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Autonomous cooperative control method and system based on distributed consistency and self-networking

A collaborative control and consistent technology, applied in the control/adjustment system, non-electric variable control, three-dimensional position/course control, etc., can solve the problem that the flight time cannot be normally converged, the cooperative guidance accuracy is not good, and the guidance error increases, etc. problem, to achieve the effect of reducing the amount of data processing, improving control accuracy and efficiency, and reducing the amount of communication

Active Publication Date: 2020-01-21
XIDIAN UNIV
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AI Technical Summary

Problems solved by technology

The existing cooperative guidance method is difficult to deal with the complex flight environment and the failure of the aircraft itself, and the accuracy of the cooperative guidance is not good; if a certain aircraft fails during the mission, it will seriously affect the expected terminal time of other aircraft, resulting in the inability to wait for flight time. Normal convergence, which in turn causes the guidance error to increase significantly, and even leads to the failure of the flight mission

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  • Autonomous cooperative control method and system based on distributed consistency and self-networking
  • Autonomous cooperative control method and system based on distributed consistency and self-networking
  • Autonomous cooperative control method and system based on distributed consistency and self-networking

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Embodiment Construction

[0061] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Apparently, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0062] In order to realize cooperative flight, the embodiment of the present invention adopts a three-layer cooperative structure, such as figure 1 As shown, the bottom layer is the guidance method of terminal time and angle control (ITACG) for the control of the aircraft body, which realizes the guidance control of the aircraft body; Coordinated control; the top layer is the autonomous management of group members, considering the space-time collaborative guidance under the c...

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Abstract

The invention discloses an autonomous cooperative control method and system based on distributed consistency and self-networking. The control method comprises guidance control, coordination control and autonomous management; an on-board computer conducts ontology guidance on a single aircraft through adopting terminal time and angle controlled guidance instruction by taking to-fly time as a coordination variable; according to a space-time cooperative control method based on the distributed consistency in a group cooperative flight network, cooperative arrival time of a group is determined according to predicted to-fly time of each aircraft and the cooperative arrival time is used as the terminal time of the guidance control; and adaptive networking is carried out according to the current flight state of each aircraft and the control capability constraint of each aircraft in the group, and the coordination control based group cooperative flight network is adjusted in real time. According to the method, flight dynamics, optimal control and consistency theories are integrated to achieve the purpose of guidance, the complex environment and fault processing capability of the group can be effectively improved, the cooperative guidance precision is high, the communication traffic is small, and the realization difficulty is reduced.

Description

technical field [0001] The invention belongs to the technical field of aircraft guidance and control, and relates to an autonomous cooperative control method and system based on distributed consistency and ad hoc network. Background technique [0002] Cooperative flight is to cooperate and cooperate with each other among multiple aircraft of the same type or different type to jointly perform various missions such as detection, penetration, and strike. With the purpose of adjusting the flight mode and adapting to future complex flight missions, all members form an overall network. Under the control and management of the network command center, the aircraft communicate with each other, share information, and learn from each other. Coordinated flight can not only greatly improve the overall penetration capability, detection and destruction capabilities of targets, but also reduce communication costs through distributed information exchange, and reduce control costs by achieving...

Claims

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Application Information

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IPC IPC(8): G05D1/10
CPCG05D1/104
Inventor 朱建文唐子遨孙海峰白博文李小平刘彦明
Owner XIDIAN UNIV
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