adapted technology |
| WO2019160973A1 (en) * | 2018-02-13 | 2019-08-22 | Idac Holdings, Inc. | Methods for v2x autonomous directional resource selection |
| CN110262557A (en) * | 2019-07-16 | 2019-09-20 | 南京航空航天大学 | Quadrotor formation finite time fault tolerant control method based on sliding formwork control technology |
| EP3699825A2 (en) * | 2019-02-22 | 2020-08-26 | Ubotica Technologies Ltd. | Systems and methods for deploying and updating neural networks at the edge of a network |
| CN111948944A (en) * | 2020-08-07 | 2020-11-17 | 南京航空航天大学 | Four-rotor formation fault-tolerant control method based on adaptive neural network |
| CN111970658A (en) * | 2020-07-16 | 2020-11-20 | 西安理工大学 | Unmanned aerial vehicle swarm formation network routing method based on optimal rigid graph |
-
2021
- 2021-10-25 CN CN202111240320.0A patent/CN114326781B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019160973A1 (en) * | 2018-02-13 | 2019-08-22 | Idac Holdings, Inc. | Methods for v2x autonomous directional resource selection |
| EP3699825A2 (en) * | 2019-02-22 | 2020-08-26 | Ubotica Technologies Ltd. | Systems and methods for deploying and updating neural networks at the edge of a network |
| CN110058519A (en) * | 2019-04-02 | 2019-07-26 | 南京航空航天大学 | A kind of active formation fault tolerant control method based on quick self-adapted technology |
| CN110262557A (en) * | 2019-07-16 | 2019-09-20 | 南京航空航天大学 | Quadrotor formation finite time fault tolerant control method based on sliding formwork control technology |
| CN111970658A (en) * | 2020-07-16 | 2020-11-20 | 西安理工大学 | Unmanned aerial vehicle swarm formation network routing method based on optimal rigid graph |
| CN111948944A (en) * | 2020-08-07 | 2020-11-17 | 南京航空航天大学 | Four-rotor formation fault-tolerant control method based on adaptive neural network |
Non-Patent Citations (1)
| Title |
|---|
| 飞航导弹高动态自主编队协同控制系统的建立与仿真;穆晓敏;吴森堂;;飞行力学(第04期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114326781A (en) | 2022-04-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109947134B (en) | Four-rotor unmanned aerial vehicle formation fault-tolerant method based on multi-unmanned aerial vehicle distributed control | |
| CN114326781B (en) | Fully distributed missile formation cooperative self-adaptive fault-tolerant compensation controller | |
| CN111948944B (en) | Four-rotor formation fault-tolerant control method based on adaptive neural network | |
| CN116047909B (en) | Unmanned plane-ship cooperative robust self-adaptive control method for maritime parallel search | |
| CN111880410A (en) | Four-rotor unmanned aerial vehicle fault-tolerant control method for motor faults | |
| CN105486308A (en) | Design method of fast convergence Kalman filter for estimating missile and target line-of-sight rate | |
| Xingguang et al. | Time-varying fault-tolerant formation tracking based cooperative control and guidance for multiple cruise missile systems under actuator failures and directed topologies | |
| Sharma et al. | Application and flight testing of an adaptive autopilot on precision guided munitions | |
| Rampinelli et al. | Embedding obstacle avoidance in the control of a flexible multi-robot formation | |
| CN115639830A (en) | Air-ground intelligent agent cooperative formation control system and formation control method thereof | |
| Falcón et al. | A sliding‐mode‐based active fault‐tolerant control for robust trajectory tracking in quad‐rotors under a rotor failure | |
| CN113050679B (en) | Fully-distributed robust missile formation cooperative controller | |
| CN113859565B (en) | LADRC-based telescopic arm type unmanned aerial vehicle empty base recovery butt joint control method | |
| Lugo et al. | Integrated Precision Landing Performance Results for a Human-Scale Mars Landing System | |
| Zhang et al. | Fault tolerant formation flight control of UAVs | |
| Lee et al. | Control design for a helicopter using dynamic inversion and extended high gain observers | |
| CN113721656B (en) | Missile time-varying formation three-dimensional cooperative flight control method | |
| Wang et al. | Integrated 3‐D flight trajectory tracking control with aerodynamic constraints on attitude and control surfaces | |
| Lugo et al. | Integrated Precision Landing Performance and Technology Assessments of a Human-Scale Mars Lander Using a Generalized Simulation Framework | |
| Thanapalan et al. | Fault tolerant controller design to ensure operational safety in satellite formation flying | |
| Guo et al. | Disturbance perception based quadrotor UAV maneuvering formation against unknown external disturbance | |
| Yang et al. | Quadrotor helicopters trajectory tracking with stochastic model predictive control | |
| CN118092151B (en) | Multi-missile cooperative guidance method based on distributed model predictive control | |
| Yue et al. | Adaptive Tracking Control of Quadrotor UAV with Electromagnetic Attacks | |
| Dai et al. | Research on synergic Control Algorithm and Collision Avoidance of unmanned aerial vehicle Formation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |