Completely distributed robust missile formation cooperative controller
A distributed control and controller technology, applied in non-electric variable control, control/regulation system, three-dimensional position/channel control and other directions, can solve the problem of not being able to maintain stable flight in formation and formation, and achieve reduced conservatism and clear meaning. , the effect of simple structure
Active Publication Date: 2021-06-29
BEIHANG UNIV
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[0007] In order to solve the formation control of the missile formation in the process of large-scale maneuvering flight, and the task that the formation formation cannot be kept stable due to uncertain factors and external environmental interference factors, the present invention designs a completely distributed robust missile formation cooperative controller
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[0059] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.
[0060] In the present invention, since each missile in the formation formation is in the flight mission process, the coordinated guidance between the missiles has nothing to do with the formation communication topology, that is, the global information of the communication topology is not needed to guide the flight attitude of each missile, and a single missile It only depends on the relative position and relative velocity of itself and its adjacent missiles, therefore, the formation flight control system designed by the present invention is completely distributed. Therefore, a missile is labeled as i, and missiles adjacent to missile i are labeled as missile j and missile ξ. For example, Figure 4 The column formation formed by 4 missiles shown is missile i, missile j, missile ξ and missile ζ.
[0061] In the present invention, in order to r...
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The invention discloses a fully distributed robust missile formation cooperative controller. The fully distributed robust missile formation cooperative controller is composed of a fully distributed adaptive controller (100), an adaptive compensation controller (200), a control instruction fusion module (300) and a missile dynamic model (400). The control instruction fusion module (300) sums a completely distributed control instruction and a compensation control instruction to obtain a motion control input instruction ui; and the missile dynamic model (400) is designed for three-dimensional space mass points. According to the present invention, the parameters required by the controller are irrelevant to the global information of communication topology, do not need the structure information of a communication structure chart, and only depend on the relative positions and speeds of a missile and the neighbor missiles of the missile, so that under various uncertain interference factors, the missile formation can realize the technical effects of stable flight of complete distributed formation and formation shape keeping.
Description
technical field [0001] The present invention relates to the design of a missile formation controller, more particularly, the fully distributed robust missile formation cooperative controller designed by the present invention is added to the traditional missile autonomous formation cooperative guidance control system. Background technique [0002] A missile (Missile) usually consists of four parts: warhead (warhead), body structure system, power plant propulsion system and guidance system. Among them, the missile guidance system is a general term for various devices such as guiding the missile to the target according to a certain guiding law, controlling its movement around the center of mass and its movement around the center of mass, as well as the time-of-flight program, command signal, power supply, and power distribution. Its function is to timely measure the position of the missile relative to the target, determine the flight trajectory of the missile, control the fligh...
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IPC IPC(8): G05D1/10
CPCG05D1/104
Inventor 刘昊刘德元蔡国飙
Owner BEIHANG UNIV