CN108008736A - Aircraft cooperative control method, device, computer-readable recording medium and terminal - Google Patents

Abstract

Disclosed are an aircraft cooperative control method, device, computer-readable storage medium and terminal, belonging to the field of flight control technology. The method includes: obtaining the normal acceleration a _n,i of the aircraft taking off from different positions and participating in the flight mission at the same time, so that: the line-of-sight angle λ _i of each aircraft tends to the specified angle within the specified convergence time T _c , and each aircraft The line-of-sight angular rate λ _i tends to 0 until it is equal to 0 within the specified convergence time T _c ; obtain the tangential acceleration at _{,i of the aircraft that take off from different positions and participate in the flight mission at the same time,} so that: the collaborative error ξ of each aircraft _i tends to 0 until it is equal to 0 within the time T _s ; according to the normal acceleration a _n,i and the tangential acceleration a _t,i , control the aircraft that take off from different positions and participate in the flight mission at the same time, so that each aircraft simultaneously Landing to the same designated landing point. The device, medium and terminal are used to execute the method. It enables multiple aircraft to perform flight missions with pre-specified parameters, and the logic process is simpler.

Description

Aircraft cooperative control method, device, computer-readable storage medium and terminal

technical field

The present invention relates to the technical field of flight control, in particular to an aircraft cooperative control method, device, and computer-readable storage medium.

Background technique

The control of aircraft is usually based on the line of sight of equipment such as radar. In this case, the same control signal and/or control condition can usually only control a single aircraft. In the process of coordinated action of multiple aircraft, due to the relatively complicated control logic , the control conditions are diversified. Therefore, in the prior art, the process control for the coordinated action of multiple aircraft is relatively difficult to see, or the line of sight is relatively complicated.

Contents of the invention

In view of this, the present invention provides an aircraft cooperative control method, device, and computer-readable storage medium, which can enable multiple aircraft to perform flight tasks with pre-specified parameters, and the logic process is simpler, so it is more suitable for practical use .

In order to achieve the above-mentioned first object, the technical scheme of the aircraft cooperative control method provided by the present invention is as follows:

The aircraft cooperative control method provided by the present invention comprises the following steps:

Obtain the normal acceleration a _n,i of the aircraft taking off from different positions and participating in the flight mission at the same time, so that: the line-of-sight angle λ _i of the aircraft taking off from different positions and participating in the flight mission at the same time is within the specified convergence time T _c Tend to the specified angle, the line-of-sight angular rate of the aircraft taking off from different positions and participating in the flight mission at the same time Tend to 0 until equal to 0 within the specified convergence time _Tc ;

Obtain the tangential acceleration at, _{i of the aircraft taking off from different positions and participating in the flight mission at the same time,} so that: the collaborative error ξ _i of the aircraft taking off from different positions and participating in the flight mission at the same time tends to 0 within the time T _s until equal to 0;

According to the normal acceleration a _n,i and the tangential acceleration _at,i , each of the aircraft that takes off from different positions and participates in flight missions at the same time is controlled so that each of the aircraft that takes off from different positions and participates in flight missions at the same time The aircraft of the mission land at the same designated landing point at the same time;

in,

T _c is the pre-specified convergence time, for different aircraft, T _c takes different values;

In the formula, k _ξ and ρ _ξ are constants, among them, k _ξ >0, 0<ρ _ξ <1; λ ₂ is the Laplace matrix The smallest nonzero eigenvalue of , the Laplacian matrix is defined as when i=j l _ij =-a _ij when i≠j, where a _{i, j} is the adjacency matrix used to describe the communication topology between aircraft Yuan. in, Represents the collaborative variable of the i-th aircraft, r _i represents the relative distance between the i-th aircraft and the target, V _{M, i} is the speed of the i-th aircraft. Denotes the covariate of the jth vehicle.

The aircraft cooperative control method provided by the present invention can also be further realized by adopting the following technical measures.

As a preference,

When the flight time of each of the aircraft taking off from different positions and participating in the flight mission is less than the specified convergence time _Tc :

The line-of-sight angle λ _i of the aircraft taking off from different positions and participating in the flight mission at the same time tends to the specified landing angle

The line-of-sight angular velocity of the aircraft taking off from different positions and participating in the flight mission at the same time tends to 0 within the specified convergence time _Tc ;

When the flight time of each of the aircraft taking off from different positions and participating in the flight mission is greater than or equal to the specified convergence time _Tc :

The line-of-sight angle λ _i of each of the aircraft taking off from different positions and participating in the flight mission at the same time is equal to the specified landing angle

The line-of-sight angular velocity of the aircraft taking off from different positions and participating in the flight mission at the same time is equal to 0.

As preferably, the calculation formula of the normal acceleration a _{n, i} is:

In formula (1):

k ₀ >2, k _σ and ρ _σ are constants, among them, k _σ >0, 0<ρ _σ <1,

sgn( ) is a sign function, γ _{M, i} represent the heading angle of the i-th aircraft, V _{r, i} and V _{λ, i} are the relative velocity components horizontally and vertically to the line of sight, r _i represents the i-th aircraft the relative distance between the aircraft and the target;

In the expressions of g(xi _{, i} , t _i ) and σ _i , the first subscript of x _{i, i} indicates the i-th state quantity, i=1, 2; the second subscript indicates the i-th aircraft, i=1,...,n,

where t _go,i =T _c -t _i ;

As a preference,

When the flight time of each of the aircraft taking off from different positions and participating in the flight mission is less than time T _s :

The collaborative errors ξ _i of the aircraft that take off from different positions and participate in the flight mission at the same time tend to 0;

When the flight time of each of the aircraft taking off from different positions and participating in the flight mission is greater than or equal to time T _s :

The collaborative error _ξi of each of the aircraft taking off from different positions and participating in the flight mission at the same time is equal to 0.

As preferably, the calculation formula of the tangential acceleration _{at, i} is:

In formula (2):

sgn( ) is a symbolic function,

is the collaborative error, which represents the difference between the collaborative variable of the i-th aircraft and the collaborative variable of adjacent aircraft;

k _ξ and ρ _ξ are constants, where k _ξ >0, 0<ρ _ξ <1.

In order to achieve the above-mentioned second purpose, the technical scheme of the aircraft cooperative control device provided by the present invention is as follows:

The aircraft cooperative control device provided by the present invention includes:

The normal acceleration acquisition module is used to obtain the normal acceleration a _{n,i of the aircraft taking off from different positions and participating in the flight mission at the same time,} so that: the line-of-sight angle λ _i of each aircraft taking off from different positions and participating in the flight mission at the same time Tend to the specified angle within the specified convergence time _Tc , the line-of-sight angular velocity of each aircraft taking off from different positions and participating in the flight mission at the same time Tend to 0 until equal to 0 within the specified convergence time _Tc ;

The tangential acceleration acquisition module is used to obtain the tangential acceleration at, _{i of the aircraft taking off from different positions and participating in the flight mission at the same time,} so that: the collaborative error ξ _i of the aircraft taking off from different positions and participating in the flight mission at the same time Tend to 0 until equal to 0 in time T _s ;

A control module, for taking off from different positions according to the normal acceleration a _{n, i} obtained from the normal acceleration obtaining module and the tangential acceleration _{at, i} obtained from the tangential acceleration obtaining module 1. Control the aircraft that participate in the flight mission at the same time, so that the aircraft that take off from different positions and participate in the flight mission at the same time land to the same designated landing point at the same time;

in,

T _c is the pre-specified convergence time, for different aircraft, T _c takes different values;

In the formula, k _ξ and ρ _ξ are constants, among them, k _ξ >0, 0<ρ _ξ <1; λ ₂ is the Laplace matrix The smallest nonzero eigenvalue of , the Laplacian matrix is defined as when i=j l _ij =-a _ij when i≠j, where a _{i, j} is the adjacency matrix used to describe the communication topology between aircraft Yuan. in, Represents the collaborative variable of the i-th aircraft, r _i represents the relative distance between the i-th aircraft and the target, V _{M, i} is the speed of the i-th aircraft. Denotes the covariate of the jth vehicle.

The aircraft cooperative control device provided by the present invention can also be further realized by adopting the following technical measures.

As a preference,

The calculation formula executed by the normal acceleration acquisition module is:

In formula (1):

k ₀ >2, k _σ and ρ _σ are constants, among them, k _σ >0, 0<ρ _σ <1,

sgn( ) is a sign function, γ _{M, i} represent the heading angle of the i-th aircraft, V _{r, i} and V _{λ, i} are the relative velocity components horizontally and vertically to the line of sight, r _i represents the i-th aircraft the relative distance between the aircraft and the target;

In the expressions of g(xi _{, i} , t _i ) and σ _i , the first subscript of x _{i, i} indicates the i-th state quantity, i=1, 2; the second subscript indicates the i-th aircraft, i=1,...,n,

where t _go,i =T _c -t _i ;

As a preference,

The calculation formula executed by the tangential acceleration acquisition module is:

In formula (2):

sgn( ) is a symbolic function,

is the collaborative error, which represents the difference between the collaborative variable of the i-th aircraft and the collaborative variable of adjacent aircraft.

k _ξ and ρ _ξ are constants, where k _ξ >0, 0<ρ _ξ <1.

The aircraft cooperative control device provided by the present invention can also be further realized by adopting the following technical measures.

As a preference,

The calculation formula executed by the normal acceleration acquisition module is:

In formula (1):

k ₀ >2, k _σ and ρ _σ are constants, among them, k _σ >0, 0<ρ _σ <1,

sgn( ) is a symbolic function,

In g(xi _{, i} , t _i ), the first subscript of x _{i, i} represents the i-th state quantity, i=1, 2; the second subscript represents the i-th aircraft, i=1 ,...,n,

As a preference,

The calculation formula executed by the tangential acceleration acquisition module is:

In formula (2):

sgn( ) is a symbolic function,

is the collaborative error, which represents the difference between the collaborative variable of the i-th aircraft and the collaborative variable of adjacent aircraft;

κ _ξ and ρ _ξ are constants, where κ _ξ >0, 0<ρ _ξ <1.

In order to achieve the above-mentioned third purpose, the technical solution of the computer-readable storage medium provided by the present invention is as follows:

In the computer-readable storage medium provided by the present invention, an aircraft cooperative control program is stored on the computer-readable storage medium, and when the aircraft cooperative control program is executed by a processor, the steps of the aircraft cooperative control method provided by the present invention are seen.

In order to achieve the above fourth objective, the technical solution of the terminal provided by the present invention is as follows:

The terminal provided by the present invention includes a processor, a memory, and an aircraft cooperative control program that is stored on the memory and can run on the processor. When the aircraft cooperative control program is executed by the processor, it can see the The steps of the aircraft cooperative control method.

The aircraft cooperative control method, device, computer-readable storage medium, and terminal provided by the present invention can enable multiple aircraft to perform flight missions with pre-specified parameters, which first obtains the normal direction of each aircraft that takes off from different positions and participates in the flight mission at the same time Acceleration a _n,i , tangential acceleration a _t,i , then, according to each normal acceleration a _n,i , tangential acceleration _at,i , carry out a test for each aircraft that takes off from different positions and participates in the flight mission at the same time The control makes each of the aircraft taking off from different positions and simultaneously participating in the flight mission land to the same designated landing point at the same time, and the logic process is simpler.

Description of drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiment. The drawings are only for the purpose of illustrating a preferred embodiment and are not to be considered as limiting the invention. Also throughout the drawings, the same reference numerals are used to designate the same components. In the attached picture:

FIG. 1 is a flow chart of the steps of the aircraft cooperative control method provided by Embodiment 1 of the present invention;

2 is a schematic diagram of the signal flow relationship between modules in the aircraft cooperative control device provided by Embodiment 2 of the present invention;

Fig. 3 is a schematic diagram of n aircraft taking off from different positions and simultaneously participating in flight missions landing to the same designated landing point at the same time;

Fig. 4 is the schematic diagram of the geometric model of aircraft flight;

Fig. 5 is a schematic diagram of the communication topology when there are five aircraft;

Fig. 6a is a state quantity-time relationship curve diagram under the condition that the first aircraft utilizes the aircraft cooperative control method provided by Embodiment 1 of the present invention;

Fig. 6b is a tangential acceleration-time curve diagram under the condition that the first aircraft utilizes the aircraft cooperative control method provided by Embodiment 1 of the present invention;

Fig. 6c is a normal acceleration-time curve diagram under the condition that the first aircraft utilizes the aircraft cooperative control method provided by Embodiment 1 of the present invention;

Fig. 7a is a graph of relative distance-time relationship of 5 aircrafts under the condition of using the aircraft cooperative control method provided by Embodiment 1 of the present invention;

Fig. 7b is a curve diagram of cooperative error-time relationship of 5 aircrafts under the condition of using the aircraft cooperative control method provided by Embodiment 1 of the present invention;

Fig. 7c is a curve diagram of cooperative variable-time relationship of 5 aircrafts under the condition of using the aircraft cooperative control method provided by Embodiment 1 of the present invention;

Fig. 7d is a trajectory-time relationship graph of 5 aircrafts under the condition of using the aircraft cooperative control method provided in Embodiment 1 of the present invention.

Detailed ways

In order to solve the problems existing in the prior art, the present invention provides an aircraft cooperative control method, device, and computer-readable storage medium, which can enable multiple aircraft to perform flight tasks with pre-specified parameters, and the logic process is simpler, thereby more practical.

In order to further explain the technical means and effects of the present invention to achieve the intended purpose of the invention, the following, in conjunction with the accompanying drawings and preferred embodiments, will discuss the aircraft cooperative control method, device, computer-readable storage medium and terminal proposed according to the present invention. Its specific implementation, structure, feature and effect thereof are described in detail as follows. In the following description, different "one embodiment" or "embodiment" do not necessarily refer to the same embodiment. Furthermore, the features, structures, or characteristics of one or more embodiments may be combined in any suitable manner.

The term "and/or" in this article is just an association relationship describing associated objects, which means that there can be three relationships, for example, A and/or B. The specific understanding is: A and B can be included at the same time, and A and B can be included separately. A exists, B may exist alone, and any of the above three situations can be met.

Embodiment one

Referring to accompanying drawing 1, the aircraft cooperative control method provided by Embodiment 1 of the present invention includes the following steps:

Step S1: Obtain the normal acceleration a _n,i of the aircraft taking off from different positions and participating in the flight mission at the same time, so that: the line-of-sight angle λ _i of the aircraft taking off from different positions and participating in the flight mission at the specified convergence time T _c tends to the specified angle, the line-of-sight angular rate of the aircraft taking off from different positions and participating in the flight mission at the same time Tend to 0 until equal to 0 within the specified convergence time _Tc ;

Step S2: Obtain the tangential acceleration at, _{i of the aircraft taking off from different positions and participating in the flight mission at the same time,} so that: the collaborative error ξ _i of the aircraft taking off from different positions and participating in the flight mission at the same _time tends to 0 until equal to 0;

Step S3: According to the normal acceleration a _n,i and the tangential acceleration _at,i , control the aircraft that take off from different positions and participate in the flight mission at the same time, so that the aircraft that take off from different positions and participate in the flight mission at the same time Landing to the same designated landing point;

in,

T _c is the pre-specified convergence time, for different aircraft, T _c takes different values;

In the formula, k _ξ and ρ _ξ are constants, among them, k _ξ >0, 0<ρ _ξ <1; λ ₂ is the Laplace matrix The smallest nonzero eigenvalue of , the Laplacian matrix is defined as when i=j l _ij =-a _ij when i≠j, where a _{i, j} is the adjacency matrix used to describe the communication topology between aircraft Yuan. in, Represents the collaborative variable of the i-th aircraft, r _i represents the relative distance between the i-th aircraft and the target, V _{M, i} is the speed of the i-th aircraft. Denotes the covariate of the jth vehicle.

in,

When the flight time of the aircraft taking off from different positions and participating in the flight mission at the same time is less than the specified convergence time _Tc :

The line-of-sight angle λ _i of the aircraft taking off from different positions and participating in the flight mission at the same time tends to the specified landing angle

The line-of-sight angular velocity of the aircraft taking off from different positions and participating in the flight mission at the same time tends to 0 within the specified convergence time _Tc ;

When the flight time of the aircraft taking off from different positions and participating in the flight mission at the same time is greater than or equal to the specified convergence time _Tc :

The line-of-sight angle λ _i of the aircraft taking off from different positions and participating in the flight mission at the same time is equal to the specified landing angle

The line-of-sight angular velocity of the aircraft taking off from different positions and participating in the flight mission at the same time is equal to 0.

Among them, the calculation formula of normal acceleration a _n,i is:

In formula (1):

k ₀ >2, k _σ and ρ _σ are constants, among them, k _σ >0, 0<ρ _σ <1,

sgn( ) is a sign function, γ _{M, i} represent the heading angle of the i-th aircraft, V _{r, i} and V _{λ, i} are the relative velocity components horizontally and vertically to the line of sight, r _i represents the i-th aircraft the relative distance between the aircraft and the target;

In the expressions of g(xi _{, i} , t _i ) and σ _i , the first subscript of x _{i, i} indicates the i-th state quantity, i=1, 2; the second subscript indicates the i-th aircraft, i=1,...,n,

where t _go,i =T _c -t _i ;

in,

When the flight time of the aircraft taking off from different positions and participating in the flight mission at the same time is less than the time T _s :

The collaborative error ξ _i of the aircraft taking off from different positions and participating in the flight mission at the same time tends to 0;

When the flight time of the aircraft taking off from different positions and participating in the flight mission at the same time is greater than or equal to the time T _s :

The collaborative error _ξi of the aircraft that take off from different positions and participate in the flight mission at the same time is equal to 0.

Among them, the calculation formula of tangential acceleration _{at, i} is:

In formula (2):

sgn( ) is a symbolic function,

is the collaborative error, which represents the difference between the collaborative variable of the i-th aircraft and the collaborative variable of adjacent aircraft.

k _ξ and ρ _ξ are constants, where k _ξ >0, 0<ρ _ξ <1.

Embodiment two

Referring to accompanying drawing 2, the aircraft cooperative control device provided by Embodiment 2 of the present invention includes:

The normal acceleration acquisition module is used to obtain the normal acceleration a _n,i of the aircraft taking off from different positions and participating in the flight mission at the same time, so that: the line-of-sight angle λ _i of the aircraft taking off from different positions and participating in the flight mission at the same time is specified tends to the specified angle within the convergence time _Tc , the line-of-sight angular velocity of the aircraft that take off from different positions and participate in the flight mission at the same time Tend to 0 until equal to 0 within the specified convergence time _Tc ;

The tangential acceleration acquisition module is used to obtain the tangential acceleration _{at, i of the aircraft taking off from different positions and participating in the flight mission at the same time,} so that: the collaborative error ξ _i of the aircraft taking off from different positions and participating in the flight mission at the same time T _s tends to 0 until it is equal to 0;

The control module is used for, according to the normal acceleration a _{n, i} obtained from the normal acceleration obtaining module and the tangential acceleration _{at, i} obtained from the tangential acceleration obtaining module, for taking off from different positions and participating in the flight mission at the same time The aircraft is controlled so that the aircraft that take off from different positions and participate in the flight mission at the same time land at the same designated landing point at the same time;

in,

T _c is the pre-specified convergence time, for different aircraft, T _c takes different values;

In the formula, k _ξ and ρ _ξ are constants, among them, k _ξ >0, 0<ρ _ξ <1; λ ₂ is the Laplace matrix The smallest nonzero eigenvalue of , the Laplacian matrix is defined as when i=j l _ij =-a _ij when i≠j, where a _{i, j} is the adjacency matrix used to describe the communication topology between aircraft Yuan. in, Represents the collaborative variable of the i-th aircraft, r _i represents the relative distance between the i-th aircraft and the target, V _{M, i} is the speed of the i-th aircraft. Denotes the covariate of the jth vehicle.

in,

The calculation formula executed by the normal acceleration acquisition module is:

In formula (1):

k ₀ >2, k _σ and ρ _σ are constants, among them, k _σ >0, 0<ρ _σ <1,

sgn( ) is a sign function, γ _{M, i} represent the heading angle of the i-th aircraft, V _{r, i} and V _{λ, i} are the relative velocity components horizontally and vertically to the line of sight, r _i represents the i-th aircraft the relative distance between the aircraft and the target;

In the expressions of g(xi _{, i} , t _i ) and σ _i , the first subscript of x _{i, i} indicates the i-th state quantity, i=1, 2; the second subscript indicates the i-th aircraft, i=1,...,n,

where t _go,i =T _c -t _i ;

in,

The calculation formula executed by the tangential acceleration acquisition module is:

In formula (2):

sgn( ) is a symbolic function,

is the collaborative error, which represents the difference between the collaborative variable of the i-th aircraft and the collaborative variable of adjacent aircraft.

k _ξ and ρ _ξ are constants, where k _ξ >0, 0<ρ _ξ <1.

in,

The calculation formula executed by the normal acceleration acquisition module is:

In formula (1):

k ₀ >2, k _σ and ρ _σ are constants, among them, k _σ >0, 0<ρ _σ <1,

sgn( ) is a sign function, γ _{M, i} represent the heading angle of the i-th aircraft, V _{r, i} and V _{λ, i} are the relative velocity components horizontally and vertically to the line of sight, r _i represents the i-th aircraft the relative distance between the aircraft and the target;

In the expressions of g(xi _{, i} , t _i ) and σ _i , the first subscript of x _{i, i} indicates the i-th state quantity, i=1, 2; the second subscript indicates the i-th aircraft, i=1,...,n,

where t _go,i =T _c -t _i ;

in,

The calculation formula executed by the tangential acceleration acquisition module is:

In formula (2):

sgn( ) is a symbolic function,

is the collaborative error, which represents the difference between the collaborative variable of the i-th aircraft and the collaborative variable of adjacent aircraft.

k _ξ and ρ _ξ are constants, where k _ξ >0, 0<ρ _ξ <1.

Embodiment Three

The computer-readable storage medium provided by the third embodiment of the present invention stores the aircraft cooperative control program on the computer-readable storage medium. When the aircraft cooperative control program is executed by the processor, the steps of the aircraft cooperative control method provided by the first embodiment of the present invention are seen.

Embodiment Four

The terminal provided by the fourth embodiment of the present invention includes a processor, a memory, and an aircraft cooperative control program stored on the memory and capable of running on the processor. When the aircraft cooperative control program is executed by the processor, the aircraft cooperative control program provided by the first embodiment of the present invention The steps of the control method.

The aircraft cooperative control method provided in Embodiment 1 of the present invention, the aircraft system control device provided in Embodiment 2, the computer-readable storage medium provided in Embodiment 3, and the terminal provided in Embodiment 4 can enable multiple aircraft to execute with predetermined parameters Flight mission, which first obtains the normal acceleration a _{n,i and} tangential acceleration a _t,i of the aircraft taking off from different positions and participating in the flight mission at the same time, and then, according to each normal acceleration a _n,i , tangential acceleration a _{t, i} , control each of the aircraft that take off from different positions and participate in the flight mission at the same time, so that each of the aircraft that takes off from different positions and participate in the flight mission simultaneously lands at the same designated landing point, and the logic The process is simpler.

Embodiment five

As shown in Figure 3, consider n aircraft attacking a stationary target on a vertical profile. The main purpose of the present invention is to allow all aircraft to attack stationary targets simultaneously

As shown in Figure 4, the relative motion geometric model between the i-th aircraft and the target is constructed.

Among them, M _i and T represent the i-th aircraft and the target respectively; V _M,i , a _i , and γ _M,i represent the velocity, acceleration and heading angle of the aircraft, respectively. _λi represents the line of sight angle. r _i represents the relative distance between the i-th aircraft and the target. According to Figure 4, it can be obtained

where _Vr,i and Vλ _,i are the relative velocity components horizontally and perpendicularly to the line of sight, respectively. a _{t, i} and a _{n, i} are the acceleration components in the horizontal and vertical vehicle velocity directions.

For the purpose of simultaneous arrival of all aircraft in line of sight, the adjacency matrix of To describe the communication topology between all aircraft, define a _ii =0 and if the i-th aircraft has information interaction with the j-th aircraft, then a _ij =1, otherwise a _ij =0.

Defining Collaborative Error Among them, r _i and V _{M, i} represent the relative distance and speed of the i-th aircraft, respectively. The collaborative error is defined as It means that the covariate between the i-th aircraft and its neighbors is different.

in,

a. Normal acceleration design

Since the normal acceleration is the same for all attacking vehicles, the subscript i can be ignored for simplicity. Designing the normal acceleration can make the aircraft intercept the target at a specified attack angle.

Put x ₁ =λ-λ* and as a state vector,

design variable As a state function of the system, where t _go =T _c -t, T _c is the pre-specified convergence time, for different aircraft, T _c can take different values. k ₀ >2.

The designed normal acceleration is

in,

k ₀ >2, k _σ and ρ _σ are constants, among them, k _σ >0, 0<ρ _σ <1,

sgn( ) is a sign function, γ _{M, i} represent the heading angle of the i-th aircraft, V _{r, i} and V _{λ, i} are the relative velocity components horizontally and vertically to the line of sight, r _i represents the i-th aircraft the relative distance between the aircraft and the target;

In the expressions of g(xi _{, i} , t _i ) and σ _i , the first subscript of x _{i, i} indicates the i-th state quantity, i=1, 2; the second subscript indicates the i-th aircraft, i=1,...,n,

where t _go,i =T _c -t _i ;

b. Tangential acceleration design

The design tangential acceleration is

Among them, sgn( ) is a symbolic function,

is the collaborative error, which represents the difference between the collaborative variable of the i-th aircraft and the collaborative variable of adjacent aircraft;

k _ξ and ρ _ξ are constants, where k _ξ >0, 0<ρ _ξ <1.

In summary, the design of the entire guidance law consists of two parts:

Normal acceleration: design a _{n, i} such that when t→T _c , and when _t≥Tc and

Tangential acceleration: design a _{t, i} so that when t→T _s , ξ _i →0; when t≥T _s , ξ _i =0

The following is the verification of a cooperative control method for salvo attack with attack angle constraints:

Assuming that five aircraft attack a stationary object from different positions, the initial conditions of the five aircraft are shown in Table 1:

Table 1 Initial conditions of aircraft

Note: The position of the target is (5000, 0)

The communication topology of the five aircraft is shown in Figure 3, and the simulation parameters are shown in Table 2:

Table 2 Simulation parameters of five aircraft

The state x _i,1 =1,2, the tangential acceleration _at and the normal acceleration a _n of the first aircraft are shown in Figures 6a, 6b and 6c.

The relative distance r(t) of the five aircraft, covariates The coordinated error ξ(t) and the trajectory of the aircraft are shown in Figures 7a, 7b, 7c, and 7d. According to Figures 7a, 7b, 7c, and 7d, the aircraft coordinated control method provided by Embodiment 1 of the present invention can make five slaves The aircrafts M1, M2, M3, M4 and M5 that took off from different positions and participated in the flight mission simultaneously landed at the same designated landing point.

While preferred embodiments of the invention have been described, additional changes and modifications to these embodiments can be made by those skilled in the art once the basic inventive concept is appreciated. Therefore, it is intended that the appended claims be construed to cover the preferred embodiment as well as all changes and modifications which fall within the scope of the invention.

Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention also intends to include these modifications and variations.

Claims (10)

1. A kind of aircraft cooperative control method, is characterized in that, comprises the following steps: Obtain the normal acceleration a _n,i of the aircraft taking off from different positions and participating in the flight mission at the same time, so that: the line-of-sight angle λ _i of the aircraft taking off from different positions and participating in the flight mission at the same time is within the specified convergence time T _c Tend to the specified angle, the line-of-sight angular rate of the aircraft taking off from different positions and participating in the flight mission at the same time Tend to 0 until equal to 0 within the specified convergence time _Tc ; Obtain the tangential acceleration a _t,i of the aircraft taking off from different positions and participating in the flight mission at the same time, so that: the collaborative error ξ _i of the aircraft taking off from different positions and participating in the flight mission at the same time tends to 0 within the time T _s until equal to 0; According to the normal acceleration a _n,i and the tangential acceleration _at,i , each of the aircraft that takes off from different positions and participates in flight missions at the same time is controlled so that each of the aircraft that takes off from different positions and participates in flight missions at the same time The aircraft of the mission land at the same designated landing point at the same time; in, T _c is the pre-specified convergence time, for different aircraft, T _c takes different values; In the formula, κ _ξ and ρ _ξ are constants, among them, k _ξ <0, 0<ρ _ξ <1; λ ₂ is the Laplace matrix The smallest nonzero eigenvalue of , the Laplacian matrix is defined as when i=j l _ij =-a _ij when i≠j, where a _{i, j} is the adjacency matrix used to describe the communication topology between aircraft Yuan. in, Represents the collaborative variable of the i-th aircraft, r _i represents the relative distance between the i-th aircraft and the target, V _{M, i} is the speed of the i-th aircraft. Denotes the covariate of the jth aircraft. 2. The aircraft cooperative control method according to claim 1, characterized in that, When the flight time of each of the aircraft taking off from different positions and participating in the flight mission is less than the specified convergence time _Tc : The line-of-sight angle λ _i of the aircraft taking off from different positions and participating in the flight mission at the same time tends to the specified landing angle The line-of-sight angular velocity of the aircraft taking off from different positions and participating in the flight mission at the same time tends to 0 within the specified convergence time _Tc ; When the flight time of each of the aircraft taking off from different positions and participating in the flight mission is greater than or equal to the specified convergence time _Tc : The line-of-sight angle λ _i of each of the aircraft taking off from different positions and participating in the flight mission at the same time is equal to the specified landing angle The line-of-sight angular velocity of the aircraft taking off from different positions and participating in the flight mission at the same time is equal to 0. 3. aircraft cooperative control method according to claim 2, is characterized in that, described normal acceleration a _{n, the computing formula of i} is: <mrow><msub><mi>a</mi><mrow><mi>n</mi><mo>,</mo><mi>i</mi></mrow></msub><mo>=</mo><mo>-</mo><mfrac><msub><mi>r</mi><mi>i</mi></msub><mrow><mi>cos</mi><mrow><mo>(</mo><msub><mi>&amp;lambda;</mi><mi>i</mi></msub><mo>-</mo><msub><mi>&amp;gamma;</mi><mrow><mi>M</mi><mo>,</mo><mi>i</mi></mrow></msub><mo>)</mo></mrow></mrow></mfrac><mo>&amp;lsqb;</mo><mfrac><mrow><mn>2</mn><msub><mi>V</mn>mi><mrow><mi>r</mi><mo>,</mo><mi>i</mi></mrow></msub><msub><mi>V</mi><mrow><mi>&amp;lambda;</mi><mo>,</mo><mi>i</mi></mrow></msub></mrow><msubsup><mi>r</mi><mi>i</mi><mn>2</mn></msubsup></mfrac><mo>-</mo><mfrac><mrow><mi>sin</mi><mrow><mo>(</mo><msub><mi>&amp;lambda;</mi><mi>i</mi></msub><mo>-</mo><msub><mi>&amp;gamma;</mi><mrow><mi>M</mi><mo>,</mo><mi>i</mi></mrow></msub><mo>)</mo></mrow></mrow><msub><mi>r</mi><mi>i</mi></msub></mfrac><msub><mi>a</mi><mrow><mi>t</mi><mo>,</mo><mi>i</mi></mrow></msub><mo>-</mo><msub><mi>k</mi><mn>0</mn></msub><mi>g</mi><mrow><mo>(</mo><msub><mi>x</mi><mrow><mi>i</mi><mo>,</mo><mi>i</mi></mrow></msub><mo>,</mo><msub><mi>t</mi><mi>i</mi></msub><mo>)</mo></mrow><mo>-</mo><msub><mi>k</mi><mi>&amp;sigma;</mi></msub><msup><mrow><mo>|</mo><msub><mi>&amp;sigma;</mi><mi>i</mi></msub><mo>|</mo></mrow><msub><mi>&amp;rho;</mi><mi>&amp;sigma;</mi></msub></msup><mi>sgn</mi><mrow><mo>(</mo><msub><mi>&amp;sigma;</mi><mi>i</mi></msub><mo>)</mo></mrow><mo>&amp;rsqb;</mo><mo>-</mo><mo>-</mo><mo>-</mo><mrow><mo>(</mo><mn>1</mn><mo>)</mo></mrow></mrow> In formula (1): k ₀ >2, k _σ and ρ _σ are constants, among them, k _σ >0, 0<ρ _σ <1, sgn( ) is a sign function, γ _{M, i} represent the heading angle of the i-th aircraft, V _{r, i} and V _{λ, i} are the relative velocity components horizontally and vertically to the line of sight, r _i represents the i-th aircraft the relative distance between the aircraft and the target; In the expressions of g(xi _{, i} , t _i ) and σ _i , the first subscript of x _{i, i} indicates the i-th state quantity, i=1, 2; the second subscript indicates the i-th aircraft, i=1,...,n, where t _go,i =T _c -t _i ; <mrow><msub><mi>&amp;sigma;</mi><mi>i</mi></msub><mo>=</mo><mfenced open = "{" close = ""><mtable><mtr><mtd><mrow><msub><mi>x</mi><mrow><mn>2</mn><mo>,</mo><mi>i</mi></mrow></msub><mo>+</mo><mfrac><msub><mi>k</mi><mn>0</mn></msub><msub><mi>t</mi><mrow><mi>g</mi><mi>o</mi><mo>,</mo><mi>i</mi></mrow></msub></mfrac><msub><mi>x</mi><mrow><mn>1</mn><mo>,</mo><mi>i</mi></mrow></msub><mo>,</mo></mrow></mtd><mtd><mrow><mn>0</mn><mo>&amp;le;</mo><msub><mi>t</mi><mi>i</mi></msub><mo>&lt;</mo><msub><mi>T</mi><mi>c</mi></msub></mrow></mtd></mtr><mtr><mtd><mrow><msub><mi>x</mi><mrow><mn>2</mn><mo>,</mo><mi>i</mi></mrow></msub><mo>,</mo></mrow></mtd><mtd><mrow><msub><mi>t</mi><mi>i</mi></msub><mo>&amp;GreaterEqual;</mo><msub><mi>T</mi><mi>c</mi></msub></mrow></mtd></mtr></mtable></mfenced><mo>.</mo></mrow> 4. The aircraft cooperative control method according to claim 1, characterized in that, When the flight time of each of the aircraft taking off from different positions and participating in the flight mission is less than time T _s : The collaborative errors ξ _i of the aircraft that take off from different positions and participate in the flight mission at the same time tend to 0; When the flight time of each of the aircraft taking off from different positions and participating in the flight mission is greater than or equal to time T _s : The collaborative error _ξi of each of the aircraft taking off from different positions and participating in the flight mission at the same time is equal to 0. 5. aircraft cooperative control method according to claim 4, is characterized in that, described tangential acceleration _{at, the computing formula of i} is: <mrow><msub><mi>a</mi><mrow><mi>t</mi><mo>,</mo><mi>i</mi></mrow></msub><mo>=</mo><mo>-</mo><mfrac><msubsup><mi>V</mi><mrow><mi>M</mi><mo>,</mo><mi>i</mi></mrow><mn>2</mn></msubsup><msub><mi>r</mi><mi>i</mi></msub></mfrac><msub><mi>k</mi><mi>&amp;xi;</mi></msub><msup><mrow><mo>|</mo><msub><mi>&amp;xi;</mi><mi>i</mi></msub><mo>|</mo></mrow><msub><mi>&amp;rho;</mi><mi>&amp;xi;</mi>mi></msub></msup><mi>sgn</mi><mrow><mo>(</mo><msub><mi>&amp;xi;</mi><mi>i</mi></msub><mo>)</mo></mrow><mo>-</mo><mo>-</mo><mo>-</mo><mrow><mo>(</mo><mn>2</mn><mo>)</mo></mrow></mrow> In formula (2): sgn( ) is a symbolic function, is the collaborative error, which represents the difference between the collaborative variable of the i-th aircraft and the collaborative variable of adjacent aircraft; k _ξ and ρ _ξ are constants, where k _ξ >0, 0<ρ _ξ <1. 6. An aircraft cooperative control device, characterized in that it comprises: The normal acceleration acquisition module is used to obtain the normal acceleration a _{n,i of the aircraft taking off from different positions and participating in the flight mission at the same time,} so that: the line-of-sight angle λ _i of each aircraft taking off from different positions and participating in the flight mission at the same time Tend to the specified angle within the specified convergence time _Tc , the line-of-sight angular velocity of each aircraft taking off from different positions and participating in the flight mission at the same time Tend to 0 until equal to 0 within the specified convergence time _Tc ; The tangential acceleration acquisition module is used to obtain the tangential acceleration at, _{i of the aircraft taking off from different positions and participating in the flight mission at the same time,} so that: the collaborative error ξ _i of the aircraft taking off from different positions and participating in the flight mission at the same time Tend to 0 until equal to 0 in time T _s ; A control module, for taking off from different positions according to the normal acceleration a _{n, i} obtained from the normal acceleration obtaining module and the tangential acceleration _{at, i} obtained from the tangential acceleration obtaining module 1. Control the aircraft that participate in the flight mission at the same time, so that the aircraft that take off from different positions and participate in the flight mission at the same time land to the same designated landing point at the same time; in, T _c is the pre-specified convergence time, for different aircraft, T _c takes different values; In the formula, k _ξ and ρ _ξ are constants, among them, k _ξ >0, 0<ρ _ξ <1; λ ₂ is the Laplace matrix The smallest nonzero eigenvalue of , the Laplacian matrix is defined as when i=j l _ij =-a _ij when i≠j, where a _{i, j} is the adjacency matrix used to describe the communication topology between aircraft Yuan. in, Indicates the collaborative variable of the i-th aircraft, r _i indicates the relative distance between the i-th aircraft and the target, V _{M, i} is the speed of the i-th aircraft, Denotes the covariate of the jth aircraft. 7. The aircraft cooperative control device according to claim 6, characterized in that, The calculation formula executed by the normal acceleration acquisition module is: <mrow><msub><mi>a</mi><mrow><mi>n</mi><mo>,</mo><mi>i</mi></mrow></msub><mo>=</mo><mo>-</mo><mfrac><msub><mi>r</mi><mi>i</mi></msub><mrow><mi>cos</mi><mrow><mo>(</mo><msub><mi>&amp;lambda;</mi><mi>i</mi></msub><mo>-</mo><msub><mi>&amp;gamma;</mi><mrow><mi>M</mi><mo>,</mo><mi>i</mi></mrow></msub><mo>)</mo></mrow></mrow></mfrac><mo>&amp;lsqb;</mo><mfrac><mrow><mn>2</mn><msub><mi>V</mn>mi><mrow><mi>r</mi><mo>,</mo><mi>i</mi></mrow></msub><msub><mi>V</mi><mrow><mi>&amp;lambda;</mi><mo>,</mo><mi>i</mi></mrow></msub></mrow><msubsup><mi>r</mi><mi>i</mi><mn>2</mn></msubsup></mfrac><mo>-</mo><mfrac><mrow><mi>sin</mi><mrow><mo>(</mo><msub><mi>&amp;lambda;</mi><mi>i</mi></msub><mo>-</mo><msub><mi>&amp;gamma;</mi><mrow><mi>M</mi><mo>,</mo><mi>i</mi></mrow></msub><mo>)</mo></mrow></mrow><msub><mi>r</mi><mi>i</mi></msub></mfrac><msub><mi>a</mi><mrow><mi>t</mi><mo>,</mo><mi>i</mi></mrow></msub><mo>-</mo><msub><mi>k</mi><mn>0</mn></msub><mi>g</mi><mrow><mo>(</mo><msub><mi>x</mi><mrow><mi>i</mi><mo>,</mo><mi>i</mi></mrow></msub><mo>,</mo><msub><mi>t</mi><mi>i</mi></msub><mo>)</mo></mrow><mo>-</mo><msub><mi>k</mi><mi>&amp;sigma;</mi></msub><msup><mrow><mo>|</mo><msub><mi>&amp;sigma;</mi><mi>i</mi></msub><mo>|</mo></mrow><msub><mi>&amp;rho;</mi><mi>&amp;sigma;</mi></msub></msup><mi>sgn</mi><mrow><mo>(</mo><msub><mi>&amp;sigma;</mi><mi>i</mi></msub><mo>)</mo></mrow><mo>&amp;rsqb;</mo><mo>-</mo><mo>-</mo><mo>-</mo><mrow><mo>(</mo><mn>1</mn><mo>)</mo></mrow></mrow> In formula (1): k ₀ >2, k _σ and ρ _σ are constants, among them, k _σ >0, 0<ρ _σ <1, sgn(·) is a sign function, γ _{M, i} represent the heading angle of the i-th aircraft, V _{r, i} and V _{λ, i} are the relative velocity components horizontally and vertically to the line of sight, ri represents the i-th aircraft relative distance to the target; In the expressions of g(xi _{, i} , t _i ) and σ _i , the first subscript of x _{i, i} indicates the i-th state quantity, i=1, 2; the second subscript indicates the i-th aircraft, i=1,...,n, where t _go,i =T _c -t _i ; <mrow><msub><mi>&amp;sigma;</mi><mi>i</mi></msub><mo>=</mo><mfenced open = "{" close = ""><mtable><mtr><mtd><mrow><msub><mi>x</mi><mrow><mn>2</mn><mo>,</mo><mi>i</mi></mrow></msub><mo>+</mo><mfrac><msub><mi>k</mi><mn>0</mn></msub><msub><mi>t</mi><mrow><mi>g</mi><mi>o</mi><mo>,</mo><mi>i</mi></mrow></msub></mfrac><msub><mi>x</mi><mrow><mn>1</mn><mo>,</mo><mi>i</mi></mrow></msub><mo>,</mo></mrow></mtd><mtd><mrow><mn>0</mn><mo>&amp;le;</mo><msub><mi>t</mi><mi>i</mi></msub><mo>&lt;</mo><msub><mi>T</mi><mi>c</mi></msub></mrow></mtd></mtr><mtr><mtd><mrow><msub><mi>x</mi><mrow><mn>2</mn><mo>,</mo><mi>i</mi></mrow></msub><mo>,</mo></mrow></mtd><mtd><mrow><msub><mi>t</mi><mi>i</mi></msub><mo>&amp;GreaterEqual;</mo><msub><mi>T</mi><mi>c</mi></msub></mrow></mtd></mtr></mtable></mfenced><mo>.</mo></mrow> 8. The aircraft cooperative control device according to claim 6, characterized in that, The calculation formula executed by the tangential acceleration acquisition module is: <mrow><msub><mi>a</mi><mrow><mi>t</mi><mo>,</mo><mi>i</mi></mrow></msub><mo>=</mo><mo>-</mo><mfrac><msubsup><mi>V</mi><mrow><mi>M</mi><mo>,</mo><mi>i</mi></mrow><mn>2</mn></msubsup><msub><mi>r</mi><mi>i</mi></msub></mfrac><msub><mi>k</mi><mi>&amp;xi;</mi></msub><msup><mrow><mo>|</mo><msub><mi>&amp;xi;</mi><mi>i</mi></msub><mo>|</mo></mrow><msub><mi>&amp;rho;</mi><mi>&amp;xi;</mi>mi></msub></msup><mi>sgn</mi><mrow><mo>(</mo><msub><mi>&amp;xi;</mi><mi>i</mi></msub><mo>)</mo></mrow><mo>-</mo><mo>-</mo><mo>-</mo><mrow><mo>(</mo><mn>2</mn><mo>)</mo></mrow></mrow> In formula (2): sgn( ) is a symbolic function, is the collaborative error, which represents the difference between the collaborative variable of the i-th aircraft and the collaborative variable of adjacent aircraft; k _ξ and ρ _ξ are constants, where k _ξ >0, 0<ρ _ξ <1. 9. A computer-readable storage medium, characterized in that an aircraft cooperative control program is stored on the computer-readable storage medium, and when the aircraft cooperative control program is executed by a processor, it can see any one of claims 1-5. The steps of the aircraft cooperative control method described above. 10. A terminal, characterized in that it includes a processor, a memory, and an aircraft cooperative control program stored on the memory and operable on the processing, when the aircraft cooperative control program is executed by the processor The steps of the aircraft cooperative control method described in any one of claims 1-5.