CN117873136A - Control method for cooperative flight and collision prevention of preset performance of high-speed aircraft - Google Patents
Control method for cooperative flight and collision prevention of preset performance of high-speed aircraft Download PDFInfo
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Abstract
The invention discloses a control method for cooperative flight and collision avoidance of preset performance of a high-speed aircraft, and relates to the field of cooperative flight control of high-speed aircraft. According to the dynamic model of the high-speed aircraft and the integral distributed position tracking error, the distributed formation retainer is designed based on the fixed time control theory, and the distributed formation retainer is utilized to carry out cooperative flight control in the formation retaining stage of cooperative flight of the high-speed aircraft, the adopted distributed communication strategy reduces communication pressure, and the fixed time control improves convergence precision and speed of the position tracking error of each high-speed aircraft, so that the efficiency and the striking efficiency of cooperative flight can be improved; further, in the formation transformation stage, a collision avoidance controller for controlling transformation tracks and preset performances is designed, so that transient performance and steady state performance of formation position tracking errors are accurately limited, collision and overshoot are avoided, and safety of formation transformation process is guaranteed.
Description
Technical Field
The invention relates to the technical field of cooperative flight control of high-speed aircrafts, in particular to a control method for cooperative flight and collision avoidance of preset performance of a high-speed aircraft.
Background
The multi-high-speed aircraft can search the targets simultaneously through cooperative flight, so that the target capturing probability can be effectively increased, and the possibility of misjudging false targets can be reduced. Therefore, the formation controller with high convergence accuracy and speed can improve efficiency and striking efficiency of the cooperative flight. In the execution process of the cooperative tasks of the high-speed aircrafts, a large number of high-speed aircrafts fly in the same airspace, so that the collision probability is obviously increased, in the flight process, formation reconstruction and adjustment are often needed, the collision prevention control among the high-speed aircrafts can ensure the safety, and the cooperative intelligent horizontal lifting of the high-speed aircrafts is of great significance.
Disclosure of Invention
The invention aims to provide a control method for cooperative flight and collision avoidance of preset performance of a high-speed aircraft, so as to improve cooperative flight efficiency and striking efficiency and ensure the safety of formation transformation process.
In order to achieve the above object, the present invention provides the following.
The invention provides a control method for collision avoidance of cooperative flight and preset performance of a high-speed aircraft, which comprises the following steps:
establishing a pilot-following method high-speed aircraft collaborative flight model comprising a pilot aircraft and a plurality of following aircraft;
introducing a pilot trajectory coordinate system based on a pilot-following method high-speed aircraft collaborative flight model, and obtaining expected positions of each following aircraft under an inertial coordinate system through coordinate transformation;
establishing a dynamic model of the high-speed aircraft;
defining a position tracking error of each following aircraft based on a dynamic model of the high-speed aircraft and an expected position of each following aircraft under an inertial coordinate system;
defining an overall distributed position tracking error according to the position tracking error of each following aircraft;
designing a distributed formation retainer based on a fixed time control theory according to a dynamic model of the high-speed aircraft and an integral distributed position tracking error;
in a formation holding stage of the cooperative flight of the high-speed aircraft, utilizing a distributed formation holder to perform cooperative flight control until entering a formation transformation stage;
in a formation transformation stage of the cooperative flight of the high-speed aircraft, a secondary Bezier curve is adopted to carry out transformation track design of each following aircraft, and a collision avoidance controller of the high-speed aircraft is designed based on a preset performance control theory;
and controlling the flight track of each following aircraft by utilizing the collision avoidance controller.
Optionally, the establishing a pilot-following method high-speed aircraft collaborative flight model including a pilot aircraft and a plurality of following aircraft specifically includes:
taking one high-speed aircraft of the plurality of high-speed aircraft as a leading aircraft, performing track planning of collaborative flight, taking the rest high-speed aircraft except the leading aircraft as following aircraft, and establishing a leading-following method high-speed aircraft collaborative flight model; the plurality of following aircrafts track the leading aircrafts according to the state information of the leading aircrafts and the preset expected relative position relation; the status information includes position, ballistic tilt angle, and ballistic deflection angle.
Optionally, the high-speed aircraft collaborative flight model based on the leader-follower method introduces a leader trajectory coordinate system, and obtains the expected position of each follower aircraft under an inertial coordinate system through coordinate transformation, which specifically comprises the following steps:
introduction of a lead ballistic coordinate systemThe method comprises the steps of carrying out a first treatment on the surface of the Wherein the origin of the coordinate system>Located at the center of mass of the leading aircraft,the axis pointing in the direction of speed>The axis is vertically upwards +.>Shaft and->、/>The axes form a right hand coordinate system;
acquisition following aircraftDesired relative position in the leadership coordinate system +.>；/>Representing a transpose;
through a coordinate transformation formulaObtaining the following aircrafts->Desired position in inertial coordinate system +.>The method comprises the steps of carrying out a first treatment on the surface of the Wherein->The position of the pilot aircraft under an inertial coordinate system; first conversion matrix->A second conversion matrixThe method comprises the steps of carrying out a first treatment on the surface of the Wherein->The method is characterized in that the method is used for leading the trajectory deflection angle of the aircraft under an inertial coordinate system;to pilot the ballistic dip angle of the aircraft.
Optionally, the establishing a dynamics model of the high-speed aircraft specifically includes:
establishing high-speed aircraft under inertial coordinate systemDynamics model->The method comprises the steps of carrying out a first treatment on the surface of the Wherein,for high-speed aircraft->Actual position under inertial coordinate system; />Representation ofA corresponding first derivative; />For high-speed aircraft->Is a speed of (2); />For high-speed aircraft->Is a ballistic dip angle;for high-speed aircraft->Trajectory deflection angle of (2).
Optionally, the defining the position tracking error of each following aircraft based on the dynamics model of the high-speed aircraft and the expected position of each following aircraft under the inertial coordinate system specifically includes:
defining each following aircraft based on a dynamics model of the high-speed aircraft and an expected position of each following aircraft under an inertial coordinate systemIs that the position tracking error of (a)。
Optionally, the defining the overall distributed position tracking error according to the position tracking error of each following aircraft specifically includes:
high-speed aircraftWhen the communication between the two adopts a distributed architecture, the adjacent high-speed aircrafts are introduced>Status information of (2) high-speed aircraft +.>Is defined as +.>The method comprises the steps of carrying out a first treatment on the surface of the Wherein->And->Respectively->And->At->A value of time of day; />Representing adjacent high speed aircraft->Is a collection of (3); />Representing +.>To->Weight coefficient of (2); />For high-speed aircraft->The situation that the node obtains the state information of the leading aircraft;
defining an overall distributed position tracking error asThe method comprises the steps of carrying out a first treatment on the surface of the Wherein->Is->Global position tracking errors of individual following aircraft; />Is a direct product; />Is thatA rank identity matrix; />，/>；/>，/>Representing a diagonal matrix;representation->Dimensional space.
Optionally, the design of the distributed formation holder based on the fixed time control theory according to the dynamics model of the high-speed aircraft and the overall distributed position tracking error specifically comprises the following steps:
distributed position tracking error based on wholeDefining nonsingular terminal sliding mode surface by adopting fixed time control theory>The method comprises the steps of carrying out a first treatment on the surface of the Wherein->Is->Shorthand for->Is->Is the first derivative of (a);are all design parameters; />Is a sign function;
will approach lawSupercoiled algorithm designed as improvement>The method comprises the steps of carrying out a first treatment on the surface of the Wherein the method comprises the steps ofIs an intermediate variable; />All are algorithm design parameters;
the distributed formation holding controller is designed based on a dynamics model of the high-speed aircraft and an improved supercoiled algorithm.
Optionally, the designing the transformation track of each following aircraft by adopting a quadratic bezier curve and designing the collision avoidance controller of the high-speed aircraft based on a preset performance control theory specifically includes:
when the formation is transformed, designing a change curve of the expected relative position of each following aircraft in a leader trajectory coordinate system as a secondary Bezier curve;
design and set time performance function based on polynomial fitting scheme；
Tracking error of each following aircraft positionThe components under the inertial coordinate system adopt a set time performance functionConstraint is carried out, and a constraint function of tracking errors is obtained;
performing error conversion on each component of the tracking error of the following aircraft position according to the constraint function of the tracking error to obtain conversion errors；
Based on conversion errorsDesign slip form face->The method comprises the steps of carrying out a first treatment on the surface of the Wherein->Is->Is the first derivative of (a); />Is a normal number diagonal matrix;
based on slip form surfaceAnd designing a collision avoidance controller of the high-speed aircraft.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
according to the control method for the cooperative flight and the preset performance collision avoidance of the high-speed aircraft, the distributed formation retainer is designed based on the fixed time control theory according to the dynamics model and the integral distributed position tracking error of the high-speed aircraft, and the cooperative flight control is carried out by utilizing the distributed formation retainer in the formation retaining stage of the cooperative flight of the high-speed aircraft, so that the communication pressure is reduced by adopting the distributed communication strategy, the convergence precision and the speed of the position tracking error of each high-speed aircraft are improved by the fixed time control, and the efficiency and the striking efficiency of the cooperative flight can be improved; further, in the formation transformation stage, a collision avoidance controller for controlling transformation tracks and preset performances is designed, so that transient performance and steady state performance of formation position tracking errors are accurately limited, collision and overshoot are avoided, and safety of formation transformation process is guaranteed.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method for controlling the co-flight and collision avoidance of preset performance of a high-speed aircraft according to the present invention;
FIG. 2 is a schematic view of a collaborative flight model of a high-speed aircraft using a leader-follower approach according to the present invention;
FIG. 3 is a communication topology of a high speed aircraft provided by an embodiment of the present invention;
FIG. 4 is a schematic diagram of a flight trajectory of each high-speed aircraft in a collaborative flight process according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a high speed aircraft formation transformation provided by an embodiment of the present invention;
FIG. 6 is a schematic diagram of Bessel trajectories during formation transformation according to an embodiment of the present invention;
FIG. 7 is a schematic illustration of actual speed variation of each high speed aircraft provided by an embodiment of the present invention;
fig. 8 is a schematic diagram of a distributed position tracking error variation curve of the following aircraft 1 according to an embodiment of the present invention;
fig. 9 is a schematic diagram of a distributed position tracking error variation curve of the following aircraft 2 according to an embodiment of the present invention;
FIG. 10 is a schematic diagram of a speed control command for each following aircraft according to an embodiment of the present invention;
FIG. 11 is a schematic diagram of ballistic tilt control commands for each following aircraft according to an embodiment of the present invention;
FIG. 12 is a schematic diagram of ballistic deflection control commands for each following aircraft according to an embodiment of the present invention;
fig. 13 is a schematic diagram of a position tracking error of the following aircraft 1 during collision avoidance control according to an embodiment of the present invention;
fig. 14 is a schematic diagram of a tracking error of a following aircraft 2 during collision avoidance control according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention provides a control method for cooperative flight and collision avoidance of preset performance of a high-speed aircraft, which is used for improving cooperative flight efficiency and striking efficiency and guaranteeing the safety of formation transformation process.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
Fig. 1 is a flowchart of a control method for cooperative flight and preset performance collision avoidance of a high-speed aircraft according to the present invention, referring to fig. 1, the control method for cooperative flight and preset performance collision avoidance of a high-speed aircraft according to the present invention includes:
step 1: and establishing a pilot-following method high-speed aircraft collaborative flight model comprising a pilot aircraft and a plurality of following aircraft.
FIG. 2 is a schematic diagram of a pilot-follower method high-speed aircraft collaborative flight model according to the present invention. As shown in fig. 2, one high-speed aircraft of the plurality of high-speed aircraft is regarded as a leader, namely, the leader aircraft is used for planning the track of the collaborative flight, the rest high-speed aircraft except the leader aircraft is regarded as a follower, namely, the follower aircraft is used for establishing a leader-follower method high-speed aircraft collaborative flight model. The plurality of following aircrafts track the leading aircrafts according to the state information of the leading aircrafts and the preset expected relative position relation; the status information includes position, ballistic tilt angle, and ballistic deflection angle.
Step 2: and introducing a pilot trajectory coordinate system based on a pilot-following method high-speed aircraft collaborative flight model, and obtaining the expected position of each following aircraft under an inertial coordinate system through coordinate transformation.
Referring to FIG. 2, a lead trajectory coordinate system is introducedThe method comprises the steps of carrying out a first treatment on the surface of the Wherein the origin of the coordinate system>Located at the centre of mass of the leading aircraft, +.>The axis pointing in the direction of speed>The axis is vertically upwards +.>Shaft and->、/>The axes form the right hand coordinate system. Following aircraft in->The relative position coordinates in the coordinate system are the expected distance from the leading aircraft, and the formation is formed.
Knowing the position of the leading aircraft in the inertial coordinate system and the desired formation pitch, the following aircraft is obtained by means of the coordinate transformation formula (1)The desired positions in the inertial coordinate system are:
（1）
wherein the method comprises the steps ofFor each following aircraft->A desired position in an inertial coordinate system;；/>to follow the number of aircraft. Sign of the upper right corner of the parameter or matrix +.>All represent transposes.The position of the pilot aircraft under an inertial coordinate system; />For following aircraft->At the desired relative position of the lead ballistic coordinate system. />In (I)>Respectively the desired relative position in the leader ballistic coordinate system +.>Components in the axial direction, other expressions in the present invention being the same, e.gMiddle->Also representing the components of the pilot aircraft position in the x, y, z directions of the inertial coordinate system, respectively.
Wherein the first transformation matrix:
（2）
a second conversion matrix:
（3）
wherein the method comprises the steps ofThe method is characterized in that the method is used for leading the trajectory deflection angle of the aircraft under an inertial coordinate system; />To pilot the ballistic dip angle of the aircraft.
Step 3: and establishing a dynamic model of the high-speed aircraft.
In the invention, the leading aircraft and the following aircraft belong to high-speed aircraft, and the leading aircraft and the following aircraft are not distinguished, so that the high-speed aircraft is under an inertial coordinate systemThe kinetic model of (2) is:
（4）
wherein,for high-speed aircraft->In the inertial coordinate system, then +.>Respectively express high-speed aircrafts->The components of the actual position in the x, y, z directions of the inertial coordinate system. />Respectively representIs the first derivative of (a); similarly, in the present invention, "above parameters" each represent a first derivative of the parameter, and "above parameters" each represent a second derivative of the parameter. />For high-speed aircraft->Is a speed of (2); />For high-speed aircraft->Is a ballistic dip angle; />For high-speed aircraft->Trajectory deflection angle of (2).
Assuming that the control system of the high speed aircraft itself is closed loop stable, the required speed, ballistic deflection and ballistic tilt can be tracked, a stable loop control system for the high speed aircraft is established as follows:
（5）
wherein,for high-speed aircraft->Is>For high-speed aircraft->Is provided with a desired inclination angle of the trajectory,for high-speed aircraft->Is a desired ballistic deflection angle. />、/>、/>Controlling the inertia of the channel for speed, inclination and deflection of the trajectoryA constant of m.
Step 4: the position tracking error of each following aircraft is defined based on the dynamic model of the high-speed aircraft and the expected position of each following aircraft in the inertial coordinate system.
Dynamics model (4) based on high-speed aircraft and each following aircraftDesired position in inertial coordinate systemDefine each following aircraft +.>The position tracking error of (2) is:
（6）
wherein,and->Respectively following aircraft->Actual position and expected position under inertial coordinate system; />The position of the pilot aircraft under an inertial coordinate system; />For guiding the trajectory deflection angle of the aircraft in the inertial coordinate system, +.>A ballistic dip angle for a leading aircraft; />Is heel of a footAircraft following->A desired relative position in the lead ballistic coordinate system.
Then for the followingAnd defining the overall position tracking error as:
（7）
step 5: an overall distributed position tracking error is defined from the position tracking errors of each following aircraft.
High-speed aircraftWhen the communication between the two adopts a distributed architecture, the adjacent high-speed aircrafts are introduced>Status information of (2) high-speed aircraft +.>Is defined as:
（8）
wherein the method comprises the steps ofAnd->Respectively->And->At->A value of the time of day. />Representing adjacent high speed aircraft->Is a set of (3). />Representing +.>To->Weight coefficient of>And->。/>For high-speed aircraft->The situation that the node obtains the state information of the leading aircraft; />Representing a high-speed aircraft->Status information of the leading aircraft can be obtained, otherwise +.>。
And further define the overall distributed position tracking error as:
（9）
wherein the method comprises the steps ofThe transposed vectors of the tracking errors of the high-speed aircrafts are respectively obtained. />Is thatThe overall position tracking error of the individual following aircraft. />Is a direct product. />Is->A rank identity matrix. />，。/>，/>Representing a diagonal matrix. />Representation->Dimensional space.
Step 6: the distributed formation holder is designed based on a fixed time control theory based on a dynamic model of the high speed aircraft and an overall distributed position tracking error.
Distributed position tracking error based on wholeBy fixingThe theory of inter-control defines the following nonsingular terminal sliding mode surface:
（10）
wherein the method comprises the steps ofIs->Shorthand for->Is->Is a first derivative of (a). />Are all design parameters, and。/>as a sign function +.>。
Will approach lawThe supercoiled algorithm is designed as follows:
（11）
wherein the method comprises the steps ofIs an intermediate variable. />The algorithm design parameters are as follows:
（12）
based on the dynamics model (4) of the high-speed aircraft and the improved supercoiled algorithm (11), a distributed formation holding controller can be designed as follows:
（13）
wherein,
（14）
（15）
、/>、/>high-speed aircraft respectively->Velocity, ballistic tilt angle, and ballistic deflection angle control the inertial time constant of the channel. />For high-speed aircraft->Control commands for velocity, trajectory tilt and trajectory deflection.
Step 7: in the formation holding stage of the cooperative flight of the high-speed aircraft, the cooperative flight control is performed by using the distributed formation holder until the formation changing stage is entered.
In the formation maintaining stage of the cooperative flight of the high-speed aircrafts, a distributed formation maintaining controller (13) is adopted to carry out the cooperative flight control of a plurality of high-speed aircrafts until a formation changing command is received, and the formation changing stage of the cooperative flight of the high-speed aircrafts is entered.
Step 8: in the formation transformation stage of the cooperative flight of the high-speed aircraft, a secondary Bezier curve is adopted to carry out transformation track design of each following aircraft, and a collision avoidance controller of the high-speed aircraft is designed based on a preset performance control theory.
When the formation is transformed, designing a change curve of expected relative positions of each following aircraft in a leader trajectory coordinate system as a quadratic Bezier curve:
（16）
in the method, in the process of the invention,the moment of changing for the formation; />I.e. the desired relative position between each following aircraft and the leading aircraft designed in the formation transformation phase; />In the leader trajectory coordinate system, each high-speed aircraft +.>The position at the beginning, middle and end of the formation change. The aerodynamic knowledge shows that the flying of the forefront high-speed aircraft (leading aircraft) in cooperative flying is hardly labor-saving, so that after a period of flying, the leading aircraft is automatically adjusted to a labor-saving middle position, and the efficiency of the whole formation flying is improved.
Design and set time performance function based on polynomial fitting schemeThe following are provided:
（17）
wherein,
（18）
（19）
（20）
wherein,positive, representing an initial margin of error; />Representing the initial change direction of the performance function; />Representing a steady state convergence value; />Representation->The set time to converge to the steady state value. Performance function->Can be at the set time->Exactly equal to the desired steady state convergence value +.>And->The derivative thereof is continuously smooth at the set time.
By usingRepresenting the following aircraft +.>Position tracking error>The component under the inertial coordinate system, i.e. +.>Respectively indicate->Components in x, y, z directions of the inertial coordinate system. In the same way, the processing method comprises the steps of,representing following aircraft +.>Three performance functions respectively designed in x, y and z directions, i.e、/>And->。/>Then it is indicated respectively as following aircraft +.>Three performance functions designed in x, y and z directions respectively>、/>、/>Boundary value +.>、/>、/>And->、/>、/>。
Tracking error of each following aircraft positionComponent in inertial coordinate System +.>By setting the time performance function->Constraint is carried out, and a constraint function for obtaining tracking errors is as follows:
（21）
the components of the tracking error following the position of the aircraft are determined by a constraint function (21) of the tracking errorThe following error conversion is performed:
（22）
wherein,
（23）/>
obtaining conversion errorsThe components of (a) are as follows:
（24）
wherein the method comprises the steps ofRepresenting following aircraft +.>Intermediate variables in the x, y, z directions, i.e. +.>、/>、/>。/>Representing following aircraft +.>Conversion error component in x, y, z direction +.>Is a set of (3). />Representation function->Is an inverse function of (c).
Based on conversion errorsThe design sliding die surface is as follows:
（25）
wherein the method comprises the steps ofIs->Is the first derivative of (a); />Is a normal number diagonal matrix.
Based on slip form surfaceThe collision avoidance controller of the high-speed aircraft can be designed as follows:
（26）
wherein,
（27）
，/>，is->Is a matrix of inverse of (a).
The index approach law adopted in the collision avoidance controller (26) is as follows:
（28）
wherein,，/>is a positive constant.
Step 9: and controlling the flight track of each following aircraft by utilizing the collision avoidance controller.
In the formation change stage of the cooperative flight of the high-speed aircrafts, a collision avoidance controller (26) is adopted to control each high-speed aircraftCan avoid collision and overshoot, and ensures the safety of the formation transformation process.
According to the control method for the cooperative flight of the high-speed aircraft and the collision avoidance of the preset performance, which is provided by the invention, a pilot trajectory coordinate system is introduced based on a pilot-following method high-speed aircraft cooperative flight model, the expected relative positions of each following aircraft and the pilot aircraft are designed, and the expected positions of each following aircraft under an inertial coordinate system are obtained through coordinate transformation; defining a position tracking error of each following aircraft based on a dynamic model of the high-speed aircraft and the expected position of each following aircraft; in a formation holding stage of the cooperative flight of the high-speed aircraft, defining a terminal sliding mode surface and an improved supercoiled algorithm based on a fixed time control theory, and designing a distributed formation holding controller of the high-speed aircraft; in the formation transformation stage of the cooperative flight of the high-speed aircraft, a secondary Bezier curve is adopted to carry out transformation track design of each following aircraft, and a collision avoidance controller of the high-speed aircraft is designed based on a preset performance control theory. In the invention, the distributed communication strategy in the formation holding stage reduces communication pressure, and the fixed time control improves convergence accuracy and speed of the position tracking error of each high-speed aircraft, thereby improving cooperative flight efficiency and striking efficiency; the transient performance and the steady performance of the formation position tracking error are accurately limited by designing the transformation track and the preset performance control in the formation transformation stage, so that collision and overshoot among a plurality of high-speed aircrafts are effectively avoided, and the safety of the formation transformation process is ensured.
The specific implementation process of the control method for the cooperative flight and the collision prevention of the preset performance of the high-speed aircraft is described by Matlab simulation. The relevant parameters of the high-speed aircraft collaborative flight and preset performance collision avoidance simulation experiment are as follows.
The communication architecture between three high speed aircraft is distributed, the communication topology of which is shown in fig. 3, where 0 represents the leading aircraft and 1 and 2 represent the two following aircraft. The following aircraft 1 can directly communicate information with the leading aircraft 0, and the following aircraft 2 can realize position tracking by only exchanging information with the adjacent following aircraft 1.
Initial speeds of three high-speed aircraftThe initial position in inertial coordinate system is +.>The initial positions of the two following aircrafts are respectively、/>. The pilot aircraft always flies along a straight line. The parameters of the first-order inertia link of the high-speed aircraft control system are all taken as follows: />。
The distributed formation holding controller parameters of the formation holding stage are:
high-speed aircraft 1:，/>，/>，，/>，/>，/>，/>，/>。
high-speed aircraft 2:，/>，/>，，/>，/>，/>，/>，/>。
the parameters of the collision avoidance controller in the formation transformation stage are as follows:
high-speed aircraft 1:，/>，/>，，/>,/>，/>，/>。
high-speed aircraft 2:，/>，/>，，/>，/>，/>，/>。
in the cooperative flight process, the flight track of each high-speed aircraft is shown in fig. 4, the formation is a formation holding stage before 45s, and a formation transforming stage after 45s, and in fig. 4, x, y and z respectively represent three axes of an inertial coordinate system. The schematic diagram of the formation transformation is shown in fig. 5, the bezier trajectory during the formation transformation is shown in fig. 6, and x and z in fig. 5 and 6 represent the x-axis and z-axis of the inertial coordinate system, respectively. The actual speed change of each high-speed aircraft is shown in fig. 7, with the abscissa representing time t and the ordinate representing speed V of each high-speed aircraft. FIGS. 8 and 9 are graphs of the distributed position tracking error of two following aircraft, whereinFor following a distributed position tracking error of the aircraft 1 +.>To follow the distributed position tracking error of the aircraft 2. The control commands of two following aircrafts are shown in fig. 10 to 12, which are the speed input, trajectory dip angle input and trajectory deflection angle input commands, respectively +.>. FIGS. 13 and 14 are 45s later, the components of the position tracking error of each following aircraft in the x, y, z axes +.>The dashed lines in fig. 13 and 14 represent the position tracking error boundaries set by the predetermined performance control, and the solid line between the two dashed line boundaries is the position tracking error of the high-speed aircraft. As can be seen from fig. 13 and 14, the position tracking error in three directions of each high-speed aircraft is within 0.25m,the predetermined performance control of the method of the present invention is shown to further control tracking errors within a certain range during formation changes, reducing the possibility of collisions.
The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to assist in understanding the methods of the present invention and the core ideas thereof; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.
Claims (8)
1. The control method for the collision avoidance of the cooperative flight and the preset performance of the high-speed aircraft is characterized by comprising the following steps:
establishing a pilot-following method high-speed aircraft collaborative flight model comprising a pilot aircraft and a plurality of following aircraft;
introducing a pilot trajectory coordinate system based on a pilot-following method high-speed aircraft collaborative flight model, and obtaining expected positions of each following aircraft under an inertial coordinate system through coordinate transformation;
establishing a dynamic model of the high-speed aircraft;
defining a position tracking error of each following aircraft based on a dynamic model of the high-speed aircraft and an expected position of each following aircraft under an inertial coordinate system;
defining an overall distributed position tracking error according to the position tracking error of each following aircraft;
designing a distributed formation retainer based on a fixed time control theory according to a dynamic model of the high-speed aircraft and an integral distributed position tracking error;
in a formation holding stage of the cooperative flight of the high-speed aircraft, utilizing a distributed formation holder to perform cooperative flight control until entering a formation transformation stage;
in a formation transformation stage of the cooperative flight of the high-speed aircraft, a secondary Bezier curve is adopted to carry out transformation track design of each following aircraft, and a collision avoidance controller of the high-speed aircraft is designed based on a preset performance control theory;
and controlling the flight track of each following aircraft by utilizing the collision avoidance controller.
2. The method for controlling co-flight and collision avoidance of preset performance of a high-speed aircraft according to claim 1, wherein the establishing a pilot-following method high-speed aircraft co-flight model comprising a pilot aircraft and a plurality of following aircraft specifically comprises:
taking one high-speed aircraft of the plurality of high-speed aircraft as a leading aircraft, performing track planning of collaborative flight, taking the rest high-speed aircraft except the leading aircraft as following aircraft, and establishing a leading-following method high-speed aircraft collaborative flight model; the plurality of following aircrafts track the leading aircrafts according to the state information of the leading aircrafts and the preset expected relative position relation; the status information includes position, ballistic tilt angle, and ballistic deflection angle.
3. The control method for the cooperative flight and the preset performance collision avoidance of the high-speed aircraft according to claim 2, wherein the high-speed aircraft cooperative flight model based on the leader-follower method is characterized by introducing a leader trajectory coordinate system, and obtaining the expected position of each follower aircraft under an inertial coordinate system through coordinate transformation, and specifically comprises the following steps:
introduction of a lead ballistic coordinate systemThe method comprises the steps of carrying out a first treatment on the surface of the Wherein the origin of the coordinate system>Located at the centre of mass of the leading aircraft, +.>The axis pointing in the direction of speed>The axis is vertically upwards +.>Shaft and->、/>The axes form a right hand coordinate system;
acquisition following aircraftDesired relative position in the leadership coordinate system +.>；/>Representing a transpose;
through a coordinate transformation formulaObtaining the following aircrafts->Desired position in inertial coordinate system +.>The method comprises the steps of carrying out a first treatment on the surface of the Wherein->The position of the pilot aircraft under an inertial coordinate system; first conversion matrix->A second conversion matrixThe method comprises the steps of carrying out a first treatment on the surface of the Wherein->The method is characterized in that the method is used for leading the trajectory deflection angle of the aircraft under an inertial coordinate system;to pilot the ballistic dip angle of the aircraft.
4. The method for controlling co-flight and collision avoidance of preset performance of a high-speed aircraft according to claim 3, wherein the establishing a dynamics model of the high-speed aircraft specifically comprises:
establishing high-speed aircraft under inertial coordinate systemDynamics model->The method comprises the steps of carrying out a first treatment on the surface of the Wherein,for high-speed aircraft->Actual position under inertial coordinate system; />Representation ofA corresponding first derivative; />For high-speed aircraft->Is a speed of (2); />For high-speed aircraft->Is a ballistic dip angle;for high-speed aircraft->Trajectory deflection angle of (2).
5. The method for controlling co-flight and collision avoidance with preset performance of a high-speed aircraft according to claim 4, wherein the defining the position tracking error of each following aircraft based on the dynamics model of the high-speed aircraft and the expected position of each following aircraft in the inertial coordinate system specifically comprises:
defining each following aircraft based on a dynamics model of the high-speed aircraft and an expected position of each following aircraft under an inertial coordinate systemIs +.>。
6. The method for controlling co-flying and collision avoidance with preset performance of a high-speed aircraft according to claim 5, wherein the defining the overall distributed position tracking error according to the position tracking error of each following aircraft specifically comprises:
high-speed aircraftWhen the communication between the two adopts a distributed architecture, the adjacent high-speed aircrafts are introduced>Status information of (2) high-speed aircraft +.>Is defined as +.>The method comprises the steps of carrying out a first treatment on the surface of the Wherein->Andrespectively->And->At->A value of time of day; />Representing adjacent high speed aircraft->Is a collection of (3); />Representing +.>To->Weight coefficient of (2); />For high-speed aircraft->The situation that the node obtains the state information of the leading aircraft;
defining a global distributed systemThe position tracking error isThe method comprises the steps of carrying out a first treatment on the surface of the Wherein the method comprises the steps ofIs->Global position tracking errors of individual following aircraft; />Is a direct product; />Is->A rank identity matrix; />，/>；/>，/>Representing a diagonal matrix; />Representation->Dimensional space.
7. The method for controlling co-flight and collision avoidance with preset performance of a high-speed aircraft according to claim 6, wherein the designing the distributed formation holder based on the fixed time control theory according to the dynamics model of the high-speed aircraft and the overall distributed position tracking error specifically comprises:
distributed position tracking error based on wholeDefining nonsingular terminal sliding mode surface by adopting fixed time control theoryThe method comprises the steps of carrying out a first treatment on the surface of the Wherein->Is->Shorthand for->Is->Is the first derivative of (a);are all design parameters; />Is a sign function;
will approach lawSupercoiled algorithm designed as improvement>The method comprises the steps of carrying out a first treatment on the surface of the Wherein->Is an intermediate variable; />Are allAlgorithm design parameters;
the distributed formation holding controller is designed based on a dynamics model of the high-speed aircraft and an improved supercoiled algorithm.
8. The method for controlling co-flight and collision avoidance with preset performance of a high-speed aircraft according to claim 7, wherein the method for designing the transformation track of each following aircraft by adopting a quadratic bezier curve and designing a collision avoidance controller of the high-speed aircraft based on a preset performance control theory comprises the following steps:
when the formation is transformed, designing a change curve of the expected relative position of each following aircraft in a leader trajectory coordinate system as a secondary Bezier curve;
design and set time performance function based on polynomial fitting scheme；
Tracking error of each following aircraft positionThe component under the inertial coordinate system adopts the set time performance function +.>Constraint is carried out, and a constraint function of tracking errors is obtained;
performing error conversion on each component of the tracking error of the following aircraft position according to the constraint function of the tracking error to obtain conversion errors；
Based on conversion errorsDesign slip form face->The method comprises the steps of carrying out a first treatment on the surface of the Wherein->Is->Is the first derivative of (a); />Is a normal number diagonal matrix;
based on slip form surfaceAnd designing a collision avoidance controller of the high-speed aircraft.
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