Multi-ship-borne isomer ship surface collaborative trajectory planning and control method based on isomorphism-tracking

A trajectory planning and control method technology, applied in two-dimensional position/channel control, control/regulation system, non-electric variable control and other directions, can solve the problem of difficulty in taking into account calculation efficiency and accuracy, difficult to strictly meet terminal constraints, and ineffective Application of multi-carrier aircraft cooperative trajectory planning and control to achieve the effect of improving computational efficiency and robustness
CN112904868AActive Publication Date: 2021-06-04中国人民解放军军事科学院战争研究院
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
中国人民解放军军事科学院战争研究院
Publication Date
2021-06-04

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Abstract

The invention discloses a multi-ship-borne isomer ship surface collaborative trajectory planning and control method based on isomorphism-tracking, and belongs to the technical field of ship surface collaborative planning and control. The method comprises the following steps: firstly, simplifying a rod traction aircraft system into a virtual aircraft system, simplifying a heterogeneous system into an isomorphic system formed by a virtual / taxiing aircraft system, and establishing an optimal control model for multi-isomorphic collaborative trajectory planning; then, solving the model by adopting an optimal control algorithm to obtain standard optimal tracks and control quantities of each virtual aircraft system and each taxiing aircraft system; and finally, enabling each rod traction aircraft system to track the virtual aircraft system standard optimal trajectory constructed according to the rod traction aircraft system, establishing an optimal control model for trajectory tracking of the rod traction aircraft system, and adopting an optimal control algorithm to solve and obtain the trajectory and the control quantity of each rod traction aircraft system. According to the method, the problem of multi-ship-borne isomer collaborative trajectory planning and control can be effectively solved, and the calculation efficiency and robustness are improved.
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Description

technical field

[0001] The invention belongs to the technical field of ship-board cooperative planning and control of ship-borne heterogeneous systems, and in particular relates to a multi-ship-borne heterogeneous ship-surface collaborative trajectory planning and control method based on isomorphism-tracking. Background technique

[0002] There are two modes of carrier-based aircraft deployment, that is, aircraft taxiing and towing, because these two transportation methods are often carried out at the same time, and the structure and control characteristics of the taxiing aircraft system and the towed aircraft system are quite different. Therefore, how to realize the effective coordination between the traction / taxiing aircraft systems with rods in the narrow deck space and complex operating environment, so as to ensure the coordination, safety and efficiency of each stage of operation, is the key issue to improve the recovery capability of the aircraft carrier.

[0003] Most...

Claims

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