CN116974208A - Rotor unmanned aerial vehicle target hitting control method and system based on strapdown seeker - Google Patents
Rotor unmanned aerial vehicle target hitting control method and system based on strapdown seeker Download PDFInfo
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Abstract
The invention provides a target hitting control method and a target hitting control system for a rotor unmanned aerial vehicle based on a strapdown guide head, which belong to the field of guidance control and comprise the following steps of; acquiring relative motion parameters of the unmanned aerial vehicle and a target; constructing a relative dynamic equation of the unmanned aerial vehicle-target and a relative kinematic equation of the unmanned aerial vehicle-target; analyzing a guidance target, and constructing a guidance control state equation according to state variables to be controlled based on the relative dynamics equation and the relative kinematics equation; analyzing the view angle of the strapdown seeker to obtain an asymmetric constraint condition of a state variable capable of replacing the view angle constraint, and inputting relative motion parameters into a state equation of guidance control by considering the asymmetric constraint condition of the state variable to output a guidance instruction; according to the guidance instruction, the servo mechanism is controlled to drive the control surface of the unmanned aerial vehicle to deflect or adjust the thrust direction of the engine, so that the unmanned aerial vehicle flies according to the requirements of the guidance instruction, and meanwhile, the attitude of the unmanned aerial vehicle is stabilized, and the influence of external interference on the flight of the unmanned aerial vehicle is eliminated.
Description
Technical Field
The invention belongs to the technical field of guidance control, and particularly relates to a rotor unmanned aerial vehicle target hitting control method and system based on a strapdown guide head.
Background
Since the new century, the highly mobile special combat of small amplitude workers gradually replaced the large-scale cluster combat. Small four-rotor unmanned aerial vehicles have many advantages as a typical representation of a multi-rotor unmanned aerial vehicle, such as: the four-rotor unmanned aerial vehicle has the advantages of low price, simple structure, powerful function, good concealment, convenient carrying, high applicability and the like, and the special advantages determine that the small four-rotor unmanned aerial vehicle can occupy a place in the future battlefield necessarily, so that the research on the precise hitting guidance control technology of the small four-rotor unmanned aerial vehicle becomes urgent.
The traditional method for researching guidance problem and adopted in actual engineering is a proportional guidance law. As an efficient guidance law, proportional guidance laws are widely used in guidance tasks for stationary and moving objects.
The nonlinear guidance law is more suitable for blocking a high-speed target with strong nonlinear uncertainty, and the strong robust guidance law can resist disturbance of a terminal guidance section due to target motion characteristics and other factors. The guidance law based on the sliding mode control theory has nonlinearity and strong robustness, and also has limited time convergence, and is suitable for designing the terminal guidance law. Wang Hao-ping [4] et al propose a model-free-based sliding mode control to stabilize four-rotor trajectory tracking, but suffer from the attendant buffeting defect. To overcome this defect, mirzaei M et al designed an online adaptive adjustment algorithm based on Lyapunov function and Barbalat theorem, which reduced the buffeting phenomenon in sliding mode control and ensured the stability of the system. Literature Ji Vi, wang Wei, zhang Hongyan, et al A Survey on Guidance Method of Air-to-Air Missiles Facing High Maneuvering Targets [ J ]. Aero webonry, 2022,29 (6): 15-25 (in Chinese) designed a sliding mode controller that enabled the pitch and roll angles of a quadrotor unmanned to be in a steady state by adjusting the desired cartesian position and yaw rate, experiments demonstrated that the designed controller was capable of better external disturbance rejection and fault detection.
For small quadrotor unmanned aerial vehicles, the small cradle head is insufficient to accommodate the complex and heavy mechanically stable platform employed by conventional frame-type seekers. Compared with a frame type seeker, the strapdown seeker is directly and fixedly connected with the machine body and the mechanical stable platform is removed, so that the size and the structural weight of the seeker are greatly reduced, and the strapdown seeker is more suitable for being assembled on a small four-rotor combat unmanned aerial vehicle. Because the strapdown seeker cannot keep continuous tracking of the target through attitude adjustment of the mechanically stable platform, researchers design many guidance laws considering view angle constraints in order to ensure that the target is always within the field of view of the strapdown seeker, based on improved proportional guidance laws of variable gain/offset terms, and other advanced control theories.
The proportional guidance law is deduced in a linear guidance dynamics model, and the influence of nonlinear disturbance is ignored in the design process, so that the proportional guidance law has weak resistance to nonlinear disturbance, and is difficult to adapt to a high-speed target with strong nonlinear uncertainty. The relative motion equation of the unmanned aerial vehicle is a complex nonlinear equation, the traditional guidance law represented by the proportional guidance law is mostly based on the assumption that the relative motion equation of the aircraft and the target can be linearized near an ideal collision point, and the assumption cannot be always established in the actual fight process, so that the guidance law based on the assumption cannot obtain good interception precision.
Considering guidance laws constrained by the field angle of the strapdown seeker, full state measurability (e.g., target speed and direction of flight) is often required. In addition, the control algorithm of the guidance law which partially considers the view angle constraint is too complex, and the numerical calculation is needed to determine partial navigation gain online. Therefore, these advanced guidance laws are currently not directly applicable to engineering.
Disclosure of Invention
The invention provides a target hitting control method and system of a rotor unmanned aerial vehicle based on a strapdown seeker, which aims to solve the problem that the control algorithm of the existing guidance law considering view angle constraint is too complex and partial navigation gain needs to be determined on line by adopting numerical calculation.
In order to achieve the above object, the present invention provides the following technical solutions:
a rotor unmanned aerial vehicle target hitting control method based on a strapdown pilot head comprises the following steps:
acquiring relative motion parameters of the unmanned aerial vehicle and a target;
constructing a relative dynamic equation of the unmanned aerial vehicle-target and a relative kinematic equation of the unmanned aerial vehicle-target;
analyzing a guidance target, and constructing a guidance control state equation according to state variables to be controlled based on the relative dynamics equation and the relative kinematics equation;
analyzing the view angle of the strapdown seeker to obtain an asymmetric constraint condition of a state variable capable of replacing the view angle constraint, and inputting relative motion parameters into a state equation of guidance control by considering the asymmetric constraint condition of the state variable to output a guidance instruction;
and controlling the servo mechanism to drive the control surface of the unmanned aerial vehicle to deflect or adjust the thrust direction of the engine according to the guidance instruction, so that the unmanned aerial vehicle flies according to the requirement of the guidance instruction.
Preferably, the relative motion parameters include relative position, angle, angular velocity of the drone and the target.
Preferably, after the guidance command is output, the unmanned aerial vehicle further comprises an amplified guidance command, and the servo mechanism is controlled to drive the control surface of the unmanned aerial vehicle to deflect or adjust the thrust direction of the engine according to the amplified guidance command, so that the guidance of the unmanned aerial vehicle is realized.
Preferably, the construction of the relative dynamics equation of the unmanned aerial vehicle-target specifically comprises the following steps:
establishing a ground translation coordinate system, which is marked asOrigin of coordinates->For the projection of unmanned aerial vehicle particles on the ground along the direction of gravity, +.>The axis points in any direction, & lt & gt>The axis is directed in the opposite direction of the earth's center perpendicular to the ground, < >>Is a horizontal plane, and accords with the right-hand spiral rule; establishing a vision coordinate system, which is marked as +.>Origin of coordinates->Is the mass point of the unmanned aerial vehicle,the axis points to the target, +.>Point to the vertical direction and add>The axis conforms to the right hand spiral rule; the rotational angular velocity of the sight line coordinate system relative to the inertial coordinate system is obtained as follows:
（1）
in the formula ,for the inclination of the line of sight>For the first derivative of the inclination of the line of sight, +.>Is the first derivative of the line of sight offset;the three-axis unit vector is a vision coordinate system;
from equation (1), it can be known that the second order differential of the relative distance between the drone and the target is:
（2）
wherein r is the relative distance between the unmanned aerial vehicle and the target,is the first derivative of the rotational angular velocity of the line-of-sight coordinate system relative to the inertial coordinate system; />Radial component of the relative speed of the drone-target +.>A second derivative of the magnitude of the relative distance scalar for the drone-target; i r As a unit vector in the vector direction of the relative distance of the unmanned plane and the target, the relative distance of the unmanned plane and the target is always on the x axis of the line-of-sight coordinate system, and Ir is [ 10 ]] T ；/>For the second derivative of the inclination of the line of sight>Is the second derivative of the line of sight offset;
according to Newton mechanics theory, the second derivative of the relative distance between the unmanned plane and the target is equal to the difference between the acceleration of the unmanned plane and the acceleration of the target:
（3）
（4）
（5）
the component of the acceleration of the unmanned aerial vehicle on the x axis of a sight coordinate system;
for unmanned aerial vehicle acceleration in sight coordinate system y-axisThe upper component;
the component of the acceleration of the unmanned aerial vehicle on the z axis of a sight coordinate system;
the component of the target acceleration on the x axis of the sight line coordinate system;
the component of the target acceleration on the y axis of the sight line coordinate system;
the component of the target acceleration in the z-axis of the sight coordinate system;
according to formula (3-5), the relative kinetic equation for the drone-target is obtained as follows:
（6）
（7）
（8）。
preferably, the construction of the relative kinematic equation of the unmanned aerial vehicle-target specifically comprises the following steps:
establishing a channel fixed connection coordinate systemOrigin->At the unmanned centroid->The axis is selected asThe speed direction of the four-rotor unmanned aerial vehicle points to the flight direction in the positive direction>The axis is in a vertical plane containing the velocity vector and +.>Vertical, positive upward ++>The shaft is determined according to the right hand rule; the relative kinematics equation of the unmanned plane-target is established as follows:
（12）
（13）
（14）
in the formula ,is the speed of the unmanned aerial vehicle; />Is the target speed; />Is the unmanned aerial vehicle speed dip angle; />Is the target speed dip angle; />Is the speed deflection angle of the unmanned aerial vehicle.
Preferably, the analysis of the guided object is based on the relative dynamics equation and the relative kinematics equation according to the state of the control required，/>The state equation of guidance control is constructed, specifically:
based on the formulas (7) and (8), the state variables are setThe method comprises the steps of carrying out a first treatment on the surface of the Control amount->The method comprises the steps of carrying out a first treatment on the surface of the Dependent on the target motor acceleration as a kind of norms with external disturbance, ++>；
Then:
wherein ：
x 1 is inclined to the line of sight, x 2 For the angular velocity of the inclination of the line of sight, x 4 Is the angular velocity of the offset line of sight;
in an actual scenario, the target acceleration cannot reach an infinite, and therefore the following condition is satisfied:
wherein ,，/>is an unknown constant representing the upper bound of the target acceleration, let +.>；
From the relative kinematics equations of the drone-target, the conditions that satisfy the viewing angle constraints can be expressed as a set of parameters about the state variables、/>Is not symmetric:
（25）
（26）
in the formula ,、/>、/>、/>are all design variables;
in the formula ,kmax X is the maximum allowable viewing angle 3 Is a visual line prejudice;
according toGet->I.e.The method comprises the steps of carrying out a first treatment on the surface of the Thus there is a constant +.>As long as->， />State quantity->，/>The asymmetric constraint of equation (25) and equation (26) is satisfied, i.e., the strapdown seeker field angle constraint is satisfied.
Preferably, when the movable target is attacked, the relative motion parameters of the unmanned aerial vehicle and the target are collected by adopting a radar or visible light, infrared light and a laser detector; when the ground fixed target is attacked, the accelerometer and the gyroscope are adopted to collect the relative motion parameters of the unmanned plane and the target.
The invention also provides a rotor unmanned aerial vehicle target striking control system based on the strapdown guide head, which comprises the following steps:
the parameter acquisition module is used for acquiring relative motion parameters of the unmanned aerial vehicle and the target;
the first equation construction module is used for constructing a relative dynamics equation of the unmanned aerial vehicle-target and a relative kinematics equation of the unmanned aerial vehicle-target;
the second equation construction module is used for analyzing the guidance target, constructing a state equation of guidance control according to state variables to be controlled based on the relative dynamics equation and the relative kinematics equation;
the guidance instruction generation module is used for analyzing the view angle of the strapdown seeker to obtain an asymmetric constraint condition of a state variable capable of replacing the view angle constraint, and inputting relative motion parameters into a state equation of guidance control by considering the asymmetric constraint condition of the state variable to output a guidance instruction;
and the guidance module is used for controlling the servo mechanism to drive the control surface of the unmanned aerial vehicle to deflect or adjust the thrust direction of the engine according to the guidance instruction, so that the unmanned aerial vehicle flies according to the requirement of the guidance instruction.
The invention also provides a computer device comprising a memory, a processor and a computer program stored on the memory, the processor executing the computer program to carry out the steps of the control method described above.
The rotor unmanned aerial vehicle target striking control method and system based on the strapdown guide head provided by the invention have the following beneficial effects:
according to the invention, a relative kinetic equation of the unmanned aerial vehicle-target and a relative kinematic equation of the unmanned aerial vehicle-target are constructed, so that a state equation of guidance control is obtained, the view angle of the strapdown seeker is analyzed on the basis, an asymmetric constraint condition of a state variable capable of replacing the view angle constraint is obtained, the asymmetric constraint condition of the state variable is considered, relative motion parameters are input into the state equation of guidance control, and a guidance instruction is output; according to the control servo mechanism of the guidance instruction, the control surface of the unmanned aerial vehicle is driven to deflect or adjust the thrust direction of the engine, so that the unmanned aerial vehicle flies according to the requirement of the guidance instruction, the sliding mode variable structure control of visual angle constraint is realized by designing the guidance law meeting the requirement, and the directional accurate striking of the target and the visual angle constraint of the guide head can be realized under the condition that the movement information of the target is not required.
Drawings
In order to more clearly illustrate the embodiments of the present invention and the design thereof, the drawings required for the embodiments will be briefly described below. The drawings in the following description are only some of the embodiments of the present invention and other drawings may be made by those skilled in the art without the exercise of inventive faculty.
FIG. 1 is a three-dimensional relative geometry diagram of a drone and a target;
FIG. 2 is a schematic diagram of the relative movement of the drone and the target;
FIG. 3 is a controller simulation image-drone-target relative distance r;
FIG. 4 is a controller simulation image-line of sight angle (line of sight inclination angle, line of sight offset angle);
fig. 5 is a controller simulation image-line-of-sight angular rate (line-of-sight inclination rate, line-of-sight deflection angular rate).
Detailed Description
The present invention will be described in detail below with reference to the drawings and the embodiments, so that those skilled in the art can better understand the technical scheme of the present invention and can implement the same. The following examples are only for more clearly illustrating the technical aspects of the present invention, and are not intended to limit the scope of the present invention.
Example 1
The invention provides a target hitting control method and a target hitting control system for a rotor unmanned aerial vehicle based on a strapdown guide head.
The symbols used in the invention and the meanings thereof are shown in table 1, and the positive direction of the angular quantity in the table accords with the right hand rule.
Table 1 symbols and their meanings
1. Combining hypothesis 2, hypothesis 3, hypothesis 4 and the relative kinematic equations of the unmanned aerial vehicle-target, and primer 1, primer 2, unmanned aerial vehicle field angle constraints may beConversion into line-of-sight declinationAnd the inclination angle of the sight line->Is a constraint on the rate of change of:
2. combining hypothesis 1, the relative kinematics equation of the unmanned plane-target is obtainedBecause of->Combining with Lyapunov stability theory to obtain +.>. The guidance target can be->Simplified to->：
3. Combining the guidance targets and the relative dynamics equations of the unmanned plane-targets summarized in the step 2, establishing a mathematical model-state equation of the guidance problem as follows:
setting state variablesThe method comprises the steps of carrying out a first treatment on the surface of the Control amount->The method comprises the steps of carrying out a first treatment on the surface of the Dependent on the target motor acceleration as a kind of norms with external disturbance, ++>
Then:
（A）
wherein ：
4. slide die surface:
the guidance design purpose is to satisfy:,/>。
selecting a sliding mode
5. To deal with,/>Asymmetric constraint of (i.e.1 +.>) For slip form surface->The tangent barrier lyapunov function was designed as follows:
（B）
wherein the design parametersFor the constraint boundary of s, design parameter +.>。
6. Interference processing: adaptive boundary estimation method
In an actual scenario, the target acceleration cannot reach an infinite, and therefore the following condition is satisfied:
wherein ,，/>is an unknown constant representing the upper bound of the target acceleration, let +.>。
Upper bound of interference，/>The estimated value of (2) is +.>，/>：
Defining an estimate，/>The deviation of (2) is:
（C）
according to Lyapunov stability theorem, to makeThe following adaptive law is designed:
（D）
the above equation is the adaptive law for interference estimation, namely:
wherein ,
7. guidance controller design:
（E）
the formula (E) expands to be:
（K）
wherein ,，/>，/>，/>，/>，/>are all greater than 0 as design parameters, and
8. processing of parameter r (unmanned aerial vehicle-target distance)
Based on the relative kinematic equations of hypothesis 1 and the drone-target, the radial component,and the drone-target relative velocity may be resolved into a radial direction, tangential direction, and transverse direction of the drone-target line of sight. Thus:
（F）
9. to sum up:
the equation of state:
（A）
，
guidance target:，/>。
and (3) a controller:
interference adaptationLaw:
parameters (parameters) and />Is obtained by: />
From the above, it can be seen that the guidance control law (controller+interference adaptive law+parameter) designed by the present inventionAnd) Only the relative movement information of the unmanned plane and the target needs to be measured, namely: />，/>，/>，/>。
Specifically, the method for controlling target hitting of the rotor unmanned aerial vehicle based on the strapdown pilot head comprises the following steps:
step 1, constructing a relative dynamics equation of the unmanned plane-target
The rotation relation of the sight line coordinate system relative to the inertia coordinate system is analyzed, and the relative movement relation of the unmanned plane and the target can be described. Establishing a ground translation coordinate system, which is marked asOrigin of coordinates->For the projection of unmanned aerial vehicle particles on the ground along the direction of gravity, +.>The axis points in any direction, & lt & gt>The axis is directed in the opposite direction of the earth's center perpendicular to the ground, < >>Is a horizontal plane and accords with the right-handed spiral rule. Establishing a vision coordinate system, which is marked as +.>Origin of coordinates->Is unmanned aerial vehicle particle->The axis points to the target, +.>Point to the vertical direction and add>The axis conforms to the right hand spiral rule.
With reference to fig. 1, the rotational angular velocity of the line-of-sight coordinate system with respect to the inertial coordinate system can be obtained as:
（1）
in the formula ,for the inclination of the line of sight>For the first derivative of the inclination of the line of sight, +.>Is the first derivative of the line of sight offset;is a three-axis unit vector of a vision coordinate system.
From equation (1), the second order differential of the relative distance between the drone and the target is:
（2）
wherein r is the relative distance between the unmanned aerial vehicle and the target,is the first derivative of the rotational angular velocity of the line-of-sight coordinate system relative to the inertial coordinate system; />Radial component of the relative speed of the drone-target +.>A second derivative of the magnitude of the relative distance scalar for the drone-target; i r As a unit vector in the vector direction of the relative distance of the unmanned plane and the target, the relative distance of the unmanned plane and the target is always on the x axis of the line-of-sight coordinate system, and Ir is [ 10 ]] T ；/>For the second derivative of the inclination of the line of sight>Is the second derivative of the line of sight offset.
According to Newton theory of mechanics, it can be known that the second derivative of the unmanned plane-target relative distance is equal to the difference between the unmanned plane acceleration and the target acceleration:
（3）
（4）
（5）
in the formula ,the component of the acceleration of the unmanned aerial vehicle on the x axis of a sight coordinate system; />The component of the acceleration of the unmanned aerial vehicle on the y axis of the sight coordinate system; />The component of the acceleration of the unmanned aerial vehicle on the z axis of a sight coordinate system; />The component of the target acceleration on the x axis of the sight line coordinate system; />The component of the target acceleration on the y axis of the sight line coordinate system; />Is the component of the target acceleration in the z-axis of the line of sight coordinate system.
According to equation (3-5), the kinetic equation of the relative motion is obtained as follows:
（6）
（7）
（8）
in order to realize accurate striking control of the unmanned aerial vehicle on the target, the relative distance is required to be continuously reduced and finally tends to be 0, and the change rate of the angular speeds of two sights is required to be as small as possible, so that the guidance law design target of the invention can be summarized as follows:
（9）
（10）
（11）
step 2, constructing an unmanned plane-target relative kinematics equation
To further analyze the relative motion change relationship of the drone-target, a relative kinematics equation of the drone-target is established here that is related to the speed.
As shown in fig. 2, a channel-fixing coordinate system is establishedOrigin->At the unmanned centroid->The shaft is selected as the speed direction of the four-rotor unmanned aerial vehicle, the pointing direction is positive, and the direction of flight is +.>The axis is in a vertical plane containing the velocity vector and +.>Vertical, positive upward ++>The axis is determined according to the right hand rule.
From fig. 2, the relative kinematics equation of the drone-target can be established as:
（12）
（13）
（14）
in the formula ,is the speed of the unmanned aerial vehicle; />Is the target speed; />Is the unmanned aerial vehicle speed dip angle; />Is the target speed dip angle; />Is the speed deflection angle of the unmanned aerial vehicle.
Step 3, strapdown seeker view angle constraint analysis
A basic premise that a small four-rotor unmanned aerial vehicle provided with a strapdown guide head can realize the directional accurate striking of a target is that the target is always in the field of view of the strapdown guide head so as to ensure the normal operation of the full strapdown guide system, so that the restriction characteristic of the angle of view is required to be analyzed.
The present invention considers the following assumptions:
suppose 1: in the guidance stage, the unmanned aerial vehicle always flies according to the speed of the maximum working power of four rotors, and the target escape speed is far smaller than the flying speed of the unmanned aerial vehicle, namely. Further, the maximum speed of the relative movement is considered to be the maximum speed of the drone:
（15）
wherein ,for the speed when unmanned aerial vehicle maximum operating power, satisfy:
（16）
wherein ,for the maximum working power of unmanned aerial vehicle, +.>Is the air resistance coefficient>For the maximum flight speed of the unmanned aerial vehicle, +.>The maximum relative speed is the target of the unmanned aerial vehicle.
Further, the drone-target relative speedAlways the maximum flying speed of the unmanned aerial vehicle,is constant.
Suppose 2: the angle of attack of the unmanned aerial vehicle is small and approximately zero in the seeking stage, and the strapdown seeker field angle constraint can be approximately converted into the view angle constraint.
Suppose 3: the visual angle of the strapdown seeker does not exceed 90 degrees, and the maximum visual angle allowed by the seeker is recorded asThe maximum usable angle of view of the seeker should be satisfied +.>。
Suppose 4: considering the actual situation that the unmanned aerial vehicle attacks the ground target, the transverse movement is small, so the method can be approximated:
（17）
one basic premise that a strapdown seeker unmanned aerial vehicle can achieve accurate target orientation striking is that a target should be always in the field of view of the strapdown seeker so as to ensure normal operation of the strapdown guidance system. To analyze the view angle constraints, according to fig. 2, the drone-target view angle constraints can be described as:
（18）
（19）
to translate viewing angle constraint problems into line-of-sight anglesAnd the inclination angle of the sight line->With reference to the forms of formula (13) and formula (14), define the new variable +.>，/>，/>，/>The method comprises the following steps: />
（20）
（21）
（22）
（23）
To guarantee viewing angle constraints, lemma 1 and lemma 2 are given as follows:
lemma 1: so long as itThen->This is true.
The following was demonstrated:
according to assumption 4, equation (13) can be simplified as:
（24）
from the following componentsThere is->The following are combined with formulas (20), (21) and (24):
namely:
from the following componentsEasy to obtain:
the proof ends.
And (4) lemma 2: so long as itThen->This is true.
The proving process is similar to that of lemma 1.
Step 4, establishing a state equation of guidance control
According to hypothesis 1, combine formula (12) to obtainBecause of->Combining with Lyapunov stability theory to obtain +.>. Therefore, only the formulas (10) and (11) may be used as the guidance targets. The equations of state of the guidance control can be established according to equations (7), (8).
Setting state variablesThe method comprises the steps of carrying out a first treatment on the surface of the Control amount->The method comprises the steps of carrying out a first treatment on the surface of the Dependent on the target motor acceleration as a kind of norms with external disturbance, ++>
Then:
（A）
wherein ：
in the formula ,x1 Is inclined to the line of sight, x 2 For the angular velocity of the inclination of the line of sight, x 4 Is the angular velocity of the line of sight deflection.
In an actual scenario, the target acceleration cannot reach an infinite, and therefore the following condition is satisfied:
wherein ,，/>is an unknown constant representing the upper bound of the target acceleration, let +.>。
According to arguments 1 and 2, conditions that satisfy the view constraint may be expressed as a set of related state variables，/>Is not symmetric:
（25）
（26）
note that the variables introduced，/>，/>，/>Comprises undetectable target speed information, and formula (20-23) is rewritten by formula (14) in combination with formula (24), and +.>，/>，/>，/>The state variables in the replacement can be written as:
in the formula ,kmax X is the maximum allowable viewing angle 3 Is a visual prejudice.
According to hypothesis 1, is readily availableI.e.. Thus there is a constant +.>As long as->， />State quantity->，/>The asymmetric constraint of equation (25) and equation (26) is satisfied, i.e., the strapdown seeker field angle constraint is satisfied.
Guidance law design and stability analysis
The interference caused by the target maneuver is processed by adopting an adaptive boundary estimation method; for system state variables to be controlled、/>Designing a sliding mode surface (the change rate of the line of sight angle); design tangent type Liapunov function treatment +.>，/>Is not symmetrical; combining self-adaptive control and sliding mode control to obtain a system control law, and dividing stability according to Lyapunov stability theoremAnd (5) separating.
Guidance law design
Step 1, interference self-adaptive estimation design
Upper bound of interference，/>The estimated value of (2) is +.>，/>
Defining an estimate，/>The deviation of (2) is:
（C）
step 2, slip form surface design
The guidance design purpose is to satisfy:，/>。
selecting a sliding modeAccording to formula (A) there are:
（G）/>
step 3, selecting Lyapunov function
To deal with，/>Is asymmetric about the slip form face->The tangent barrier lyapunov function was designed as follows:
（B）
wherein the design parametersFor the constraint boundary of s, design parameter +.>. According to [12 ]]When->，Thereby->As a positive definite function. On the other hand, when->V is continuously variable. Thus, V is a valid candidate lyapunov function.
According to formula (C), (B):
wherein ,
（H）
wherein ,,/>。
step 4, slip form control design
And (3) designing sliding mode control based on an exponential approach law, and enabling:
（I）
wherein ,，/>，/>，/>，/>，/>are design parameters, all greater than 0. Combined (G), (I):
（J）
with estimated upper boundInstead of->Formula (J) is rewritable:
（E）
the formula (E) expands to be:
（K）
the above formula is the designed control law.
Combined (G), (E) to give:
（L）
namely:
stability analysis
First, line of sight angular rate stability analysis
The simultaneous type (C), (46), (L) can be obtained:
（M）
easy obtaining:
（N）
and (3) lemma 3: as long as the design parametersThen->。
The following was demonstrated:
it is known that:
（N）
then there are:
thus (2)
Due to[ reference ian1]Thus, it is
And (5) finishing the verification.
According to Lyapunov stability theorem, to makeThe following adaptive law is designed:
（D）
equation (D) is an adaptive law for interference estimation, namely:
the combination of formula (M), formula (N), formula (55), formula (D) and primer 3 can be obtained
（O）
According to the Lyapunov stability theorem, the slip plane s and the interference estimation deviation can be obtainedAre stable in the sense of Lyapunov.
Second, unmanned aerial vehicle-target distance stability analysis
According to the assumption 1 that the data of the first cell,is the radial component of the relative speed of the drone-target, in the direction of decreasing drone-target distance, i.e.>. According to equations (12-14), the drone-target relative velocity may be resolved into a radial direction, tangential direction, and transverse direction of the drone-target line of sight. Thus:
（F）
when the unmanned plane-target relative speedWhen large enough, real variable->Is constant and has->Combining with Lyapunov stability theory to obtain +.>。
Is easy to obtain, and parameters、/>The change rate is regarded as a function related to the state variable, the control of the system state is not affected, and the self-adaption law, the control law and the stability of the system are not changed.
Numerical simulations were performed in the following manner according to the invention
According to assumption 4, the lateral movement should be a small amount, so the line of sight offset angle takes a small amount. The unmanned aerial vehicle flies in the air and attacks ground targets, so that the sight inclination angle can take a relatively large value. The specific parameters are shown in the following table:
table 2 initial values of drone-target relative motion
Taking the maximum speed of the unmanned aerial vehicle according to hypothesis 1So that the drone-target relative speed is always。
Taking the acceleration of the target in the line-of-sight coordinate system as shown in the following table:
TABLE 3 target maneuver acceleration
Let the angle of view be constrained to pi/3, the controller parameters are chosen as follows:
table 4 controller parameter selection
The system and its adaptive law and control law determined by the formulas (a), (K), (O) and (F) were simulated, and the results are shown in fig. 3 to 5:
as can be seen from fig. 3 and 4, with the method designed by the present invention, the unmanned aerial vehicle can catch up with the target, and the line-of-sight inclination angle and the line-of-sight offset angle satisfy the constraint condition. In FIG. 5, the angular velocity converges and diverges, since the system is designed to be and />Considered as parameters, the distance is continuously reduced in the simulation process, resulting in a system junctionA change in configuration. Although the angle change rate caused by the maneuvering of the target is continuously increased along with the decrease of the distance, the change amount of the sight inclination angle and the sight deflection angle is not large, so that the strapdown guide head visual angle constraint range is not exceeded.
According to fig. 3, when using a PID controller, the simulation is terminated early before the drone target relative distance reaches zero. This is because as the distance of the unmanned aerial vehicle target decreases, the rate of change of angle caused by maneuvering of the target increases, which places higher demands on the lateral maneuver capability of the unmanned aerial vehicle, which may exceed its limits. This prevents the drone from radial maneuvers and accurate access to the target. Furthermore, fig. 4 and 5 demonstrate that the line of sight angular rate divergence is significantly higher, while still satisfying the line of sight angular constraint. In contrast, the control method provided by the invention is superior to the control method of the PID controller used in the unmanned aerial vehicle.
Based on the same inventive concept, the invention also provides a rotor unmanned aerial vehicle target hitting control system based on the strapdown seeker, which comprises a parameter acquisition module, a first equation construction module, a second equation construction module, a guidance instruction generation module and a guidance module.
Specifically, the parameter acquisition module is used for acquiring the relative motion parameters of the unmanned aerial vehicle and the target. The first equation construction module is used for constructing a relative dynamics equation of the unmanned aerial vehicle and the target and a relative kinematics equation of the unmanned aerial vehicle and the target. The second equation construction module is used for analyzing the guidance target, and constructing a state equation of guidance control according to state variables to be controlled based on the relative dynamics equation and the relative kinematics equation. The guidance instruction generation module is used for analyzing the view angle of the strapdown seeker to obtain an asymmetric constraint condition of a state variable capable of replacing the view angle constraint, and inputting relative motion parameters into a state equation of guidance control by considering the asymmetric constraint condition of the state variable to output the guidance instruction. The guidance module is used for controlling the servo mechanism to drive the control surface of the unmanned aerial vehicle to deflect or adjust the thrust direction of the engine according to the guidance instruction, so that the unmanned aerial vehicle flies according to the requirement of the guidance instruction.
The modules in the rotor unmanned aerial vehicle target hitting control system based on the strapdown pilot head can be fully or partially realized by software, hardware and a combination thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
Meanwhile, the invention also provides computer equipment, which comprises a memory, a processor and a computer program stored on the memory, wherein the processor executes the computer program to realize the steps of the target striking control method of the rotor unmanned aerial vehicle based on the strapdown guide head.
According to the invention, a three-dimensional unmanned aerial vehicle-target relative motion equation in a spherical coordinate system is researched, the angle of attack of the unmanned aerial vehicle is assumed to be zero in flight, the angle of view is approximately replaced by the angle of view, the angle of view constraint of a strapdown inertial navigation head carried by the unmanned aerial vehicle is processed by adopting a tangent barrier Lyapunov function, and a nonlinear three-dimensional sliding mode variable structure angle of view constraint guidance law is designed. Different from the previous guidance law design, the method adopted by the invention does not depend on the assumption of linearization near the collision line, abstracts the three-dimensional relative motion equation of the unmanned plane and the target into a multivariable nonlinear system with uncertain factors, adopts a sliding mode variable structure control strategy for the uncertain multivariable nonlinear system, and obtains an asymptotically stable nonlinear self-adaptive sliding mode guidance law by applying Lyapunov stability theory. Different from the previous similar research, the aircraft speed is always assumed to be a constant value, the information of the non-cooperative targets is accurately measurable, the guidance law is often designed based on a variable-speed aircraft model, and the guidance law designed by the invention does not depend on the motion information of the non-cooperative targets to introduce an estimated self-adaptive law for the uncertainty of system disturbance, so that the system disturbance uncertainty can accurately strike maneuvering targets and meet the actual combat task requirements.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It should be noted that the above-described embodiments will enable those skilled in the art to more fully understand the invention, but do not limit it in any way. Thus, although the present invention has been described in detail with reference to the present specification and examples, it should be understood by those skilled in the art that the present invention may be modified or equivalents; all technical schemes and improvements which do not depart from the spirit and scope of the invention are covered by the protection scope of the invention. Any reference sign in a claim should not be construed as limiting the claim concerned.
The above embodiments are merely preferred embodiments of the present invention, the protection scope of the present invention is not limited thereto, and any simple changes or equivalent substitutions of technical solutions that can be obviously obtained by those skilled in the art within the technical scope of the present invention disclosed in the present invention belong to the protection scope of the present invention.
Claims (9)
1. The method for controlling target hitting of the rotor unmanned aerial vehicle based on the strapdown pilot head is characterized by comprising the following steps of:
acquiring relative motion parameters of the unmanned aerial vehicle and a target;
constructing a relative dynamic equation of the unmanned aerial vehicle-target and a relative kinematic equation of the unmanned aerial vehicle-target;
analyzing a guidance target, and constructing a guidance control state equation according to state variables to be controlled based on the relative dynamics equation and the relative kinematics equation;
analyzing the view angle of the strapdown seeker to obtain an asymmetric constraint condition of a state variable capable of replacing the view angle constraint, and inputting relative motion parameters into a state equation of guidance control by considering the asymmetric constraint condition of the state variable to output a guidance instruction;
and controlling the servo mechanism to drive the control surface of the unmanned aerial vehicle to deflect or adjust the thrust direction of the engine according to the guidance instruction, so that the unmanned aerial vehicle flies according to the requirement of the guidance instruction.
2. The method for controlling target hitting of a rotor unmanned aerial vehicle based on a strapdown pilot head according to claim 1, wherein the relative motion parameters include relative positions, angles and angular velocities of the unmanned aerial vehicle and the target.
3. The method for controlling target hitting of the rotor unmanned aerial vehicle based on the strapdown pilot head according to claim 1, wherein after the guidance command is output, the method further comprises amplifying the guidance command, and controlling a servo mechanism to drive a control surface of the unmanned aerial vehicle to deflect or adjust the thrust direction of the engine according to the amplified guidance command, so that guidance of the unmanned aerial vehicle is achieved.
4. The method for controlling target hitting of a rotor unmanned aerial vehicle based on a strapdown pilot head according to claim 2, wherein the construction of the relative dynamics equation of unmanned aerial vehicle-target specifically comprises the following steps:
establishing a ground translation coordinate system, which is marked asOrigin of coordinates->For the projection of unmanned aerial vehicle particles on the ground along the direction of gravity, +.>The axis points in any direction, & lt & gt>The axis is directed in the opposite direction of the earth's center perpendicular to the ground, < >>Is a horizontal plane, and accords with the right-hand spiral rule; establishing a vision coordinate system, which is marked as +.>Origin of coordinates->Is unmanned aerial vehicle particle->The axis points to the target, +.>Point to the vertical direction and add>The axis conforms to the right hand spiral rule; the rotational angular velocity of the sight line coordinate system relative to the inertial coordinate system is obtained as follows:
（1）
in the formula ,for the inclination of the line of sight>For the first derivative of the inclination of the line of sight, +.>Is the first derivative of the line of sight offset; />The three-axis unit vector is a vision coordinate system;
from equation (1), it can be known that the second order differential of the relative distance between the drone and the target is:
（2）
wherein r is the relative distance between the unmanned aerial vehicle and the target,is the first derivative of the rotational angular velocity of the line-of-sight coordinate system relative to the inertial coordinate system; />Radial component of the relative speed of the drone-target +.>A second derivative of the magnitude of the relative distance scalar for the drone-target; i r As a unit vector in the vector direction of the relative distance of the unmanned plane and the target, the relative distance of the unmanned plane and the target is always on the x axis of the line-of-sight coordinate system, and Ir is [ 10 ]] T ；/>For the second derivative of the inclination of the line of sight>Is the second derivative of the line of sight offset;
according to Newton mechanics theory, the second derivative of the relative distance between the unmanned plane and the target is equal to the difference between the acceleration of the unmanned plane and the acceleration of the target:
（3）
（4）
（5）
in the formula ,the component of the acceleration of the unmanned aerial vehicle on the x axis of a sight coordinate system;
the component of the acceleration of the unmanned aerial vehicle on the y axis of the sight coordinate system;
acceleration of unmanned aerial vehicle at line-of-sight coordinatesA component on the z-axis;
the component of the target acceleration on the x axis of the sight line coordinate system;
the component of the target acceleration on the y axis of the sight line coordinate system;
the component of the target acceleration in the z-axis of the sight coordinate system;
according to formula (3-5), the relative kinetic equation for the drone-target is obtained as follows:
（6）
（7）
（8）。
5. the method for controlling target hit of a rotor unmanned aerial vehicle based on a strapdown pilot head according to claim 4, wherein the construction of the relative kinematics equation of unmanned aerial vehicle-target specifically comprises the following steps:
establishing a channel fixed connection coordinate systemOrigin->At the unmanned centroid->The shaft is selected as the speed direction of the four-rotor unmanned aerial vehicle, the pointing direction is positive, and the direction of flight is +.>The axis is in a vertical plane containing the velocity vector and +.>The vertical direction is positive upwards,the shaft is determined according to the right hand rule; the relative kinematics equation of the unmanned plane-target is established as follows:
（12）
（13）
（14）
in the formula ,is the speed of the unmanned aerial vehicle; />Is the target speed; />Is the unmanned aerial vehicle speed dip angle; />Is the target speed dip angle; />Is the speed deflection angle of the unmanned aerial vehicle.
6. The method for controlling target hitting of a rotor unmanned aerial vehicle based on a strapdown leader according to claim 5, wherein the analyzing the guidance target is based on the state of the control required based on the relative dynamics equation and the relative kinematics equation，/>The state equation of guidance control is constructed, specifically:
based on the formulas (7) and (8), the state variables are setThe method comprises the steps of carrying out a first treatment on the surface of the Control amount->The method comprises the steps of carrying out a first treatment on the surface of the Dependent on the target motor acceleration as a kind of norms with external disturbance, ++>；
Then:
wherein ：
in the formula ,x1 Is inclined to the line of sight, x 2 For the angular velocity of the inclination of the line of sight, x 4 Is a line of sightAngular velocity of deflection;
in an actual scenario, the target acceleration cannot reach an infinite, and therefore the following condition is satisfied:
wherein ,，/>is an unknown constant representing the upper bound of the target acceleration, let +.>；
From the relative kinematics equations of the drone-target, the conditions that satisfy the viewing angle constraints can be expressed as a set of parameters about the state variables、/>Is not symmetric:
（25）
（26）
in the formula ,、/>、/>、/>are all design variables;
in the formula ,kmax X is the maximum allowable viewing angle 3 Is a visual line prejudice;
according toGet->I.e.The method comprises the steps of carrying out a first treatment on the surface of the Thus there is a constant +.>As long as->， />State quantity->，/>The asymmetric constraint of equation (25) and equation (26) is satisfied, i.e., the strapdown seeker field angle constraint is satisfied.
7. The method for controlling target hitting of a rotor unmanned aerial vehicle based on a strapdown pilot head according to claim 6, wherein when a moving target is hit, a radar or visible light, infrared light and a laser detector are adopted to collect relative motion parameters of the unmanned aerial vehicle and the target; when the ground fixed target is attacked, the accelerometer and the gyroscope are adopted to collect the relative motion parameters of the unmanned plane and the target.
8. Rotor unmanned aerial vehicle target strike control system based on strapdown seeker, its characterized in that includes:
the parameter acquisition module is used for acquiring relative motion parameters of the unmanned aerial vehicle and the target;
the first equation construction module is used for constructing a relative dynamics equation of the unmanned aerial vehicle-target and a relative kinematics equation of the unmanned aerial vehicle-target;
the second equation construction module is used for analyzing the guidance target, constructing a state equation of guidance control according to state variables to be controlled based on the relative dynamics equation and the relative kinematics equation;
the guidance instruction generation module is used for analyzing the view angle of the strapdown seeker to obtain an asymmetric constraint condition of a state variable capable of replacing the view angle constraint, and inputting relative motion parameters into a state equation of guidance control by considering the asymmetric constraint condition of the state variable to output a guidance instruction;
and the guidance module is used for controlling the servo mechanism to drive the control surface of the unmanned aerial vehicle to deflect or adjust the thrust direction of the engine according to the guidance instruction, so that the unmanned aerial vehicle flies according to the requirement of the guidance instruction.
9. A computer device comprising a memory, a processor and a computer program stored on the memory, characterized in that the processor executes the computer program to carry out the steps of the method according to any one of claims 1 to 7.
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