CN110162084A - Cruising missile group system formation control method based on congruity theory - Google Patents
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Abstract
The present invention provides a kind of cruising missile group system formation control method based on congruity theory obtains topological structure parameter, the monomer sites information, reference information of forming into columns, the relative velocity for being bordered by monomer of cruising missile group system first；It is then based on the expectation acceleration that the formation control that congruity theory calculates in guidance loop is restrained, and tracked using formation control rule as acceleration in control loop；Desired acceleration is finally decomposed into speed system x to, z to desired acceleration, using engine throttle, speed inclination angle as cruising missile executing agency, tracking x is controlled to, z to acceleration using PI, passes through control guided missile acceleration tracking expectation acceleration and realizes cruising missile group system formation control.The formation control method has the characteristics that the complete distributed computing of monomer, resources occupation rate are low, control precision is high, algorithm is easily achieved, and has preferable practicability.
Description
Technical Field
The invention relates to the technical field of missile formation control, in particular to a formation control method for a flight missile cluster system.
Background
A cluster system is a system formed by interconnecting a large number of autonomous or semi-autonomous agents in a distributed configuration through a network. For a missile weapon system, the missile can be promoted to develop from a relatively simple single-missile function to a more complex cluster cooperative operation direction through cluster cooperation, each function of a single complex operation platform can be dispersed into a large number of infinitesimal missiles with low cost and single function by the missile cluster system, the original complex system function is realized through a large number of heterogeneous and heterotypic individuals, and the multiplication benefit of the system enables the missile cluster to have the operation capability far exceeding that of a single platform.
Traditional formation control strategies fall into three categories: leader-follower based formation control strategies, behavior-based formation control strategies, and virtual structure-based formation control strategies. In the field of aviation missile systems, a guided missile control mode, a swarm self-organizing cluster combat mode and a missile individual mission planning mode are mainly adopted for cluster combat.
The leading missile control mode belongs to a formation control strategy based on a leader-follower, and the basic idea is to designate one or more missiles as a leader, the other missiles as followers, the leading missile moves according to a designated path, and the leading missile and the trailing missile keep a specific relative position or angle relationship to move. The control mode of the leading projectile has the advantages of simplicity and easiness in implementation, and has the problems of poor robustness, incapability of maintaining formation if the leading projectile fails, and gradual transmission of formation errors.
The swarm self-organizing cluster operation mode belongs to a formation control strategy based on behaviors, the basic idea is that each missile monomer has several preset behavior modes such as approaching, aligning, dispersing, obstacle avoidance and the like, each behavior can generate corresponding control action, and a final controller of each missile monomer is obtained by weighting and summing the control actions of the behaviors. The operation mode of the swarm self-organizing cluster can simultaneously give consideration to the action modes of formation keeping, collision avoidance, obstacle avoidance and movement to a specific target, the intelligent degree is higher, but the model is too complex and is difficult to analyze theoretically.
A missile monomer mission planning mode belongs to a formation control strategy based on a virtual structure, and the basic idea is to design an expected formation through mission planning, take the formation as a rigid virtual structure, and track the movement of a corresponding point on the virtual structure by a missile monomer. The missile monomer mission planning mode has better robustness and high formation precision, but the mode has large communication quantity and calculated quantity, and all missile monomers are required to accurately track mission planning paths in real time.
In summary, the existing formation control method for the flight missile cluster system has the problem that the aspects of control precision, model complexity, algorithm complexity and the like are difficult to coordinate, and a formation control method for the flight missile cluster system, which has high control precision, simple model and simple algorithm, is urgently needed.
Disclosure of Invention
The invention provides a formation control method of a flying missile cluster system based on a consistency theory, aiming at the technical problem that the formation control of the flying missile cluster system in the prior art is difficult to coordinate in aspects of control precision, model complexity, algorithm complexity and the like.
The technical scheme adopted by the invention for solving the technical problems is as follows: a formation control method of a flying missile cluster system based on a consistency theory comprises the following steps:
s1, acquiring topological structure parameters, monomer position information, formation reference information and relative speed of adjacent monomers of the flying missile cluster system;
s2, calculating a formation control law in the guidance loop based on a consistency theory according to the information obtained in the step S1, and taking the formation control law as an expected acceleration of acceleration tracking in the control loop;
s3, decomposing the expected acceleration on an X-O-Z plane to obtain the expected acceleration of a speed system in the X direction and the Z direction; taking an engine accelerator and a speed inclination angle as a flying missile actuating mechanism, and adopting PI control to track the acceleration in the x direction and the z direction; and the formation control of the flying missile cluster system is realized by controlling the acceleration of the missile to track the expected acceleration.
Further, in step S1, the topology structure parameters include an adjacency matrix W, an in-degree matrix D, and a laplacian matrix L, and the calculation method is as follows:
D＝diag{degin(vi),i＝1,2,…,N}
L＝D-W
wherein, wijIndicating edge (v)j,vi) The weight of (2);is a node viThe degree of entry; node viRepresenting a flying missile monomer i (i belongs to {1,2, …, N }), wherein N is the number of missile monomers in a flying missile cluster system, and v is the limiti,vj) Representing the information transfer relation of the flying missile;
measuring position information x of flying missile monomer ii(t) relative velocity of adjacent monomers (v)i(t)-vj(t))(i,j＝1,…,N)；
The formation reference information isWherein h isi(t)＝[hix(t),hiv(t)]T(i∈{1,2,…,N})，hix(t)、hivAnd (t) are respectively a position formation reference and a speed formation reference of the missile monomer i.
Further, the formation control law in the step S2 is
Wherein k < 0 is a constant, and
further, the step S3 specifically includes the following steps:
establishing a dynamic motion equation of a monomer in the flying missile cluster system:
wherein,andthe acceleration is respectively the acceleration in the x direction and the z direction of the speed system, P is the thrust, m is the mass of the aircraft, α is the attack angle, g is the gravity acceleration, gammavTo a speed tilt angle, CyIs a coefficient of lift, CxIs a resistance coefficient, q is an incoming flow pressure, and S is a reference area;
wherein,andrepresenting the desired acceleration in the x and z directions respectively,andrepresenting measured values of acceleration, kpz，kiz，kpx，kixIndicating PI controlA parameter; s is the complex variable of the Laplace transform and τ is the time constant.
Compared with the guided missile control mode, the swarm self-organization cluster combat mode and the guided missile individual task planning mode in the field of formation control of the current flight guided missile cluster system, the guided missile individual is not required to sense global information, is controlled in a fully distributed mode, is quickly and accurately controlled in formation under the limited resource occupancy, and the expected formation acceleration tracking strategy of a guide loop and a control loop provides a thought which can be designed step by step.
Drawings
The accompanying drawings are included to provide a further understanding of embodiments of the invention, illustrate embodiments of the invention, and together with the description serve to explain the principle of the invention. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
FIG. 1 shows a formation control loop of a flying missile cluster system based on a consistency theory;
FIG. 2 shows a flow chart of formation control of the flying missile cluster system of the invention;
FIG. 3 shows a schematic view of the missile hull acceleration tracking control of the present invention;
FIG. 4 illustrates a flying missile trunking system topology according to a specific embodiment of the invention;
FIG. 5 is a view showing the positions of the flying missile trunking system of FIG. 4 at different times;
FIG. 6 is a velocity diagram of the flying missile trunking system of FIG. 4 at different times;
FIG. 7 shows the acceleration expectation curves for each of the missiles of FIG. 4;
FIG. 8 shows the acceleration tracking curve of missile 3 of FIG. 4;
FIG. 9 shows the engine throttle action curve for missile 3 of FIG. 4;
figure 10 shows the velocity pitch angle action curve for the projectile 3 of figure 4.
Detailed Description
The basic idea of a consistency-based formation control strategy is that the state or output of all the individual units of the cluster system maintains a certain deviation from a common formation reference. When the formation starts, the formation reference is unknown to the single bodies, and after distributed cooperative control is carried out, all the single bodies reach the agreement of the formation reference, so that the expected formation is realized.
In view of the advantages of a formation control strategy based on consistency in the distributed cooperative control aspect of a cluster system, the invention provides a cooperative control method based on a consistency theory and oriented to an aerial missile cluster system, and designs a guidance loop to generate expected acceleration of formation of the aerial missile cluster system and a control loop to control an aerial missile monomer to track corresponding acceleration, as shown in fig. 1. The guide loop stores time-varying formation reference information in advance, obtains a formation control law based on a consistency theory, and inputs a second-order system kinematic model to obtain an expected acceleration on an X-O-Z plane. The control loop takes the expected acceleration and the actual acceleration deviation measured by the accelerometer as control variables, adopts a PI controller to adjust the accelerator and the speed inclination angle of the engine, and inputs the control variables into a dynamic model of the aeronautical missile to control the acceleration of the missile to track the expected acceleration. And the formation fighting capacity of the aeronautical missile cluster system is formed under the condition of reducing the communication and calculation requirements of the missile monomers. The method has the characteristics of complete distributed calculation of the single body, low resource occupancy rate, high control precision and easy realization of the algorithm, and has better practicability.
The invention relates to a formation control method of a flying missile cluster system based on a consistency theory, which comprises the following steps of:
the method comprises the steps of firstly, acquiring topological structure parameters, monomer position information, formation reference information and relative speed of adjacent monomers of a networking flying missile cluster system.
(1) And calculating a topological structure parameter adjacency matrix W, an approach matrix D and a Laplace matrix L of the flying missile clustering system.
The topological relation of the flying missile cluster system is described by adopting a directed graph of a graph theory, and for convenience of understanding, the topological relation based on the graph theory is summarized firstly:
based on the graph theory, the topological relation of the cluster system is described by using a directed graph G ═ (v (G), e (G)), which includes a node set v (G) ═ v (G) }1,v2,…,vNAnd set of edgesEach side eijIs composed of a pair of nodes (v)i,vj) Is shown, wherein node vi、vjRespectively a father node and a son node. The adjacency matrix of the directed graph G is defined as Is a real number domain, where wijIndicating edge (v)j,vi) The weight of (2). Node viIs defined as Ni＝{vj∈V(G):(vi,vj) E (G) }. Node viIs defined asThe in-degree matrix of graph G is defined as D ═ diag { deg { (deg) }in(vi) I is 1,2, …, N }. The laplacian matrix of the directed graph G is defined as L ═ D-W.
The theory of the graph theory refers to the graph theory and its application (Zhang Mr. Li Zheng Liang, higher education Press, 2005,2.13-19, 31-40.).
In the flying missile cluster system containing N missile monomers, the graph theory nodes v are respectively usediAnd edge (v)i,vj) And representing the flying missile monomer i (i belongs to {1,2, …, N }) and the information transfer relationship, and converting the topological relationship of the flying missile cluster system into the analysis description of the directed graph G.
The topological structure parameters of the flying missile clustering system comprise an adjacency matrix W, an approach matrix D and a Laplace matrix L, and the calculation formula is as follows:
D＝diag{degin(vi),i＝1,2,…,N}
L＝D-W
wherein, wijIndicating edge (v)j,vi) The weight of (2);is a node viThe degree of entry of (c).
(2) And measuring the position information of the monomers of the flying missile cluster system and the relative speed of the adjacent monomers, and setting formation reference information.
The invention adopts a second-order system to describe a dynamic equation of a flying missile cluster system. For a flying missile cluster system containing N missile monomers, the kinetic equation is as follows:
wherein,the position, the speed and the acceleration of the missile monomer i are respectively, and the state space dimension is 2.
The relative velocities of the adjacent monomers were: (v)i(t)-vj(t))(i,j＝1,…,N)。
Time-varying vector for formation reference of flying missile cluster systemIs represented by the formula, whereini(t)＝[hix(t),hiv(t)]T(i∈{1,2,…,N})，hix(t)、hivAnd (t) are respectively a position formation reference and a speed formation reference of the missile monomer i.
The time-varying formation control determined by the formation reference h (t) is realized by the flying missile cluster system, and all monomers in the flying missile cluster system meet the following formula
Wherein i, j ∈ 1,2, …, N.
The principle of the control method of the invention provides a formation control strategy, so that the flying missile cluster system realizes formation control shown in a formula (2).
And step two, taking the information in the step one as input, calculating a formation control law in the guidance loop based on a consistency theory, and taking the formation control law as an expected acceleration of acceleration tracking in the control loop.
In a guidance loop, based on a consistency theory, a formation control law is proposed as follows:
wherein k < 0 is a constant, and
as can be seen from the formula (3), the formation control law design of the guidance loop only needs to know the topological structure parameter wijPosition information x of missile monomer ii(t), formation reference information h (t) (i ═ 1, …, N), and relative velocity (v) of adjacent monomeri(t)-vj(t)) (i, j ═ 1, …, N), it is not necessary to know the velocity information v for the monomer i exactlyi(t) of (d). And the parameter to be designed is only the parameter k related to the position information.
Step three, decomposing the expected acceleration on an X-O-Z plane to obtain the expected acceleration of the speed system in the X direction and the Z directionAndand taking an engine accelerator and a speed inclination angle as a flying missile actuating mechanism, and tracking the acceleration in the x direction and the z direction by adopting PI control.
The formation control tracking of the flight missile cluster system adopts a separated design of a guide loop and a control loop, the design target of the guide loop is the expected acceleration obtained by a formation control law, and the design target of the control loop is the tracking expected acceleration.
Will form control law ui(t) as the desired acceleration, is resolved in the X-O-Z plane intoAndand performing acceleration tracking control on all the monomers of the flying missile.
In order to simplify the calculation model, the missile single body of the invention meets the fixed-height flight, adopts the side-sway turning and has zero side slip. The effects of short-cycle processes and rotations can be neglected, taking into account only the effects of kinetic hysteresis.
In the invention, only the problem of acceleration tracking in a horizontal plane is considered, and the kinetic equation of motion of a monomer in the flying missile cluster system is as follows:
wherein,andrepresenting the acceleration of the speed system in the x-direction and the z-direction respectively, P representing the thrust, m aircraft mass, α attack angle, g gravity acceleration, gammavAngle of inclination of speed, CyCoefficient of lift, CxResistance coefficient, q incoming flow pressure, S reference area.
In equation (4), the thrust force P is mainly related to the engine throttle phi, i.e., P ═ P (phi), and the lift coefficient CyAnd coefficient of resistance CxCan be expressed as cx0To construct the coefficients.
As can be seen from equation (4), by adjusting the engine throttle phi and the speed tilt angle gammavCan realize the acceleration of the flying missile monomerAndthe tracking control of (2).
For the turbojet engine, the adjustment of the thrust can be realized by changing the rotating speed, the model can be approximated by a first-order inertia link,therefore, the engine thrust force adjustment model is expressed ass is a complex variable of Laplace transformation, the time constant tau is in the range of 0.2-0.4, as shown in FIG. 3, the engine throttle control phicObtaining the engine throttle phi after the thrust adjusting model, wherein phi is phic·Gf(s)。
Low pass filtering is introduced in the z-direction control loop so that the velocity tilt angle is:
the throttle control equation is
Wherein,andrepresenting the desired acceleration in the x and z directions respectively,andrepresenting measured values of acceleration, kpz，kiz，kpx，kixRepresents a proportional-integral controller (PI) control parameter.
The control loop takes the expected acceleration and the actual acceleration deviation measured by the accelerometer as control variables, adopts a PI controller to adjust the accelerator and the speed inclination angle of the engine, and inputs a dynamic model of the aeronautical missile, namely a formula (4), so as to control the acceleration of the missile to track the expected acceleration.
For a better understanding of the present invention, the control method of the present invention is explained below with reference to a specific embodiment and the accompanying drawings. This example was studied in a two-dimensional plane X-O-Z. A certain flight missile cluster system is composed of 6 missile monomers, the topological structure of the system is shown in figure 4, and the parameters of the topological structure of the flight missile cluster system correspond to:
the formation reference is an equilateral regular hexagon and rotates around the center according to the angular rate of 0.2rad/s, and the formation reference time-varying vector is expressed by hi(t) description, the vector elements represent the X-direction position X in turnXi(t) X-directional velocity vXi(t) Z-direction position xZi(t) and Z-directional velocity vZi(t)。
Presetting the initial position of the cluster system monomer to ξij(0) The value of (theta-0.5) (i is 1,2, …, 6; j is 1,2,3,4), wherein theta represents a random number between 0 and 1.
When k is-0.6, as selected by the formation control law equation (3):
the position and speed views of the flying missile cluster system at different moments are shown in fig. 5 and 6. As can be seen from fig. 5 and 6, according to the formation control method provided by the present invention, the cluster system implements time-varying formation control. Fig. 7 is a desired acceleration of formation obtained based on the formation control law calculation formula (3).
In the embodiment, a certain type of flight missile taking a turbojet engine as power is adopted, and key parameters of the flight missile are shown in a table 2:
TABLE 2 Key parameters of certain type of aeronautical missile
Taking missile monomer 3 as an example for acceleration tracking control, selecting PI control parameters: in the X direction kpx＝1.2，kix0.5; in the Z direction kpz＝10，kiz12. Tracking effect referring to fig. 8, it can be seen from fig. 8 that the missile single body can accurately and quickly track the expected formation acceleration. Fig. 9 and 10 show that the action of the execution mechanism of the missile is smooth in the formation control process and easy to realize physically.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. A formation control method of a flying missile cluster system based on a consistency theory is characterized by comprising the following steps:
s1, acquiring topological structure parameters, monomer position information, formation reference information and relative speed of adjacent monomers of the flying missile cluster system;
s2, calculating a formation control law in the guidance loop based on a consistency theory according to the information obtained in the step S1, and taking the formation control law as an expected acceleration of acceleration tracking in the control loop;
s3, decomposing the expected acceleration on an X-O-Z plane to obtain the expected acceleration of a speed system in the X direction and the Z direction; the acceleration in the x direction and the acceleration in the z direction are tracked by adopting PI control by taking an engine accelerator and a speed inclination angle as a flight missile actuating mechanism; and the formation control of the flying missile cluster system is realized by controlling the acceleration of the missile to track the expected acceleration.
2. The formation control method of the flying missile cluster system according to claim 1, wherein in the step S1, the topological structure parameters include an adjacency matrix W, an approach matrix D and a laplacian matrix L, and the calculation method is as follows:
D＝diag{degin(vi),i＝1,2,…,N}
L＝D-W
wherein, wijIndicating edge (v)j,vi) The weight of (2);is a node viThe degree of entry; node viRepresenting a flying missile monomer i (i belongs to {1,2, …, N }), wherein N is the number of missile monomers in a flying missile cluster system, and v is the limiti,vj) Representing the information transfer relation of the flying missile;
measuring position information x of flying missile monomer ii(t) relative velocity of adjacent monomers (v)i(t)-vj(t))(i,j＝1,…,N)；
The formation reference information isWherein h isi(t)＝[hix(t),hiv(t)]T(i∈{1,2,…,N})，hix(t)、hivAnd (t) are respectively a position formation reference and a speed formation reference of the missile monomer i.
3. The formation control method of flying missile cluster system as claimed in claim 2, wherein the formation control law in step S2 is
Wherein k < 0 is a constant, and
4. the formation control method of the flying-aviation missile cluster system according to claim 3, wherein the step S3 specifically comprises the following steps:
establishing a dynamic motion equation of a monomer in the flying missile cluster system:
wherein,andthe acceleration is respectively the acceleration in the x direction and the z direction of the speed system, P is the thrust, m is the mass of the aircraft, α is the attack angle, g is the gravity acceleration, gammavTo a speed tilt angle, CyIs a coefficient of lift, CxIs a resistance coefficient, q is an incoming flow pressure, and S is a reference area;
wherein,andrepresenting the desired acceleration in the x and z directions respectively,andrepresenting measured values of acceleration, kpz，kiz，kpx，kixRepresents a PI control parameter; s is the complex variable of the Laplace transform and τ is the time constant.
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| CN113050679A (en) * | 2020-12-08 | 2021-06-29 | 北京航空航天大学 | Fully-distributed robust missile formation cooperative controller |
| CN113741548A (en) * | 2021-10-20 | 2021-12-03 | 北京机电工程研究所 | Nonlinear cooperative guidance method and device for formation of unmanned aerial vehicles and storage medium |
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