Method for implementing parametric air combat maneuvers
By classifying and controlling parameters of air combat maneuvering actions and numerical transitions in action connection, the problem of unclear maneuvering actions of air combat maneuvering actions is solved, more efficient and smoother action switching is achieved, and the risk of aircraft damage is reduced.
Patent Information
- Application Number
- CN202310550960.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2023-05-16
- Publication Date
- 2024-12-17
- Estimated Expiration
- 2043-05-16
AI Technical Summary
The entry and switching conditions of existing air combat maneuvering operations are unclear, resulting in complex maneuvering operations relying on pilot experience, difficulty in promoting, different movement smoothness and efficiency, and some movements will damage the aircraft due to connection problems.
By classifying maneuvering actions, using multiple types of control parameters to describe typical actions, and smooth switching is achieved through numerical transitions during the action connection, including transitions of parameters such as track inclination, overload, rolling angle, and target position. .
It reduces the complexity of upper-level decisions, improves the smoothness of action switching, reduces energy loss and switching speed, and improves the efficiency of action execution.
Smart Images
Figure CN116560388B_ABST
Abstract
Description
Technical Field
[0001] The invention relates to a method for realizing parameterized air combat maneuvering action, belonging to the technical field of aircraft control. Background Art
[0002] In the long-term practice and exploration, a lot of research and analysis have been conducted on air combat actions, and the basic maneuvers (BFM) of aircraft have gradually been formed. The process of air combat can also be regarded as switching between different states of BFM, or the combined application of BFM. BFM mainly includes basic maneuvers such as somersaults, half rolls, turns (horizontal turns, combat turns), tracking, high-speed shaking, low-speed shaking, barrel rolls, etc. Pilots often combine basic maneuvers to form more complex maneuvers, such as snake maneuvers, rolling scissors, etc.
[0003] But the problem with basic maneuvers is that the entry and switching conditions for different maneuvers are not clear. Maneuvers often change continuously or include several stages. For example, a half roll requires first performing a 180-degree roll, then pulling the overload to reverse, and exiting the half roll when the exit conditions are met to perform other maneuvers. Since the entry and switching conditions of different exciting actions are not clear, the complex maneuvering process formed by the combination depends entirely on the pilot's experience. On the one hand, it is difficult to promote and even more difficult to achieve automatic driving; on the other hand, the smoothness of the action has large fluctuations, and the efficiency of action execution varies. Some actions may even seriously damage the aircraft due to connection problems.
[0004] Due to the above reasons, it is necessary to study the existing air combat maneuvers to solve the above problems. Summary of the invention
[0005] In order to overcome the above problems, the inventors have conducted in-depth research and designed a method for implementing parameterized air combat maneuvers, including the following steps:
[0006] S1. Classify the maneuvers and obtain typical movements;
[0007] S2. Using control parameters to describe typical actions, wherein the control parameters include multiple types;
[0008] S3. In the process of connecting two typical actions, for each control parameter involved, a numerical transition of the control parameter of that type is performed to achieve a smooth switch between the two typical actions.
[0009] In a preferred embodiment, in S1, the maneuver is classified according to the variable changes during the execution of the maneuver.
[0010] In a preferred embodiment, in S1, the typical actions include tilt tracking, somersault, horizontal turn, circling, half roll, rear tracking, front tracking, pure tracking, high and low yoyo.
[0011] In a preferred embodiment, the control parameters include track inclination, overload, roll angle, target position, target speed, proportional coefficient, turning point speed and climb inclination.
[0012] In a preferred embodiment, there are no more than three control parameters describing each typical action.
[0013] In a preferred embodiment, the inclination tracking action is described using the track inclination as a control parameter;
[0014] The somersault action is described using overload and roll angle as control parameters;
[0015] The horizontal turning action is described using the roll angle as the control parameter;
[0016] The hovering action is described using the roll angle and track inclination as control parameters;
[0017] The half-roll reversing action is described using overload as the control parameter;
[0018] The post-tracking action is described using the target position as the control parameter;
[0019] The pre-tracking action is described using target position, target velocity and proportional coefficient as control parameters;
[0020] Pure pursuit actions are described using the target position as the control parameter;
[0021] The high and low yoyo actions are described using the target position, turning point speed and climbing inclination as control parameters.
[0022] In a preferred embodiment, in S3, for any identical control parameter in two typical actions, the variable undergoes the following numerical transition:
[0023]
[0024] Among them, P is the actual value of the control parameter variable, P old is the actual value of the previous action variable, P new is the expected value of the next action variable, t is the current time, t0 is the start time of action switching, t f Switch the end time for the intended action.
[0025] In a preferred embodiment, in S3, for a control parameter contained in the previous typical action but not contained in the next typical action, the variable undergoes the following numerical transition:
[0026]
[0027] Among them, P is the actual value of the variable, P old is the actual value of the previous action variable, t is the current time, t0 is the start time of action switching, t e Sets the end time for this variable of the previous action.
[0028] In a preferred embodiment, in S3, for a control parameter that is not included in the previous typical action but is included in the next typical action, the variable value of the next typical action is directly changed.
[0029] The beneficial effects of the present invention include:
[0030] (1) The parameterized air combat maneuvering action implementation method provided by the present invention reduces the output complexity of the upper-level mechanism decision;
[0031] (2) The parameterized air combat maneuvering action realization method provided by the present invention improves the smoothness of action switching;
[0032] (3) The method for implementing parameterized air combat maneuvers provided by the present invention has low energy loss during the switching process, fast switching speed, and high action execution efficiency. BRIEF DESCRIPTION OF THE DRAWINGS
[0033] Figure 1 A schematic flow chart of a method for implementing parameterized air combat maneuvers according to a preferred embodiment of the present invention is shown;
[0034] Figure 2 A schematic diagram of the trajectory of a positive somersault action of an aircraft in a method for realizing a parameterized air combat maneuver according to a preferred embodiment of the present invention is shown;
[0035] Figure 3 A schematic diagram of a half-roll inversion action trajectory of an aircraft in a method for realizing a parameterized air combat maneuver according to a preferred embodiment of the present invention is shown;
[0036] Figure 4 The switching trajectory diagram in Example 1 is shown;
[0037] Figure 5 The switching trajectory diagram in comparative example 1 is shown;
[0038] Figure 6 shows a simulation parameter diagram in Example 1;
[0039] Figure 7The simulation parameter diagram in Comparative Example 1 is shown. DETAILED DESCRIPTION
[0040] The present invention will be further described in detail below through the accompanying drawings and embodiments. Through these descriptions, the characteristics and advantages of the present invention will become more clear and distinct.
[0041] The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration." Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. Although various aspects of the embodiments are shown in the drawings, the drawings are not necessarily drawn to scale unless otherwise noted.
[0042] According to a method for implementing parameterized air combat maneuvers provided by the present invention, Figure 1 As shown, the following steps are included:
[0043] S1. Classify the maneuvers and obtain typical movements;
[0044] S2. Using control parameters to describe typical actions, wherein the control parameters include multiple types;
[0045] S3. In the process of connecting two typical actions, for each control parameter involved, a numerical transition of the control parameter of that type is performed to achieve a smooth switch between the two typical actions.
[0046] Traditional classic tactical flight actions are generally classified only according to the tactical significance and execution effect of the maneuvers. For example, in the literature [Zhong Youwu, Liu Jiarun, Yang Lingyu, Shen Gongzhang. Maneuvering action library and its integrated control system in autonomous close-range air combat [J]. Acta Aeronautica Sinica, 2008 (S1): 114-121.], classic tactical flight actions include 16 actions such as steady circling, dive, quick pull-up, half-pound bucket, snake maneuver, barrel roll, half-roll inversion, etc.; for another example, in the literature [Liang Xuezheng. Simulation and analysis of dual-aircraft air combat [J]. Firepower and Command and Control, 1994 (04): 8-15.], on the basis of classic tactical flight actions, 9 maneuvers such as front tracking, high overload roll down, high overload roll up, speed turn, and rotation are added, which constitutes a total of 25 maneuvers. However, these classic tactical flight action classification methods have not effectively improved the smooth connection between different maneuvers.
[0047] In the present invention, in S1, the classification is not simply based on the tactical significance and execution effect of the maneuver, but in particular, the maneuver is also classified according to the changing variables during the execution of the maneuver.
[0048] By classifying through variable changes, the nature of control during the execution of different maneuver actions can be highlighted, thereby providing a basis for the smooth connection of different maneuver actions, and can initially reduce the number of classic tactical flight actions and reduce the complexity of subsequent maneuver action changes. For example, the actual air combat situation of the high yoyo and low yoyo actions is different, but the changing variables are the same, so they can be classified into one category, achieving the effect of describing multiple actions with fewer types of actions.
[0049] According to a preferred embodiment of the present invention, in S1, there are 9 typical actions, including inclination tracking, somersault, horizontal turn, circling, half roll, rear tracking, front tracking, pure tracking, high and low yoyo.
[0050] According to the present invention, control parameters are used in S2 to describe typical actions, and factors such as the execution range of the action can be changed by setting parameters, thereby improving the flexibility of action description.
[0051] In a preferred embodiment, the control parameters include track inclination, overload, roll angle, target position, target speed, proportional coefficient, turning point speed and climb inclination.
[0052] Furthermore, the above control parameters are adopted so that the number of control parameters describing each typical action is no more than 3.
[0053] In a preferred embodiment, the inclination tracking action is described using the track inclination as a control parameter;
[0054] More preferably, the tilt tracking action is expressed as:
[0055]
[0056] Among them, n y represents normal overload, γ des represents the desired track inclination, γ represents the current track inclination, g represents the gravitational acceleration, k is a constant coefficient, and v represents the speed of the aircraft.
[0057] When the set tracking track inclination angle is 0, the action is a linear acceleration action. When the set tracking track inclination angle is a positive value, the action is a climb along a certain track inclination angle. When the set track inclination angle is a negative value, the action is a dive along a certain angle.
[0058] In a preferred embodiment, the somersault action is described using overload and roll angle as control parameters.
[0059] More preferably, the somersault is represented by:
[0060] n y =n des
[0061]
[0062] Among them, n y Indicates normal overload, n des represents the expected overload, φ des represents the desired roll angle, φ represents the current roll angle, and k is a constant coefficient.
[0063] When the input overload value is positive, the aircraft performs a positive somersault, such as Figure 2 As shown in FIG. 1 , when a positive overload value and a desired roll angle of 0 are given, the aircraft flies along a loop trajectory, and the roll angle oscillates within a minimum value during the positive loop action.
[0064] In a preferred embodiment, the horizontal turning action is described using the roll angle as a control parameter.
[0065] More preferably, the horizontal turning maneuver is expressed as:
[0066]
[0067]
[0068] Among them, n y represents normal overload, γ des represents the desired track inclination, γ represents the current track inclination, g represents the acceleration of gravity, k1 and k2 are constant coefficients, v represents the speed of the aircraft, φ des represents the desired roll angle, and φ represents the current roll angle.
[0069] The desired roll angle determines the radius of the horizontal turn, and the positive or negative value of the desired roll angle determines the direction of the horizontal turn.
[0070] In a preferred embodiment, the hovering action is described using the roll angle and the track inclination angle as control parameters.
[0071] More preferably, the circling action is represented by:
[0072]
[0073]
[0074] Among them, n y represents normal overload, γ des represents the desired track inclination, γ represents the current track inclination, g represents the acceleration of gravity, k1 and k2 are constant coefficients, v represents the speed of the aircraft, φ des represents the desired roll angle, and φ represents the current roll angle.
[0075] The input parameters of the hovering action are the expected roll angle and the expected track inclination. When the expected track inclination is set to 0, the aircraft performs a horizontal hovering action. When the expected track inclination is set to a positive or negative value, it performs a hovering ascent or hovering descent accordingly.
[0076] In a preferred embodiment, the half-roll overturning action is described using overload as a control parameter.
[0077] In a preferred embodiment, the semi-tumbling rotation is divided into two stages, which are expressed as:
[0078] Phase 1:
[0079]
[0080] Among them, φ represents the current roll angle, k is the constant coefficient
[0081] Phase 2:
[0082]
[0083] Among them, n y represents normal overload, γ des represents the desired track inclination, γ represents the current track inclination, g represents the acceleration of gravity, k1 is the constant coefficient, and v represents the speed of the aircraft.
[0084] The "half roll inversion" is also called the "Immelmann turn". When the aircraft performs a half roll inversion maneuver from a level flight state, the aircraft first increases the roll angle to 180°, then increases the normal overload and performs a downward somersault. In order to keep the speed of the aircraft small, during the entire control process, the tangential overload of the aircraft is always equal to the cosine value of the track pitch angle, such as Figure 3 shown.
[0085] In a preferred embodiment, the post-tracking action is described using the target position as a control parameter.
[0086] More preferably, the post-tracking action is expressed as:
[0087]
[0088] a t =[0 v·sin(q pl -χ) v·sin(q pv -γ)] T
[0089]
[0090] Among them, a v Indicates the overload under the speed system. Represents the transformation matrix from the track coordinate system to the velocity coordinate system, represents the transformation matrix from the ground coordinate system to the velocity coordinate system, g represents the gravitational acceleration, a t represents the overload in the trajectory system, v represents the speed of the aircraft, q pv represents the vertical sight angle, q pl represents the horizontal line of sight angle, χ represents the track deviation angle, γ represents the track inclination angle, [Δx Δy Δz] T Indicates the relative position of the target and the aircraft.
[0091] In a preferred embodiment, the preceding tracking action is described using the target position, target speed and proportionality coefficient as control parameters.
[0092] More preferably, the preceding tracking action is expressed as:
[0093]
[0094]
[0095]
[0096] q los =[0 q pv q pl ] T
[0097]
[0098] in, Indicates the overload under the speed system. Represents the transformation matrix from the ground coordinate system to the velocity coordinate system, Represents the transformation matrix from the line of sight coordinate system to the ground coordinate system, a los represents the overload under the line of sight, g represents the acceleration of gravity, N is the proportionality coefficient, Δv los represents the relative velocity in the line of sight system, is the line of sight angular velocity, represents the transformation matrix from the ground coordinate system to the line of sight coordinate system, Δv represents the velocity vector difference, q pv represents the vertical sight angle, q pl represents the horizontal line of sight angle, [Δx Δy Δz] T Indicates the relative position of the target and the aircraft.
[0099] In a preferred embodiment, the pure tracking action is described using the target position as a control parameter.
[0100] More preferably, the pure pursuit action is represented as:
[0101]
[0102] a t =[0 v·sin(q pl -ψ) v·sin(q pv -θ)] T
[0103] Among them, a v Indicates the overload under the speed system. Represents the transformation matrix from the track coordinate system to the velocity coordinate system, represents the transformation matrix from the ground coordinate system to the velocity coordinate system, g represents the gravitational acceleration, a t represents the overload in the trajectory system, v represents the speed of the aircraft, q pv represents the vertical sight angle, q pl represents the horizontal line of sight angle, ψ represents the yaw angle, and θ represents the pitch angle.
[0104] In a preferred embodiment, the high and low yoyo actions are described using the target position, turning point speed and climbing angle as control parameters.
[0105] In the high and low yoyo maneuver, the aircraft pulls up while rolling to fly out of the target aircraft's turning plane or reach the desired altitude.
[0106] According to the present invention, in S3, for any identical control parameter in two typical actions, the variable undergoes the following numerical transition:
[0107]
[0108] Among them, P is the actual value of the control parameter variable, P old is the actual value of the previous action variable, P new is the expected value of the next action variable, t is the current time, t0 is the start time of action switching, t f Switch the end time for the intended action.
[0109] Furthermore, for the control parameters contained in the previous typical action but not contained in the next typical action, the variables undergo the following numerical transition:
[0110]
[0111] Among them, P is the actual value of the variable, P old is the actual value of the previous action variable, t is the current time, t0 is the start time of action switching, t e Sets the end time for this variable of the previous action.
[0112] Preferably, for a control parameter that is not contained in the previous typical action but is contained in the next typical action, the variable value of the next typical action is directly changed.
[0113] For example: when switching from a somersault to a hovering action, the control parameters of the somersault action are overload and roll angle, and the control parameters of the hovering action are roll angle and track inclination angle.
[0114] Among them, the roll angle is the same control parameter, and the control parameter roll angle undergoes the following numerical transition:
[0115]
[0116] The somersault action contains control parameter overload, while the circling action does not contain control parameter overload. The control parameter overload performs the following numerical transition:
[0117]
[0118] The somersault maneuver does not contain the control parameter track inclination angle, while the circling maneuver contains the control parameter track inclination angle. The control parameter track inclination angle is directly changed when switching.
[0119] In the present invention, by the numerical transition of the control parameters, not only the smoothness of the action switching is achieved and the overshoot is reduced, but also the energy loss in the switching process is reduced, thereby improving the flexibility of the aircraft.
[0120] Example
[0121] Example 1
[0122] The F16 model is used for simulation. The F16 model has strong within-visual-range combat performance, can support a maximum overload maneuver of 9G, and has performance characteristics such as high thrust-to-weight ratio and low wing load. The F16 model can be used to better test and adjust the action, and focus on the design of the action itself without paying too much attention to the performance of the aircraft itself.
[0123] Conduct simulation experiments and switch aircraft actions, including the following steps:
[0124] S1. Classify the maneuvers and obtain typical movements;
[0125] S2. Using control parameters to describe typical actions, wherein the control parameters include multiple types;
[0126] S3. In the process of connecting two typical actions, for each control parameter involved, a numerical transition of the control parameter of that type is performed to achieve a smooth switch between the two typical actions.
[0127] There are 9 typical actions, including tilt tracking, somersault, horizontal turn, circling, half roll, rear tracking, front tracking, pure tracking, high and low yoyo, and their corresponding control parameters are shown in Table 1.
[0128] Table 1
[0129]
[0130] In the simulation, the half-roll inversion action is switched to the tilt tracking action, where:
[0131] The half-roll inversion action is expressed as:
[0132] first:
[0133]
[0134] then:
[0135]
[0136] Among them, overload is the control parameter.
[0137] The tilt tracking action is expressed as:
[0138]
[0139] Among them, the track inclination is the control parameter.
[0140] Switch from half-roll inverted action to inclination tracking action. The control parameter of half-roll inverted action is overload, and the control parameter of inclination tracking action is track inclination.
[0141] Among them, the half-roll reversal action contains control parameter overload, and the tilt tracking action does not contain control parameter overload. The control parameter overload performs the following numerical transition:
[0142]
[0143] The half-roll inversion action does not contain the control parameter track inclination angle, while the inclination tracking action contains the control parameter track inclination angle. The control parameter track inclination angle is directly changed during switching.
[0144] The switching trajectory obtained by simulation is as follows: Figure 4 As shown in Figure 6 shown.
[0145] Comparative Example 1
[0146] The traditional maneuvering action switching method is used to switch the half-roll inversion action to the tilt tracking action. Among them, the basic control library of the traditional maneuvering action switching method was proposed by NASA researchers, including seven simplest maneuvers. The typical action library has 25 actions after years of supplementation and development. The action switching adopts direct switching. The switching trajectory is as follows Figure 5 As shown in Figure 7 shown.
[0147] from Figure 4 , 5 As can be seen from the figure, the method in Example 1 achieves smoother switching of motorized actions than that in Comparative Example 1. Figure 6 , 7 It can be seen that the action switching achieved by the method in Example 1 will lose less speed, and the airspeed has reached about 240m / s at 10s, while the speed of the method in Comparative Example 1 is only about 200m / s at 10s. From the track inclination curve, the track inclination of the method in Example 1 is relatively gentle when the action is switched, while the track inclination of the method in Comparative Example 1 produces a larger overshoot when the action is switched.
[0148] In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front", "rear", etc. indicate positions or positional relationships based on the working state of the present invention, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third", and "fourth" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.
[0149] The present invention has been described above in conjunction with preferred embodiments, but these embodiments are only exemplary and serve only as an illustration. On this basis, the present invention may be subjected to a variety of substitutions and improvements, all of which fall within the scope of protection of the present invention.
Claims
1. A method for implementing parameterized air combat maneuvers, characterized in that: The following steps are involved: S1. Classify the maneuvers and obtain typical movements; S2. Describing typical actions using control parameters, wherein the control parameters include multiple types; S3. In the process of connecting two typical actions, for each control parameter involved, a numerical transition of the control parameter of that type is performed to achieve a smooth switch between the two typical actions; In S3, for any identical control parameter in two typical actions, the variable undergoes the following numerical transition: Among them, P is the actual value of the control parameter variable, P old is the actual value of the previous action variable, P new is the expected value of the next action variable, t is the current time, t0 is the start time of action switching, t f Switch the end time for the intended action.
2. The method for implementing parameterized air combat maneuvers according to claim 1, characterized in that: In S1, the maneuvers are classified according to the variables that change during the execution of the maneuvers.
3. The method for implementing parameterized air combat maneuvers according to claim 1, characterized in that: In S1, the typical actions include tilt tracking, somersault, horizontal turn, circling, half roll, rear tracking, front tracking, pure tracking, high and low yoyo.
4. The method for implementing parameterized air combat maneuvers according to claim 1, characterized in that: The control parameters include track inclination, overload, roll angle, target position, target speed, proportional coefficient, turning point speed and climb inclination.
5. The method for implementing parameterized air combat maneuvers according to claim 4, characterized in that: There are no more than 3 control parameters describing each typical action.
6. The method for implementing parameterized air combat maneuvers according to claim 5, characterized in that: Inclination tracking action is described using track inclination as a control parameter; The somersault action is described using overload and roll angle as control parameters; The horizontal turning action is described using the roll angle as the control parameter; The hovering action is described using the roll angle and track inclination as control parameters; The half-roll reversing action is described using overload as the control parameter; The post-tracking action is described using the target position as the control parameter; The pre-tracking action is described using target position, target velocity and proportional coefficient as control parameters; Pure pursuit actions are described using the target position as the control parameter; The high and low yoyo actions are described using the target position, turning point speed and climbing inclination as control parameters.
7. The method for implementing parameterized air combat maneuvers according to claim 1, characterized in that: In S3, for the control parameters contained in the previous typical action but not contained in the next typical action, the variables undergo the following numerical transition: Among them, P is the actual value of the variable, P old is the actual value of the previous action variable, t is the current time, t0 is the start time of action switching, t e Sets the end time for this variable of the previous action.
8. The method for implementing parameterized air combat maneuvers according to claim 1, characterized in that: In S3, for the control parameters that are not contained in the previous typical action but are contained in the next typical action, the variable values of the next typical action are directly changed.