Space cooperative multi-aircraft time cooperative guidance control method

Abstract

The application discloses a space cooperative multi-aircraft time cooperative guidance control method. Multiple aircrafts are launched at different positions, and the multiple aircrafts communicate with each other in the flight process. The guidance law of each aircraft is changed according to the state of the aircraft itself and other aircrafts, so that the multiple aircrafts reach the target position at the same time. The space cooperative multi-aircraft time cooperative guidance control method disclosed by the application can enable the multiple aircrafts to reach the target position at the same time within a limited time, and hit the target in the expected line-of-sight relative direction.

Description

TECHNICAL FIELD

[0001] The application relates to a space coordination multi-aircraft time coordination guidance control method and belongs to the technical field of aircraft control. BACKGROUND

[0002] Multi-aircraft coordination breakthrough is to form a network by means of a communication system, to realize cooperation and collaboration through information sharing, and to jointly complete a breakthrough or attack task.

[0003] However, the existing multi-aircraft coordination breakthrough is mostly to interfere with the interceptor missile through the trajectory overlap between the aircrafts, or to realize penetration through high maneuverability and high quantity, which enables the interception system to launch the interceptor missile multiple times to intercept the aircrafts, and the breakthrough loss is large.

[0004] The inventor finds that if multiple aircrafts attack the target at the same time, the interception system can only intercept once due to the consistent attack time, which can greatly improve the penetration capability.

[0005] Therefore, it is necessary to study a space coordination multi-aircraft time coordination guidance control method to realize that multiple aircrafts attack the target at the same time. SUMMARY

[0006] In order to overcome the above problems, the inventor has conducted in-depth research and proposed a space coordination multi-aircraft time coordination guidance control method, multiple aircrafts are launched at different positions, multiple aircrafts communicate with each other during flight, and the guidance law of each aircraft is changed according to the state of itself and other aircrafts, so that multiple aircrafts reach the target position at the same time.

[0007] Further, in the application, the component of the guidance law of the aircraft in the missile-target line-of-sight direction is set as:

[0008]

[0009] u R,i represents the acceleration component of the i-th aircraft along the missile-target line-of-sight direction, that is, the component of the guidance law of the aircraft in the missile-target line-of-sight direction; is an intermediate variable; j represents the serial number of other aircrafts except the i-th aircraft in the coordinated aircrafts, and N represents the total number of the aircrafts coordinated with the i-th aircraft; a ij represents whether the information exchange between the i-th aircraft and the j-th aircraft can be carried out, a ij = 1 when the information exchange can be carried out, otherwise a ij = 0; is a constant parameter; alpha1, alpha2, beta1, beta2, m 1,i , k 1,i are to-be-designed parameters; sigma 1,idenotes the first sliding mode variable, σ 1,i (t) denotes the first sliding mode variable function of time;

[0010] x 1,i , x 2,i , x 3,i , x 4,i is an intermediate variable of the i-th vehicle, which can be obtained by the following formula;

[0011]

[0012]

[0013] wherein R i denotes the relative distance between the i-th vehicle and the target, λ i denotes the line-of-sight angle between the i-th vehicle and the target, u λ,i denotes the acceleration component of the i-th vehicle along the line-of-sight normal direction, q id denotes the desired terminal line-of-sight angle.

[0014] Further, the first sliding mode variable is set as:

[0015]

[0016] Preferably, the to-be-designed parameters satisfy:

[0017] α1>1, α2<1, β1>1, β2<1,

[0018] Further, the component of the guidance law of the vehicle in the line-of-sight normal direction is set as:

[0019]

[0020] wherein u λ,i denotes the acceleration component of the i-th vehicle along the line-of-sight normal direction, i.e., the component of the guidance law of the vehicle in the line-of-sight normal direction; is an intermediate variable; m 2,i , k 2,i is a to-be-designed parameter; σ 2,i denotes the second sliding mode variable; σ 2,i (t) denotes the second sliding mode variable function of time.

[0021] Further, the second sliding mode variable is set as:

[0022]

[0023] In a preferred embodiment, the acceleration component of the aircraft in the direction of the line of sight of the projectile is u R,i The acceleration component of the aircraft in the direction of the line of sight of the projectile is u λ,i has the following relationship:

[0024] a Mx,i = u R,i cos (λ i - θ M,i ) - u λ,i sin (λ i - θ M,i )

[0025] a My,i = u R,i sin (λ i - θ M,i ) + u λ,i cos (λ i - θ M,i )

[0026] Wherein, a Mx,i represents the normal acceleration of the aircraft i, a My,i represents the tangential acceleration of the aircraft i, λ i represents the line of sight angle of the projectile, θ M,i represents the angle between the direction of the speed of the aircraft i and the line of sight angle of the projectile.

[0027] In a preferred embodiment, the relative motion equation is:

[0028]

[0029]

[0030]

[0031]

[0032] θ M,i = γ M,i - λ i

[0033] Wherein, R i represents the distance between the aircraft i and the target; V M,i represents the speed of the aircraft i, λ i represents the line of sight angle of the aircraft i to the target, γ M,i represents the trajectory inclination angle of the aircraft i, and the above parameters can be obtained by sensors carried on the aircraft.

[0034] The present application has the beneficial effects including:

[0035] (1) By setting and constraining the component of the guidance law of the aircraft in the direction of the line of sight, multiple aircrafts can reach the target position at the same time within a limited time, realizing time coordination of multiple aircrafts;

[0036] (2) By setting and constraining the component of the guidance law of the aircraft in the direction of the line of sight, multiple aircrafts can reach the target position at the same time within a limited time, realizing time coordination of multiple aircrafts;

[0037] (3) By attacking the target at the same time, the breakthrough of the interceptor aircraft is realized, thereby improving the penetration ability. BRIEF DESCRIPTION OF DRAWINGS

[0038] Figure 1 A schematic diagram of a space-coordinated multiple aircraft time-coordinated guidance control method according to a preferred embodiment of the present application is shown;

[0039] Figure 2 A simulation result of the trajectory of the aircraft in Example 1 is shown;

[0040] Figure 3 A simulation result of the relative distance between the aircraft and the target in Example 1 is shown;

[0041] Figure 4 A simulation result of the trajectory of the aircraft in Example 2 is shown;

[0042] Figure 5 A simulation result of the relative distance between the aircraft and the target in Example 2 is shown. DETAILED DESCRIPTION

[0043] The present application will be further described in detail by the accompanying drawings and examples. Through these descriptions, the features and advantages of the present application will become more apparent.

[0044] The word "exemplary" is used herein to mean "serving as an example, instance, or illustration." Any implementation described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other implementations. Unless specifically indicated otherwise, the drawings shown in the Figures are not necessarily to scale.

[0045] The present application provides a space-coordinated multiple aircraft time-coordinated guidance control method. Multiple aircrafts are launched at different positions, and during flight, the multiple aircrafts communicate with each other and change their respective guidance laws according to their own and other aircraft states, so that the multiple aircrafts reach the target position at the same time.

[0046] Further, in the present application, by setting and constraining the component of the guidance law of the aircraft in the direction of the line-of-sight between the missile and the target, the multiple aircrafts can reach the target position simultaneously in a limited time, realizing the time coordination of the multiple aircrafts; by setting and constraining the component of the guidance law of the aircraft in the direction normal to the line-of-sight between the missile and the target, the relative line-of-sight angle of the multiple aircrafts converges to the expected value in a limited time, and the multiple aircrafts hit the target in the expected relative direction of the line-of-sight, realizing the space coordination of the multiple aircrafts.

[0047] According to the present application, the component of the guidance law of the aircraft in the direction of the line-of-sight between the missile and the target is set as:

[0048]

[0049] wherein u R,i represents the acceleration component of the i-th aircraft in the direction of the line-of-sight between the missile and the target, i.e. the component of the guidance law of the aircraft in the direction of the line-of-sight between the missile and the target; is an intermediate variable; j represents the serial number of the other aircrafts in the coordinated aircrafts except the i-th aircraft, and N represents the total number of the aircrafts coordinated with the i-th aircraft a ij represents whether the information exchange between the i-th and j-th aircrafts can be carried out, and when the information exchange can be carried out, a ij = 1, otherwise a ij = 0; is a constant parameter, preferably,

[0050] α1, α2, β1, β2 represent the to-be-designed parameters; m 1,i , k 1,i are to-be-designed parameters, σ 1,i represents the first sliding mode variable σ 1,i (t) represents the first sliding mode variable function changing with time; x 1,i , x 2,i , x 3,i , x 4,i is an intermediate variable of the i-th aircraft, and can be obtained by the following formula;

[0051]

[0052]

[0053] wherein R i represents the relative distance between the i-th aircraft and the target, λ i represents the line-of-sight angle between the i-th aircraft and the target, u λ,i represents the acceleration component of the i-th aircraft in the direction normal to the line-of-sight between the missile and the target, q id represents the expected terminal line-of-sight angle.

[0054] According to the application, the guidance law component in the direction of the line-of-sight of the missile can realize time-coordinated attack of a stationary target by multiple aircrafts.

[0055] Further, the first sliding mode variable is set as:

[0056]

[0057] Preferably, the to-be-designed parameter satisfies:

[0058] α1>1,α2<1,β1>1,β2<1,

[0059] The parameter condition can reduce the time for coordinated attack by multiple aircrafts and improve the robustness of the guidance law.

[0060] According to the application, the component of the guidance law of the aircraft in the direction of the line-of-sight normal of the missile is set as:

[0061]

[0062] Wherein, u λ,i represents the acceleration component of the i-th aircraft in the direction of the line-of-sight normal of the missile, i.e. the component of the guidance law of the aircraft in the direction of the line-of-sight normal of the missile; is an intermediate variable; m 2,i , k 2,i represents a to-be-designed parameter σ 2,i represents a sliding mode variable; σ 2,i (t) represents a sliding mode variable function.

[0063] According to the application, the setting of the component of the guidance law in the direction of the line-of-sight normal of the missile can make the line-of-sight angular rate of multiple aircrafts and the target converge to 0 in a limited time according to the line-of-sight angle error, i.e. multiple aircrafts can hit the target in the expected line-of-sight relative direction.

[0064] Further, the second sliding mode variable is set as:

[0065]

[0066] According to the application, the acceleration component of the aircraft in the direction of the line-of-sight of the missile u R,i and the acceleration component of the aircraft in the direction of the line-of-sight normal of the missile u λ,i have the following relationship:

[0067] a Mx,i = u R,i cos(λ i -θ M,i )- u λ,i sin(λ i- θ M,i )

[0068] a My,i = u R,i sin(λ i - θ M,i ) + u λ,i cos(λ i - θ M,i )

[0069] wherein a Mx,i represents the normal acceleration of the aircraft i, a My,i represents the tangential acceleration of the aircraft i, θ M,i represents the angle between the direction of the speed of the aircraft i and the line of sight angle of the aircraft i to the target, and u λ,i can be obtained from the relative motion equation of the aircraft and the target.

[0070] In a preferred embodiment, the relative motion equation is:

[0071]

[0072]

[0073]

[0074]

[0075] θ M,i = γ M,i - λ i

[0076] wherein R i represents the distance between the aircraft i and the target; V M,i represents the speed of the aircraft i, λ i represents the line of sight angle of the aircraft i to the target, and γ M,i represents the ballistic angle of the aircraft i, and the above parameters can be obtained from the sensors carried on the aircraft.

[0077] According to the present application, after the aircraft is launched, the aircraft starts to perform the guidance control: specifically, the aircraft obtains the line of sight angle of each aircraft to the target, the relative distance between the aircraft and the target, the speed of the aircraft, the flight attitude, the acceleration and other information through the on-board sensors, and transmits the obtained information to other aircraft through communication, and after the aircraft obtains the information, the guidance law component is calculated according to the above setting, so as to obtain the overload instruction of each aircraft, and then the flight trajectory of each aircraft is changed according to the overload instruction, so as to achieve the effect of attacking the target at the expected attack time.

[0078] Embodiment

[0079] Embodiment 1

[0080] An emulation experiment is set up, and 3 aircrafts are set up to attack the target cooperatively.

[0081] Wherein, the position of the target is set as (8200, 0), and the initial parameters of the aircrafts are shown in Table 1.

[0082] Table 1

[0083] Aircraft Position (m) Velocity (m / s) Trajectory angle Desired line of sight angle M1 (0,9000) 390 -20 0 M2 (0,6000) 400 -10 5 M3 (0,-8000) 410 10 90

[0084] After the aircrafts are launched, the multiple aircrafts communicate with each other in the flight process, and change the guidance law of each aircraft according to the state of itself and other aircrafts, so that the multiple aircrafts reach the target position at the same time.

[0085] The relative motion equation of the aircraft is:

[0086]

[0087]

[0088]

[0089]

[0090] θ M,i =γ M,i -λ i

[0091] The component of the guidance law of the aircraft in the direction of the line of sight of the missile-target is set as:

[0092]

[0093] The component of the guidance law of the aircraft in the direction of the line of sight of the missile-target is set as:

[0094]

[0095] Wherein, x 1,i , x 2,i , x 3,i , x 4,i are the intermediate variables of the aircraft i, which can be obtained by the following formula:

[0096]

[0097]

[0098] Further, the acceleration component u R,i of the aircraft along the line of sight direction of the missile-target and the acceleration component u λ,i along the normal direction of the line of sight of the missile-target have the following relationship:

[0099] a Mx,i =u R,i cos(λ i -θ M,i )-u λ,i sin(λ i -θ M,i )

[0100] a My,i =u R,i sin(λ i -θ M,i )+u λ,i cos(λ i -θ M,i )

[0101] The first sliding mode variable is represented as:

[0102]

[0103] The second sliding mode variable is represented as:

[0104]

[0105] Among them, the design parameters are α1 = 10, α2 = 20, β1 = 10,

[0106] Simulation results are as follows Figure 2 , 3 As shown, where, Figure 2 The simulation results of the aircraft's ballistic trajectory in Example 1 are shown; Figure 3 The simulation results of the relative distance between the aircraft and the target over time in Example 1 are shown.

[0107] from Figure 2 , 3 It can be seen that the three aircraft can hit the target simultaneously from the desired relative line-of-sight direction, achieving a coordinated attack.

[0108] Example 2

[0109] The same simulation experiment as in Example 1 was conducted, except that four aircraft were set up to attack the target in a coordinated manner.

[0110] The target's position is set as shown in Table 2, and the initial parameters of the aircraft are shown in Table 2.

[0111] Table 2

[0112] Aircraft Position (m) Velocity (m / s) Trajectory angle Desired line of sight angle M1 (0,9000) 390 -20 0 M2 (0,6000) 400 -10 5 M3 (0,-8000) 410 10 90 M4 (0,-7000) 420 20 95

[0113] Simulation results are as follows Figure 4 , 5 As shown, where, Figure 4The simulation results of the relative distance between the aircraft and the target in embodiment 2 are shown. Figure 5 The simulation results of the relative distance between the aircraft and the target in embodiment 2 are shown.

[0114] From Figure 4 , 5 It can be seen that at about 25s, the four aircraft terminals simultaneously implement the attack on the target, and ensure that the attack angle of each aircraft is the same as the expected angle.

[0115] In the description of the present application, it should be noted that the terms "upper", "lower", "inner", "outer", "front", "back" and the like indicate the orientation or positional relationship based on the working state of the present application, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", "third", "fourth" are only for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0116] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integral connection; it can be mechanical connection, or electrical connection; it can be direct connection, or indirect connection through intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0117] The above describes the present application in combination with the preferred embodiments, but these embodiments are only exemplary and serve only to illustrate. On this basis, various substitutions and improvements can be made to the present application, which all fall within the scope of protection of the present application.

Claims

1.A space-coordinated multi-vehicle time-coordinated guidance control method, characterized in that, a plurality of vehicles are launched at different positions, and the plurality of vehicles communicate with each other during flight, and change their respective guidance laws according to their own and other vehicles' states, so that the plurality of vehicles reach the target position at the same time; a component of the guidance law of the vehicle in the direction of the line-of-sight (LOS) between the vehicle and the target is set as: u R,i represents the acceleration component of the ith aircraft along the missile-target line-of-sight direction, that is, the component of the aircraft's guidance law in the missile-target line-of-sight direction; is an intermediate variable; j represents the serial number of the other aircraft in the cooperative aircraft, N represents the total number of cooperative aircrafts with aircraft i; a ij represents whether the aircraft i, j can exchange information, a ij = 1, otherwise a ij = 0; is a constant parameter; α1, α2, β1, β2, m 1,i , k 1,i is a parameter to be designed; σ 1,i represents the first sliding mode variable, σ 1,i (t) represents the first sliding mode variable function changing with time; a component of the guidance law of the vehicle in the direction normal to the LOS between the vehicle and the target is set as: wherein u λ,i represents the acceleration component of the i-th aircraft along the line-of-sight normal direction, i.e. the component of the guidance law of the aircraft in the line-of-sight normal direction; is an intermediate variable; m 2,i , k 2,i is a parameter to be designed; σ 2,i represents the second sliding mode variable; σ 2,i (t) represents a function of the second sliding mode surface variable with respect to time; x 1,i , x 2,i , x 3,i , x 4,i are intermediate variables for aircraft i, obtainable by the following equations; where R i represents the relative distance between the ith vehicle and the target, λ i represents the line-of-sight angle between the ith vehicle and the target, u λ,i represents the acceleration component of the ith vehicle along the line-of-sight normal direction, q id represents the desired terminal line-of-sight angle. 2.The space-coordinated multi-vehicle time-coordinated guidance control method according to claim 1, characterized in that, the first sliding mode variable is set as: 3.The space-coordinated multi-vehicle time-coordinated guidance control method according to claim 1, characterized in that, the to-be-designed parameter satisfies: α1＞1,α2＜1,β1＞1，β2＜1， 4.The space-coordinated multi-vehicle time-coordinated guidance control method according to claim 1, characterized in that, the second sliding mode variable is set as: 5.The space-coordinated multi-vehicle time-coordinated guidance control method according to claim 1, characterized in that, The acceleration component u of the aircraft in the direction of the line of sight of the projectile R,i The acceleration component u in the direction of the normal of the line of sight of the projectile λ,i has the following relationship: a Mx,i = u R,i cos(λ i - θ M,i ) - u λ,i sin(λ i - θ M,i ) a My,i = u R,i sin(λ i - θ M,i ) + u λ,i cos(λ i - θ M,i ) where a Mx,i represents the normal acceleration of the aircraft i, a My,i represents the tangential acceleration of the aircraft i, θ M,i represents the angle between the velocity direction of the aircraft i and the line of sight angle of the missile. 6.The space-coordinated multi-vehicle time-coordinated guidance control method according to claim 5, characterized in that, Acceleration component u in the direction of the line-of-sight normal of the projectile λ,i Obtained from the relative motion equation of the aircraft and the target, the relative motion equation is: θ M,i = γ M,i - λ i where V M,i denotes the velocity of the aircraft i, γ M,i denotes the ballistic angle of the aircraft i, and the above parameters can be obtained by sensors carried on the aircraft.

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