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CN108268054B - Hierarchical cooperative control method for suborbital swarm aircraft - Google Patents

Hierarchical cooperative control method for suborbital swarm aircraft Download PDF

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Publication number
CN108268054B
CN108268054B CN201810118379.4A CN201810118379A CN108268054B CN 108268054 B CN108268054 B CN 108268054B CN 201810118379 A CN201810118379 A CN 201810118379A CN 108268054 B CN108268054 B CN 108268054B
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aircraft
bee
queen
formation
queen bee
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CN108268054A (en
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白瑜亮
荣思远
王小刚
崔乃刚
丁波
丁一波
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Harbin Institute of Technology Shenzhen
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Harbin Institute of Technology Shenzhen
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying

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  • Aviation & Aerospace Engineering (AREA)
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  • Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)

Abstract

Sub- track bee colony aircraft layer-stepping cooperative control method, it is related to a kind of layer-stepping cooperative control method of sub- track bee colony aircraft, the present invention be to solve the problems, such as the data volume of existing centralization formation control strategy interactive information and control algolithm complexity, be easy to produce that conflict, the performance pressures of missile-borne computer are big, computational efficiency is not relatively high.Asia track bee colony aircraft layer-stepping cooperative control method of the present invention, a large amount of aircraft form big formation control method and use layer-stepping approach to formation control, the specially approach to formation control of list Leader layer-stepping Leader-Follower, multiple secondary queen bee aircraft are set in aircraft group, each pair queen bee aircraft leads the worker bee aircraft of a bug group, total queen bee aircraft only carries out information exchange with secondary queen bee aircraft, and the worker bee aircraft in each pair queen bee aircraft and place bug group carries out information exchange.The present invention is used for sub- track bee colony aircraft.

Description

Sub- track bee colony aircraft layer-stepping cooperative control method
Technical field
The present invention relates to a kind of layer-stepping cooperative control methods of sub- track bee colony aircraft.
Background technique
Formation flight control technology is to realize the technical foundation for playing cooperation more.Formation flight control includes that formation is kept And evolution.The cooperation of guided missile is required from different carrier aircrafts, different launching sites and different emission time hairs Each wave time guided missile penetrated can be assembled in scheduled time, place, constitute the formation for being conducive to cooperation.Guided missile is temporally It is required that inherently constituting a preliminary model formation after reaching assembly place；But it in order to constitute stable preset formation, needs to obtain Know from bullet and neck bullet, from bullet and from the accurate relative position between bullet, and then flight pattern is kept and adjusted.For letter Changing from the configuration of bullet reduces operation cost, it may not be necessary to perfect navigation positioning system is configured to every piece of guided missile, only from bullet Oneself position relative to neck bullet need to be known by Relative Navigation, positioning system, so that it may meet the input requirements of control system And then it avoids losing and collide.Formation control is to be able to that formation is made to keep and convert, when guided missile needs to evade air defense position Or when intercepting weapon, bullet group will inevitably do some maneuvers, such as turn, climb, dive or disperse, due to guided missile Cooperation require guided missile can keep rank as far as possible in mobile process, guarantee from bullet and neck bullet opposite position It sets, therefore, formation flight control technology becomes the technical foundation that cooperation is achieved.
The control research of formation flight at present has spread the fields such as fighter plane, unmanned plane, satellite.Aircraft formation flight is ground The hot topic studied carefully is concentrated mainly on spacecraft, aircraft etc., and more representational is grinding about satellite formation flying control Study carefully and UAV Formation Flight control is studied.
Spacecraft Formation Flying be later period the 1990s with computer technology, new material, new energy technology hair A kind of new spacecraft space operational mode of exhibition and appearance.The more orbital periods identical spacecraft low coverage in central force field From flight, specific relative motion track can be formed each other, is cooperateed with mutually between spacecraft, maintain close ties with, with the side of distribution Formula constitutes big " virtual satellite " (or " distributed networked research center ", " distributed spacecraft system "), to generate and be So-called " emerging in large numbers " phenomenon in system theory, considerably beyond traditional single Space Vehicle System in performance.Spacecraft Formation Flying relies on Huge technical advantage, wide application prospect just obtain the favor of each spacefaring nation in the world, referred to as generation at the beginning of the birth The technology of table future space flight development trend becomes current one big hot research field.
Spacecraft Formation Flying application advantage is mainly reflected in following aspects:
Promote application system overall performance
The space exploration task that formation flight makes single spacecraft be not easy to realize becomes simply, to greatly increase interference and survey The radar aperture of amount simultaneously can be observed task object in biggish discrete space, this is for earth observation It is very important.
Improve application system reliability
Formation flight system is generally made of many spacecrafts, considers that redundancy can make system exist in system design stage More robustness when wrecking.If there is the damage of spacecraft in system, it is impacted only to have an associated link, and Whole system will not wither away.The individual of damage can be cleared out of into system in time, new spacecraft is either supplemented by reconstruct It can make system reset.
Enhance system suitability
Spacecraft formation is configured size can basis with load entrained by the even spacecraft of spacecraft number in formation Mission requirements and be changed, on the basis of former spacecraft as long as appropriately adjusting Spacecraft formation system can have new Function or higher performance, to be substituted with completing new and old task compared with short cycle, lower cost and higher reliability.
Reduce single life cycle cost consumption
Formation flight completes task using more spacecrafts, this will promote the design and manufacture of spacecraft using standard chemical industry Skill process, single spacecraft cost can reduce naturally, to make the reduction of whole system cost.With spacecraft module technology With the development of space-based platform theory, the increase of task number and the opposite extension of life cycle are executed, can be made in single life cycle The cost of Spacecraft formation is greatly detracted from.
Another main aspect of formation flight research is exactly the formation flight control of unmanned plane.In modern unmanned fighter In development, other than requiring unmanned fighter that there is high maneuver, high agility, unmanned fighter is also required to fly with multi-machine collaborative Row and the ability fought, then just having to the formation flight of research unmanned plane first.So-called UAV Formation Flight is exactly two The above unmanned plane of frame flies by certain formation, and defined distance and difference in height, that airplane of the leader of a group of people must be kept between each machine Referred to as leader (leader), and remaining is known as wing plane (follower).The formation flight why study multiple no-manned plane, because It is multiple-uav formation flight compared with single machine, haves the advantages that following:
If single rack unmanned plane breaks down or fight on the way damage in the task of execution, task can not be continued to execute, possibility Valuable opportunity of combat is affected adversely.But then task can be continued to complete by remaining unmanned plane for multiple UAVs.
The limited efficacy of single rack unmanned plane execution task.Such as execute scout or war damage assessment task when, single rack nobody The limited view of machine is easy to omit target, while being also unable to get all information of target area, multiple UAVs formation flight Execution task then can satisfy requirement.
For attack, the combat unmanned plane (UCAV) that have developed rapidly at present, it is excellent that single rack unmanned plane can not form cluster The hit rate of gesture, attack is limited, and multiple UAVs are attacked from different directions simultaneously, can significantly improve strike effect and successfully Rate.
From the aspect of pneumatic efficiency and structural strength, formation flight can reduce flight resistance on the whole.To low coverage From the aeroperformance for being equivalent to high-aspect-ratio aircraft can be obtained for formation flight, while being unlikely to reduce possessed by aircraft Intensity will not increase the weight of aircraft, and it is excellent to can be realized that light-weight, aspect ratio is big, aeroperformance is good, structural strength is high etc. Point.
As can be seen that formation flight can also improve the whole effect of unmanned plane in the research to UAV Formation Flight Rate.Certain formation flight is used to multi-aircraft, the ability of success rate and anti-emergency event in the task of execution is all than list Airplane flight (abbreviation solo flight) is high.For example, in the implementation procedure of certain subtask, having an airplane to break down cannot be after Continuous, then it can come back for repairing, and remaining aircraft keeps formation flight always according to the original plan, enables task It is satisfactory to complete；Hit rate can be improved, for fighter plane, the formation flight of multi-aircraft can be simultaneously from different perspectives to same One target carries out comprehensive attack, expands hit range, improves lethality and hit rate, can also be simultaneously to multiple unfriendly targets Implement attack, upsets enemy's air defense, improve the timeliness of fight.
Sub- track bee colony aircraft enters after build-up area, it will and it forms collaboration and forms into columns, it, will be right according to different war fighting requirements Sub- track bee colony aircraft formation carries out Collaborative Control, that is, needs to keep control to the formation of sub- track bee colony aircraft formation, More pieces of aircraft form certain formation, have the advantage that
(1) penetration ability of aircraft is improved；
(2) electronic warfare capability of aircraft is improved；
(3) aircraft is improved to the search capability and tracking accuracy of moving target；
(4) the transmitting quantity of aircraft is reduced；
(5) general operation effectiveness of aircraft is improved.
Formation control problem belongs to the geometrical issues on sub- track bee colony aerocraft system relative dimensions, refers in flight course In, sub- track bee colony aircraft group establishes and keeps pre-determined geometric shape (i.e. formation holding), while adapting to ring again The control technology of border constraint.
The aircraft of formation will often keep its relative position to be in the queue basically unchanged because of mission requirements.General guarantor Holding strategy is that every piece of aircraft in forming into columns keeps constant with the relative position of agreed point in queue, and working as this agreed point is bee When king's aircraft, this keeps strategy to be known as following holding.Formation keep during, may because some interference because Element generates disturbance, prevents Conflict Strategies from seeking to avoid the obstruction of the collision and information exchange that may occur under disturbance.
Traditional formation strategy is generally list Leader centralization formation, the data of interactive information in centerized fusion strategy Amount and control algolithm complexity, are easy to produce conflict, increase the performance pressures of missile-borne computer, computational efficiency is relatively not It is high.
Summary of the invention
The invention aims to solve the data volume and control algolithm of existing centralized formation control strategy interactive information Complexity is easy to produce the problem that conflict, the performance pressures of missile-borne computer are big, computational efficiency is not relatively high, provides one The sub- track bee colony aircraft layer-stepping cooperative control method of kind.
Asia track bee colony aircraft layer-stepping cooperative control method of the present invention, the control method use Leader- The approach to formation control of Follower, all worker bee aircraft in aircraft group are all on the basis of queen bee aircraft, by phase The center of coordinate system is fixed on queen bee aircraft, all worker bee aircraft in aircraft group are with queen bee aircraft opposite Coordinate in coordinate system is control benchmark, needed for being formed formation after each worker bee aircraft is stablized near desired position The formation wanted；All worker bee aircraft only carry out information exchange with queen bee aircraft, receive the control of queen bee aircraft；
A large amount of aircraft form big formation control method and use layer-stepping approach to formation control, specially list Leader layering The approach to formation control of formula Leader-Follower, is arranged multiple secondary queen bee aircraft in aircraft group, and each pair queen bee flies Row device leads the worker bee aircraft of a bug group, and total queen bee aircraft only carries out information friendship with secondary queen bee aircraft Mutually, the worker bee aircraft in each secondary queen bee aircraft and place bug group carries out information exchange.
Advantages of the present invention: Asia track bee colony aircraft layer-stepping cooperative control method of the present invention reduces tradition The data volume of interactive information and control algolithm complexity, are not likely to produce conflict in centerized fusion strategy, alleviate missile-borne meter The performance pressures of calculation machine, computational efficiency improve, while structure is simple and inherits the control precision of centralized policy.
Detailed description of the invention
Fig. 1 is the schematic diagram of the approach to formation control of list Leader layer-stepping Leader-Follower of the present invention；
Fig. 2 is the flight pattern that single-shot guided missile carries sub- track bee colony aircraft；
Fig. 3 is the layering flight pattern that multiple guided missile carries sub- track bee colony aircraft；
Fig. 4 is aircraft in relative coordinate system schematic diagram；
Fig. 5 and Fig. 6 is relative positional relationship schematic diagram of two pieces of aircraft in inertial coodinate system and relative coordinate system；
Fig. 7 is the ballistic curve analogous diagram of queen bee aircraft Yu worker bee aircraft；
Fig. 8 is the spacing analogous diagram of worker bee aircraft 1 and queen bee aircraft in three directions of relative coordinate system；
Fig. 9 is the spacing analogous diagram of worker bee aircraft 2 and queen bee aircraft in three directions of relative coordinate system；
Figure 10 is the spacing analogous diagram of worker bee aircraft 3 and queen bee aircraft in three directions of relative coordinate system；
Figure 11 is the rate curve analogous diagram of queen bee aircraft Yu worker bee aircraft；
Figure 12 is two layers of formation aircraft formation ballistic curve analogous diagram of single Leader, and wherein a indicates that total queen bee emulation is bent Line, b indicate that 1 simulation curve of secondary queen bee, c indicate that 2 simulation curve of secondary queen bee, d indicate that 1 simulation curve of worker bee, e indicate that worker bee 2 is imitative True curve.
Specific embodiment
Specific embodiment 1: illustrate present embodiment below with reference to Fig. 1, the flight of track bee colony in Asia described in present embodiment Device layer-stepping cooperative control method, which uses the approach to formation control of Leader-Follower, in aircraft group The center of relative coordinate system is fixed on queen bee aircraft by all worker bee aircraft all on the basis of queen bee aircraft, is flown All worker bee aircraft in row device group are control benchmark with coordinate of the queen bee aircraft in relative coordinate system, when each worker bee flies Row device is formed formation required for formation after stablizing near desired position；All worker bee aircraft only fly with queen bee Row device carries out information exchange, receives the control of queen bee aircraft；
A large amount of aircraft form big formation control method and use layer-stepping approach to formation control, specially list Leader layering The approach to formation control of formula Leader-Follower, is arranged multiple secondary queen bee aircraft in aircraft group, and each pair queen bee flies Row device leads the worker bee aircraft of a bug group, and total queen bee aircraft only carries out information friendship with secondary queen bee aircraft Mutually, the worker bee aircraft in each secondary queen bee aircraft and place bug group carries out information exchange.
In present embodiment, Leader-Follower, that is, pilotage people-follower mode.
In present embodiment, aircraft group will keep certain formation, must there is information between aircraft and aircraft Interaction, according to the model split of information exchange, using the approach to formation control of layer-stepping Leader-Followe.
In present embodiment, mutually transmitting information does not even measure relative position between worker bee aircraft, and simple Centralized control mode belongs to the control mode in single point set compared to this formation mode.
In present embodiment, when big cluster is formed into columns, queen bee aircraft will consider the position of each worker bee aircraft, arrange Task needs are calculated and are planned for a long time, can arrange multiple secondary queen bee aircraft, secondary bee in aircraft group thus King's aircraft leads a small set of worker bee aircraft again, and queen bee aircraft total in this way need to only be responsible for several pieces of secondary queen bee aircraft i.e. Can, avoid the confusion that big cluster formation may occur during evolution.
In present embodiment, this formation mode reduce in traditional centerized fusion strategy the data volume of interactive information and Control algolithm complexity is not likely to produce conflict, alleviates the performance pressures of missile-borne computer, and computational efficiency is improved, tied simultaneously Structure is simple and inherits the control precision of centralized policy.
Specific embodiment 2: present embodiment is described further embodiment one, queen bee aircraft it is worked Journey are as follows:
Queen bee aircraft obtains absolute location information, and is communicated with Battlefield Command System, queen bee aircraft to form into columns, Flight, distribution strike mission are managed collectively.
Specific embodiment 3: present embodiment is described further embodiment one or two, the work of worker bee aircraft Make process are as follows:
Worker bee aircraft is equipped with relative position measurement device, and relative position measurement device measures worker bee aircraft relative to bee The position of king's aircraft or secondary queen bee aircraft, and mission bit stream is obtained from queen bee aircraft or secondary queen bee aircraft.
Specific embodiment 4: illustrating that present embodiment, present embodiment make into one embodiment one below with reference to Fig. 3 Step explanation carries sub- track bee colony aircraft for multiple guided missile, selects the team of list Leader layer-stepping Leader-Follower Shape control method are as follows:
Aircraft group is divided into many levels, the aircraft of each groupuscule uses list Leader centralization formation, Mei Ge little The formation that the secondary queen bee aircraft of group is constituted uses list Leader centralization formation, by total queen bee flying vehicles control.
In present embodiment, as shown in Fig. 2, carrying the flight pattern of sub- track bee colony aircraft, selection for single-shot guided missile Single Leader centralization approach to formation control are as follows: 2 pieces for including in aircraft group are dashed forward anti-aircraft: 1 piece is used as queen bee aircraft, 1 piece as secondary queen bee aircraft；2 pieces of aircraft of remaining for including in aircraft group are as worker bee aircraft.
Specific embodiment 5: present embodiment is described further embodiment one, single Leader layer-stepping The holding Controlling model establishment process of Leader-Follower formation are as follows:
It, being capable of tracking velocity V, trajectory deflection angle ψ if the flight control in aircraft group is closed-loop stabilizationvWith Trajectory tilt angle θ, and set it respectively as first order inertial loop, it may be assumed that
Wherein: i indicates aircraft number；ViIndicate i-th piece of aerocraft real speed；VciIndicate i-th piece of aircraft expectation Speed；θiIndicate i-th piece of aerocraft real trajectory tilt angle；θciIndicate i-th piece of aircraft desired trajectory inclination angle；ψviIndicate i-th piece Aerocraft real trajectory deflection angle；ψvciIndicate i-th piece of aircraft desired trajectory drift angle；λv、λθWithIndicate inertia time coefficient；
Under inertial coodinate system, the kinematical equation of aircraft are as follows:
Define relative coordinate system or-xryrzr, relative coordinate system origin is located at queen bee aircraft mass center, orxrAxis is directed toward queen bee The directional velocity of aircraft, oryrStraight up, orzrAxis and oryrRight-handed coordinate system is constituted, as shown in figure 4, two pieces of aircraft exist The relationship of inertial coodinate system and relative coordinate system is as shown in Figure 5 and Figure 6, and two pieces of aircraft are in inertial coodinate system and relative coordinate system Relationship are as follows:
Wherein:
The then relative position deviation between two pieces of aircraft are as follows:
In turn:
Wherein:
And:
Then:
Wherein:
For f1Expression formula, in which:
In order to make relative position deviation e 0, selected PD control rule:
Then:
Control amount are as follows:
In the present invention, single Leader formation keeps control simulation process are as follows: carries out simulation analysis to formation controller, takes control Condition processed are as follows:
The expectation spacing of queen bee aircraft and worker bee aircraft 1:
The expectation spacing of queen bee aircraft and worker bee aircraft 2:
The expectation spacing of queen bee aircraft and worker bee aircraft 3:
Aircraft follows the inertia time constant of trajectory control system are as follows:
λv=1.21
λθ=2.65
Queen bee aircraft motion state:
1, initial velocity: Vl=6700m/s；
2, initial position: Xl0=-10000m, Yl0=110000m, Zl0=-19000m；
3, the changing rule of trajectory deflection angle are as follows:Wherein: the initial value of trajectory deflection angle are as follows: ψvl0=45 °, amplitude isFrequency is
4, the changing rule of trajectory tilt angle are as follows: θ (t)=θ0+Aθsin(FθT), in which: the initial value of trajectory tilt angle are as follows: θl0= 30 °, amplitude Aθ=15 °, frequency Fθ=1.5 °/s；
The motion state of worker bee aircraft 1:
1, initial velocity: Vf=6500m/s；
2, initial trajectory inclination angle: θ=10 °；
3, initial trajectory drift angle: ψv=20 °
4, worker bee aircraft initial position is given by queen bee aircraft initial position and relative distance, it may be assumed that
It brings queen bee aircraft primary condition into, the initial position of worker bee aircraft 1 can be obtained:
Xf10=-55708m
Yf10=-5000m
Zf10=-15718m.
The motion state of worker bee aircraft 2:
1, initial velocity: Vf=6300m/s；
2, initial trajectory inclination angle: θ=20 °；
3, initial trajectory drift angle: ψv=30 °
4, worker bee aircraft initial position is given by queen bee aircraft initial position and relative distance, it may be assumed that
It brings queen bee aircraft primary condition into, the initial position of worker bee aircraft 2 can be obtained:
Xf20=-13282m
Yf20=-5000m
Zf20=26708m.
The motion state of worker bee aircraft 3:
1, initial velocity: Vf=6300m/s；
2, initial trajectory inclination angle: θ=20 °；
3, initial trajectory drift angle: ψv=20 °
4, worker bee aircraft initial position is given by queen bee aircraft initial position and relative distance, it may be assumed that
It brings queen bee aircraft primary condition into, the initial position of worker bee aircraft 3 can be obtained:
Xf20=-58990m
Yf20=-25000m
Zf20=29990m.
Simulation result is as follows: Fig. 7 is the ballistic curve analogous diagram of queen bee aircraft Yu worker bee aircraft, Fig. 8-Figure 10 difference It is the spacing analogous diagram of three worker bee aircraft and queen bee aircraft in three directions of relative coordinate system；Figure 11 is queen bee aircraft With the rate curve analogous diagram of worker bee aircraft.
It is directed to the present invention, although example does not account for Engineering constraint problem, the angle of controller is only kept from flight pattern Degree is designed, but be can be seen that formation from the result of emulation and kept controlling more satisfactory, the ballistic curve of each aircraft It is smoother, and speed variation is little, can satisfy actual control requirement.Therefore, which is suitble to In velocity interval proposed by the invention, there is feasibility.
In the present invention, two layers of formation of single Leader keeps control simulation process are as follows:
In the case of many for aircraft formation quantity, the control method using centralization seems very complicated, Er Qierong It is also easy to produce evolution formula and confusion occurs.Therefore, aircraft group can be divided into several small formation, set in each formation Then one queen bee aircraft is regarded the queen bee aircraft of each formation as a new formation and is controlled, can keep away in this way Exempt to occur chaotic.Flight pattern control below for the sub- track Asia track bee colony aircraft that the present invention is directed to is emulated.
Formation keeps controller to carry out simulation analysis, takes simulated conditions are as follows:
The expectation spacing of total queen bee aircraft and secondary queen bee aircraft 1:
The expectation spacing of total queen bee aircraft and secondary queen bee aircraft 2:
Aircraft follows the inertia time constant of trajectory control system are as follows:
λv=3.21
λθ=5.65.
The motion state of total queen bee aircraft:
1, initial velocity: Vl=6700m/s；
2, initial position: Xl0=20000m, Yl0=150000m, Zl0=19000m；
3, the changing rule of trajectory deflection angle are as follows:Wherein: the initial value of trajectory deflection angle are as follows: ψvl0=45 °, amplitude isFrequency is
4, the changing rule of trajectory tilt angle are as follows: θ (t)=θ0+Aθsin(FθT), in which: the initial value of trajectory tilt angle are as follows: θl0= 30 °, amplitude Aθ=15 °, frequency Fθ=5 °/s；
The motion state of secondary queen bee aircraft 1:
1, initial velocity: Vl1=6500m/s；
2, initial trajectory inclination angle: θ=10 °；
3, initial trajectory drift angle: ψv=20 °
4, secondary 1 initial position of queen bee aircraft is given by total queen bee aircraft initial position and relative distance, it may be assumed that
Total queen bee aircraft primary condition is substituted into, the initial position of secondary queen bee aircraft 1 can be obtained:
Xl10=-33670m
Yl10=152331m
Zl10=16134m
The motion state of secondary queen bee aircraft 2:
1, initial velocity: Vl2=6300m/s；
2, initial trajectory inclination angle: θ=20 °；
3, initial trajectory drift angle: ψv=30 °
4, secondary 2 initial position of queen bee aircraft is given by total queen bee aircraft initial position and relative distance, it may be assumed that
Total queen bee aircraft primary condition is substituted into, the initial position of secondary queen bee aircraft 2 can be obtained:
Xl20=22890m
Yl20=152338m
Zl20=72695m
Secondary 1 place flight pattern controller simulation condition of queen bee aircraft:
The expectation spacing of secondary queen bee aircraft 1 and worker bee aircraft 1:
The expectation spacing of secondary queen bee aircraft 1 and worker bee aircraft 2:
Aircraft follows the inertia time constant of trajectory control system are as follows:
λv=3.21
λθ=5.65
The motion state of worker bee aircraft 1:
1, initial velocity: Vf=6500m/s；
2, initial trajectory inclination angle: θ=10 °；
3, initial trajectory drift angle: ψv=20 °
4,1 initial position of worker bee aircraft is given by secondary 1 initial position of queen bee aircraft and relative distance, it may be assumed that
Secondary 1 primary condition of queen bee aircraft is substituted into, the initial position of worker bee aircraft 1 can be obtained:
Xf10=-78379m
Yf10=166813m
Zf10=-10146m
The motion state of worker bee aircraft 2:
1, initial velocity: Vf=6300m/s；
2, initial trajectory inclination angle: θ=20 °；
3, initial trajectory drift angle: ψv=30 °
4,2 initial position of worker bee aircraft is given by secondary 1 initial position of queen bee aircraft and relative distance, it may be assumed that
Secondary 1 primary condition of queen bee aircraft is substituted into, the initial position of worker bee aircraft 2 can be obtained:
Xf20=-51010m
Yf20=166820m
Zf20=65018m
Simulation result is as shown in figure 12.From simulation result as can be seen that first layer (queen bee aircraft layer), formation keep effect Fruit is more satisfactory, and the position between secondary queen bee aircraft and total queen bee aircraft very stable can be maintained near desired value, The ballistic curve of three queen bee aircraft is smoother, it is easy to accomplish flight control；The second layer (worker bee aircraft layer), formation are protected Hold also more satisfactory, the position between two pieces of worker bee aircraft and secondary queen bee aircraft 1 is maintained near desired value, deviation control Within allowed band, ballistic curve is smooth.Simulation results show the control of list leader layer-stepping formation forms into columns for big cluster Control effect it is good, formation holding be easily achieved, have feasibility.

Claims (1)

1.亚轨道蜂群飞行器分层式协同控制方法，其特征在于，1. A layered collaborative control method for a suborbital swarm aircraft, characterized in that, 该控制方法采用Leader-Follower的队形控制方法，飞行器群中的所有的工蜂飞行器都以蜂王飞行器为基准，将相对坐标系的中心固定在蜂王飞行器上，飞行器群中的所有工蜂飞行器以蜂王飞行器在相对坐标系中的坐标为控制基准，当各工蜂飞行器在要求的位置附近稳定后就形成了编队所需要的队形；所有的工蜂飞行器只与蜂王飞行器进行信息交互，接受蜂王飞行器的控制；The control method adopts the formation control method of Leader-Follower. All worker bee aircraft in the aircraft group are based on the queen bee aircraft, and the center of the relative coordinate system is fixed on the queen bee aircraft. All worker bee aircraft in the aircraft group are based on the queen bee aircraft. The coordinates in the relative coordinate system are the control benchmarks. When each drone is stable near the required position, the formation required for the formation is formed; all the drones only exchange information with the queen drone and accept the control of the queen drone; 大量飞行器组成大编队控制方法采用分层式队形控制方法，具体为单Leader分层式Leader-Follower的队形控制方法，在飞行器群中设置多个副蜂王飞行器，每个副蜂王飞行器均领导一个小飞行器群的工蜂飞行器，总蜂王飞行器只与副蜂王飞行器进行信息交互，每个副蜂王飞行器与所在小飞行器群中的工蜂飞行器进行信息交互；A large number of aircraft form a large formation control method using a layered formation control method, specifically the formation control method of a single Leader layered Leader-Follower, set up multiple sub-queen aircraft in the aircraft group, and each sub-queen aircraft is led A worker bee aircraft of a small aircraft swarm, the chief queen bee aircraft only exchanges information with the sub-queen bee aircraft, and each sub-queen aircraft communicates with the worker bee aircraft in the small aircraft group; 其中，蜂王飞行器的工作过程为：Among them, the working process of the queen bee aircraft is as follows: 蜂王飞行器获取绝对位置信息，并与战场指挥系统进行通讯，蜂王飞行器对编队、飞行、分配攻击任务进行统一管理；The queen bee aircraft obtains absolute position information and communicates with the battlefield command system. The queen bee aircraft conducts unified management of formation, flight, and assignment of attack tasks; 工蜂飞行器的工作过程为：The working process of the drone drone is as follows: 工蜂飞行器配备相对位置测量装置，相对位置测量装置测量工蜂飞行器相对于蜂王飞行器或副蜂王飞行器的位置，并从蜂王飞行器或副蜂王飞行器获取任务信息；The worker bee aircraft is equipped with a relative position measurement device, and the relative position measurement device measures the position of the worker bee aircraft relative to the queen bee aircraft or the sub-queen aircraft, and obtains mission information from the queen bee aircraft or the sub-queen aircraft; 针对多发导弹携带亚轨道蜂群飞行器，选择单Leader分层式Leader-Follower的队形控制方法为：For multi-missiles carrying suborbital swarm aircraft, the formation control method for selecting a single-Leader layered Leader-Follower is as follows: 将飞行器群分为多个层次，每个小群的飞行器采用单Leader集中式队形，每个小群的副蜂王飞行器构成的编队采用单Leader集中式队形，由总蜂王飞行器控制；The aircraft swarm is divided into multiple levels. The aircraft of each small group adopts a single-leader centralized formation, and the formation formed by the sub-queen aircraft of each small group adopts a single-leader centralized formation, which is controlled by the master queen aircraft; 单Leader分层式Leader-Follower队形的保持控制模型建立过程为：The establishment process of the hold control model of the single-Leader hierarchical Leader-Follower formation is as follows: 设飞行器群中的飞行器的控制系统是闭环稳定的，能够跟踪速度V、弹道偏角ψv和弹道倾角θ，且分别设其为一阶惯性环节，即：It is assumed that the control system of the aircraft in the aircraft group is closed-loop stable, capable of tracking the velocity V, the ballistic declination angle ψv and the ballistic inclination angle θ, and they are respectively set as first-order inertial links, namely: 其中：i表示飞行器编号；Vi表示第i枚飞行器实际速度；Vci表示第i枚飞行器期望速度；θi表示第i枚飞行器实际弹道倾角；θci表示第i枚飞行器期望弹道倾角；ψvi表示第i枚飞行器实际弹道偏角；ψvci表示第i枚飞行器期望弹道偏角；λv、λθ和表示惯性时间系数；Where: i represents the aircraft number; V i represents the actual speed of the ith aircraft; Vci represents the expected speed of the ith aircraft; θ i represents the actual ballistic inclination of the ith aircraft; θ ci represents the expected ballistic inclination of the ith aircraft; ψ vi represents the actual declination angle of the i-th aircraft; ψ vci represents the expected declination angle of the i-th aircraft; λ v , λ θ and represents the inertia time coefficient; 惯性坐标系下，飞行器的运动学方程为：In the inertial coordinate system, the kinematic equation of the aircraft is: 定义相对坐标系or-xryrzr，相对坐标系原点位于蜂王飞行器质心，orxr轴指向蜂王飞行器的速度方向，oryr竖直向上，orzr轴与oryr构成右手坐标系，两枚飞行器在惯性坐标系和相对坐标系的关系为：Define the relative coordinate system o r -x r y r z r , the origin of the relative coordinate system is located at the center of mass of the queen bee aircraft, the o r x r axis points to the speed direction of the queen bee aircraft, o r y r is vertically upward, and the o r z r axis is the same as the o r y r constitutes a right-handed coordinate system, and the relationship between the two aircraft in the inertial coordinate system and the relative coordinate system is: 其中：in: 则两枚飞行器之间的相对位置偏差为：Then the relative position deviation between the two aircraft is: 进而：and then: 其中：in: 而：and: 则：but: 其中：in: 对于f1表达式，其中：For the f 1 expression, where: 为了使相对位置偏差e为0，选定PD控制律：In order to make the relative position deviation e be 0, the PD control law is selected: 则： but: 控制量为：The amount of control is:
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