A submarine-launched unmanned aerial vehicle launcher egress control method

Abstract

The present application belongs to the technical field of submarine-launched unmanned aerial vehicle control method, and particularly relates to a submarine-launched unmanned aerial vehicle launcher ejection control method. The method comprises the following steps: establishing a coordinate system group used as a submarine-launched unmanned aerial vehicle motion mathematical model and a conversion model thereof; the coordinate system group comprises a ground coordinate system, an unmanned aerial vehicle body coordinate system ox1y1z1 and a velocity coordinate system; establishing an unmanned aerial vehicle motion mathematical model, establishing a momentum mathematical model and a momentum moment mathematical model of the submarine-launched unmanned aerial vehicle according to the definition of cylinder momentum and momentum moment; establishing an ejection tracking control model based on the unmanned aerial vehicle motion mathematical model; an adaptive control scheme based on the ejection tracking control model; the submarine-launched unmanned aerial vehicle launcher ejection control method of the present application integrates a general system model and a control method thereof, controls optimization is carried out from the starting point of target control attitude and expected trajectory of the submarine-launched unmanned aerial vehicle by means of fuzzy control of specific control modes in different stages of the submarine-launched unmanned aerial vehicle, and a feasible scheme is provided for the overall control scheme of the submarine-launched unmanned aerial vehicle.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of submarine-launched unmanned aerial vehicle control methods, and particularly relates to a submarine-launched unmanned aerial vehicle launcher ejection control method. BACKGROUND

[0002] The launching of a submarine-launched unmanned aerial vehicle involves underwater launching, underwater and water surface flight, and water ejection attitude control, and the like. Traditional control schemes usually focus on the state and control scheme of a certain stage or time node of the submarine-launched unmanned aerial vehicle, and it is difficult to effectively control the overall launching process of the actual submarine-launched unmanned aerial vehicle. SUMMARY

[0003] The application aims to provide a submarine-launched unmanned aerial vehicle launcher ejection control method for controlling the overall state and control attribute of the submarine-launched unmanned aerial vehicle launching process, and optimizing the overall operation control effect of the unmanned aerial vehicle by taking the desired control state of the submarine-launched unmanned aerial vehicle as the focus.

[0004] To achieve the above-mentioned purpose, the application adopts the following technical scheme.

[0005] A submarine-launched unmanned aerial vehicle launcher ejection control method comprises the following steps:

[0006] Step 1: establishing a coordinate system group used as a submarine-launched unmanned aerial vehicle motion mathematical model and a conversion model thereof; the coordinate system group comprises a ground coordinate system ox e y e z e , an unmanned aerial vehicle body coordinate system ox1y1z1, and a velocity coordinate system o1x v y v z v ;

[0007] Step 2: establishing an unmanned aerial vehicle motion mathematical model, and establishing a submarine-launched unmanned aerial vehicle momentum mathematical model Q and a momentum moment mathematical model K according to the definition of cylinder momentum and momentum moment, which can be expressed as:

[0008]

[0009] wherein m is the mass of the submarine-launched unmanned aerial vehicle, (x c ,y c ,z c ) is the coordinate of the submarine-launched unmanned aerial vehicle barycenter in the body coordinate system ox1y1z1; J x , J y , J z are the rotational inertia of the submarine-launched unmanned aerial vehicle on the ox1 axis, the oy1 axis, and the oz1 axis, respectively; v x , v y , v z are the velocity of the submarine-launched unmanned aerial vehicle on the o1xv y v z v The velocity components of each axis under w x 、w y 、w z They are the roll angular velocity, yaw angular velocity, and pitch angular velocity of the submarine-launched UAV respectively;

[0010] Step 3: Establish a water-outlet tracking control model based on the UAV motion mathematical model

[0011] Considering only the tracking control of the UAV's motion direction, ignoring yaw and roll, and considering the speed along the motion direction, the mathematical model of UAV motion yields:

[0012]

[0013] Where y0 represents the oy of the UAV in the ground coordinate system e Quantity;

[0014] The longitudinal motion model of the submarine-launched UAV can be expressed as:

[0015]

[0016] in It is a nonlinear function model about v. For the convenience of analysis, it is expressed by approximation function, which can be expressed as Where i = 1, 2...n; for The nominal model, for The basis function, θ i is a constant parameter, is the model error under the corresponding basis function; ρ is the water density, V is the navigation speed of the UAV, S is the cross-sectional area of ​​the UAV, and L is the characteristic length of the UAV, m z is the z-axis yaw moment, δ e is the rolling moment factor; η=[x0,y0,z0,φ,ψ,θ] T , x0, y0, z0 are the coordinate positions of the UAV in the ground coordinate system, v=[v x ,v y ,v z ,w x ,w y ,w z ] T ;

[0017] For ease of processing, the nominal model is further rewritten as:

[0018]

[0019] wherein Φ = [φ1, φ2...φ n ] T , Θ = [θ1, θ2...θ n ] T respectively represent the control variables of the control system;

[0020] Step 4, the adaptive control scheme based on the water-out tracking control model, specifically comprising:

[0021] defining an error variable

[0022] wherein y t represents the actual trajectory of the UAV, y' represents the desired trajectory of the UAV, and α1(x1, t) and α2(x2, t) are stable functions, and α1 and α2 are stable coefficients;

[0023] The longitudinal motion model of the submarine-launched UAV is expressed as a motion model represented by the error variable, i.e.

[0024]

[0025] wherein ρ is the water density, V is the sailing speed of the UAV, S is the cross-sectional area of the UAV, L is the characteristic length of the UAV, m z is the yawing moment, and δ e is the rolling moment;

[0026] Based on the above motion model, the tracking control of the water-out motion can be achieved through the stable functions α1(x1, t) and α2(x2, t);

[0027] For the three control variables in the motion model, control laws are designed, specifically:

[0028] For the first control variable sin(x2+α1(x1, t)) is expanded to obtain

[0029]

[0030] The control law is used to control the first control variable;

[0031] wherein k1 is a non-negative control parameter, sat(.) is a piecewise saturation function, and

[0032]

[0033] For the second control variable

[0034] The control law is used to control the second control variable

[0035] For the third control quantity

[0036] Using control laws To realize the control of the third control quantity,

[0037] Further optimization or specific implementation steps of the above-mentioned submarine-launched UAV launcher water control method, in step 1, the ground coordinate system ox e y e z e The coordinates of the center of mass of the drone’s launch position are taken as the coordinate origin, ox e The axis points in the direction of launch, oy e The axis is perpendicular to the sea level and upward, oz e Axis and ox e shaft and oy e The axes are perpendicular and form a right-handed system; the drone body coordinate system ox1y1z1 takes the coordinates of the drone's center of mass as the coordinate origin, the ox1 axis is the drone's horizontal symmetry axis and points to its head, the oy1 axis is in the plane where the symmetry axis is located and is perpendicular to ox1 and upward, the oz1 axis is perpendicular to the ox1 axis and the oy1 axis and forms a right-handed system; the drone speed coordinate system o1x v y v z v The coordinates of the center of mass of the drone are taken as the coordinate origin, o1x v Axis is the direction of movement of the drone, o1y v The plane where the axis of symmetry lies is parallel to o1x v Vertically upward, o1z v Axis and o1x v axis and o1y v The axes are vertical and form a right-handed system;

[0038] The coordinate system group transformation model is used to realize the transformation operation of the above coordinate system, including the transformation from the ground coordinate system ox e y e z e Transformation model to body coordinate system ox1y1z1 And the body coordinate system ox1y1z1 to the ground coordinate system ox e y e z e Transposed model

[0039] Further optimization or specific implementation steps of the aforementioned submarine-launched UAV launcher water outlet control method, including:

[0040]

[0041] Among them, φ, ψ, and θ refer to the roll angle, pitch angle, and yaw angle of the submarine-launched UAV, respectively.

[0042] For further optimization or specific implementation steps of the aforementioned submarine-launched UAV launcher water exit control method, the momentum mathematical model Q and angular momentum mathematical model K of the submarine-launched UAV can be expressed as:

[0043]

[0044] Where m is the mass of submarine-launched UAV, (x c ,y c ,z c ) is the coordinate of the buoyancy center of the submarine-launched UAV in the body coordinate system ox1y1z1; J x 、J y 、J z are the moments of inertia of the submarine-launched UAV on the ox1 axis, oy1 axis, and oz1 axis respectively; v x 、v y 、v z They are respectively the speed coordinate system o1x of the submarine-launched UAV v y v z v The velocity components of each axis under w x 、w y 、w z They are respectively the roll angular velocity, yaw angular velocity, and pitch angular velocity of the submarine-launched UAV.

[0045] Further optimization or specific implementation steps of the aforementioned submarine-launched UAV launcher water exit control method also include attitude control of the submarine-launched UAV, specifically:

[0046] For the attitude control process of submarine-launched UAV, its attitude attribute matrix is ​​established respectively. Attitude control attribute matrix Assume that the control attribute corresponding to the desired attitude of the submarine-launched UAV is Based on backstepping control, the attitude control expression of submarine-launched UAV can be established as follows:

[0047]

[0048] in and is the mathematical model of attitude control quantity;

[0049] For a certain attitude state of the submarine-launched UAV The attitude control expression of the submarine-launched UAV is expanded in the field to obtain its first-order expression:

[0050]

[0051] Among them, for the posture state have

[0052] The attitude control output can be represented as

[0053] Wherein

[0054] The input control y is defined as c The mathematical model of the submarine-launched UAV attitude control desired characteristics is To ensure the output characteristics of the UAV attitude control At the same time, the submarine-launched UAV control performance is optimized, and the incremental dynamic control law is established, which can be represented as:

[0055]

[0056] Wherein B h = h x B0, W is a diagonal weight matrix;

[0057] When , there is

[0058] The attitude control properties can be obtained

[0059] The beneficial effects are:

[0060] The submarine-launched UAV launcher out-of-water control method of the application sets a general system model and its control method, which optimizes the control by fuzzying the specific control mode of different stages of the submarine-launched UAV, starting from the target control attitude and desired trajectory of the submarine-launched UAV, and provides a feasible solution for the overall control scheme of the submarine-launched UAV. BRIEF DESCRIPTION OF DRAWINGS

[0061] Figure 1 It is the main flowchart of the submarine-launched UAV launcher out-of-water control method. DETAILED DESCRIPTION

[0062] The application will be described in detail below in combination with specific embodiments.

[0063] The submarine-launched UAV launcher out-of-water control method of the application is mainly used to provide a control method for optimizing and decomposing the control parameters of the flight attitude and flight trajectory of the submarine-launched UAV.

[0064] As shown in Figure 1 The submarine-launched UAV launcher out-of-water control method of the application mainly includes the following steps:

[0065] Step 1, establish a coordinate system group used as a submarine-launched UAV motion mathematical model and its conversion model;

[0066] The coordinate system group comprises a ground coordinate system ox e y e z e , a UAV body coordinate system ox1y1z1, and a velocity coordinate system o1x v y v z v ;

[0067] The ground coordinate system ox e y e z e , with the centroid coordinate of the UAV ejection position as a coordinate origin, ox e axis points to the ejection direction, oy e axis is perpendicular to the sea level upward, oz e axis is perpendicular to ox e axis and oy e axis and constitutes a right-hand system; the UAV body coordinate system ox1y1z1, with the centroid coordinate of the UAV as a coordinate origin, ox1axis is a horizontal symmetry axis of the UAV and points to the head of the UAV, oy1axis is in the plane of the symmetry axis and is perpendicular to ox1upward, oz1axis is perpendicular to ox1axis and oy1axis and constitutes a right-hand system; the UAV velocity coordinate system o1x v y v z v , with the centroid coordinate of the UAV as a coordinate origin, o1x v axis is a motion direction of the UAV, o1y v axis is in the plane of the symmetry axis and is perpendicular to o1x v upward, o1z v axis is perpendicular to o1x v axis and o1y v axis and constitutes a right-hand system;

[0068] The coordinate system group conversion model is used for realizing the conversion operation of the aforementioned coordinate systems, comprising a conversion model from the ground coordinate system ox e y e z e to the body coordinate system ox1y1z1 and a transpose model from the body coordinate system ox1y1z1to the ground coordinate system ox e y e z e ; Wherein:

[0069]

[0070] Wherein, φ, ψ, θ are respectively a roll angle, a pitch angle and a yaw angle of the submarine-launched UAV;

[0071] Step 2: Establish a mathematical model of UAV motion. According to the definition of cylinder momentum and angular momentum, establish the mathematical model Q of the momentum and the mathematical model K of the angular momentum of the submarine-launched UAV, which can be expressed as:

[0072]

[0073] Where m is the mass of submarine-launched UAV, (x c ,y c ,z c ) is the coordinate of the buoyancy center of the submarine-launched UAV in the body coordinate system ox1y1z1; J x 、J y 、J z are the moments of inertia of the submarine-launched UAV on the ox1 axis, oy1 axis, and oz1 axis respectively; v x 、v y 、v z They are respectively the speed coordinate system o1x of the submarine-launched UAV v y v z v The velocity components of each axis under w x 、w y 、w z They are the roll angular velocity, yaw angular velocity, and pitch angular velocity of the submarine-launched UAV respectively;

[0074] Step 3: Establish a water-outlet tracking control model based on the UAV motion mathematical model

[0075] Because only the tracking control of the UAV's motion direction is considered, yaw and roll can be ignored. Only the speed along the motion direction is considered. According to the mathematical model of UAV motion, we know that:

[0076]

[0077] Where y0 represents the oy of the UAV in the ground coordinate system e Quantity;

[0078] The longitudinal motion model of the submarine-launched UAV can be expressed as:

[0079]

[0080] in It is a nonlinear function model about v. For the convenience of analysis, it is expressed by approximation function, which can be expressed as Where i = 1, 2...n; for The nominal model, for The basis function, θ i is a constant parameter, is the model error under the corresponding basis function; p is the water density, V is the UAV sailing speed, S is the UAV cross-sectional area, L is the UAV characteristic length, m z is the z-axis yaw moment, δ e is the roll moment factor; η = [x0, y0, z0, φ, ψ, θ] T , x0, y0, z0 are the coordinate positions of the UAV in the ground coordinate system, v = [v x , v y , v z , w x , w y , w z ] T ;

[0081] For ease of processing, the nominal model is further rewritten as:

[0082]

[0083] wherein Φ = [φ1, φ2...φ n ] T , Θ = [θ1, θ2...θ n ] T respectively represent the operation control parameters;

[0084] Step 4, the adaptive control scheme based on the water release tracking control model, specifically comprising:

[0085] Define the error variable

[0086] wherein y t represents the actual trajectory of the UAV, y' represents the expected trajectory of the UAV, and α1(x1, t) and α2(x2, t) are stable functions, and α1 and α2 are stable coefficients;

[0087] The longitudinal motion model of the submarine-launched UAV is expressed as a motion model represented by the error variable, that is,

[0088]

[0089] wherein p is the water density, V is the UAV sailing speed, S is the UAV cross-sectional area, L is the UAV characteristic length, m z is the yaw moment, δ e is the roll moment;

[0090] Based on the above motion model, the tracking control of the water release motion can be realized through the stable functions α1(x1, t) and α2(x2, t);

[0091] For the three control quantities in the motion model, the control law is designed, specifically:

[0092] for the first control variable Expanding sin(x2+α1(x1,t)) gives

[0093]

[0094] using the control law to achieve control of the first control variable;

[0095] where k1 is a non-negative control parameter, sat(.) is a piecewise saturation function and

[0096]

[0097] for the second control variable

[0098] using the control law to achieve control of the second control variable

[0099] for the third control variable

[0100] using the control law to achieve control of the third control variable, where

[0101] Based on the foregoing control law, the target control of the flight trajectory of the submarine-launched unmanned aerial vehicle can be achieved, so that it can move along the required path, but the above process does not consider the attitude information of the submarine-launched unmanned aerial vehicle, but in some application scenarios, the submarine-launched unmanned aerial vehicle still needs to control its attitude during flight, in order to perform some attitude-related operations such as avoidance, display, action, etc., so the attitude of the submarine-launched unmanned aerial vehicle also needs to be controlled:

[0102] For the attitude control process of the submarine-launched unmanned aerial vehicle, its attitude attribute matrix is established respectively Attitude control attribute matrix Suppose the control attribute corresponding to the desired attitude of the submarine-launched unmanned aerial vehicle is Based on backstepping control, the attitude control expression of the submarine-launched unmanned aerial vehicle can be established as:

[0103]

[0104] where and are the mathematical models of the attitude control variable;

[0105] For a certain attitude state of the submarine-launched unmanned aerial vehicle , the attitude control expression of the submarine-launched unmanned aerial vehicle in the field is expanded to obtain its first-order expression:

[0106]

[0107] where, for the attitude state has

[0108] The attitude control output can be expressed as

[0109] where

[0110] defined in the input control y c The mathematical model of the submarine-launched UAV attitude control desired characteristics is To ensure the output characteristics of the UAV attitude control At the same time, to achieve the best control performance of the submarine-launched UAV, the incremental dynamic control law is established, which can be expressed as:

[0111]

[0112] where B h = h x B0, W is a diagonal weighting matrix;

[0113] When has

[0114] The attitude control properties can be obtained

[0115] Finally, it should be pointed out that the above examples are only used to illustrate the technical solutions of the present application, and are not intended to limit the scope of protection of the present application. Although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or replaced by equivalents without departing from the essence and scope of the technical solutions of the present application.

Claims

1. A method for controlling the water exit of a submarine-launched UAV launcher, characterized in that: The steps include: Step 1: Establish a coordinate system group and its transformation model for the mathematical model of submarine-launched UAV motion; the coordinate system group includes the ground coordinate system , UAV body coordinate system And the velocity coordinate system ; Step 2: Establish a mathematical model of UAV motion. According to the definition of cylinder momentum and angular momentum, establish a mathematical model of the momentum of the submarine-launched UAV. And the mathematical model of angular momentum , which can be expressed as: ； ； Where m is the mass of the submarine-launched UAV, The buoyancy center of the submarine-launched UAV in the body coordinate system The coordinates in ; They are submarine-launched drones in axis, axis, The moment of inertia of the shaft; They are respectively the submarine-launched UAV in the velocity coordinate system The velocity components of each axis under They are the roll angular velocity, yaw angular velocity, and pitch angular velocity of the submarine-launched UAV respectively; Step 3: Establish a water-outlet tracking control model based on the UAV motion mathematical model Considering only the tracking control of the UAV's motion direction, ignoring yaw and roll, and considering the speed along the motion direction, the mathematical model of UAV motion yields: ； in Indicates the position of the drone in the ground coordinate system Quantity; The longitudinal motion model of the submarine-launched UAV can be expressed as: ； in It's about The nonlinear function model is expressed by approximation function for the convenience of analysis, which can be expressed as ;in ; for The nominal model, for The basis functions of is a constant parameter, is the model error under the corresponding basis function; is the water density, is the UAV navigation speed, is the cross-sectional area of ​​the drone, is the characteristic length of the UAV, is the z-axis yaw moment, is the rolling moment factor; , is the coordinate position of the UAV in the ground coordinate system, ; For ease of processing, the nominal model is further rewritten as: ； in , They represent the operation control parameters respectively; Step 4: Adaptive control scheme based on the water outlet tracking control model, specifically including: Defining the error variable ; in Indicates the actual trajectory of the drone. Indicates the expected trajectory of the drone. and is a stable function, is the stability coefficient; The longitudinal motion model of the submarine-launched UAV is represented as a motion model represented by the error variable, namely ； in is the water density, is the UAV navigation speed, is the cross-sectional area of ​​the drone, is the characteristic length of the UAV, is the yaw moment, is the rolling moment; Based on the above motion model, the stability function and Realize tracking control of water discharge movement; Design control laws for the three control variables in the motion model. Specifically: For the first control quantity ,Will Expand to get ； Using control laws Achieving control over a first controlled variable; in is a non-negative control parameter, is a piecewise saturation function and ; For the second control quantity , Using control laws Achieving control over a second controlled variable; For the third control quantity ; Using control laws To realize the control of the third control variable, ; It also includes attitude control of submarine-launched drones, specifically: For the attitude control process of submarine-launched UAV, its attitude attribute matrix is ​​established respectively. , attitude control attribute matrix , assuming that the control attribute corresponding to the desired attitude of the submarine-launched UAV is , based on backstepping control, the attitude control expression of submarine-launched UAV can be established as: ； in 、 and is the mathematical model of attitude control quantity; For a certain attitude state of the submarine-launched UAV The attitude control expression of the submarine-launched UAV is expanded in the field to obtain its first-order expression: ; Among them, for the posture state ,have ; Then the attitude control output can be expressed as ; in ; ; ; ; Defined in input control Under this condition, the mathematical model of the expected characteristic of the attitude control of submarine-launched UAV is: ; To ensure the output characteristics of UAV attitude control , while making the control performance of submarine-launched UAV reach the best, an incremental dynamic control law is established, which can be expressed as: ； in , is a diagonal weighting matrix; when Sometimes, there are ; Then we can get the attitude control properties ; in, They refer to the roll angle, pitch angle and yaw angle of the submarine-launched drone respectively.

2. The method for controlling the water exit of a submarine-launched UAV launcher according to claim 1, characterized in that: In step 1, the ground coordinate system The coordinates of the center of mass of the drone’s launch position are taken as the coordinate origin. The axis points in the direction of emission, The axis is perpendicular to the sea level and upwards, Axis and Axis and The axes are perpendicular and form a right-handed system; drone body coordinate system The coordinates of the center of mass of the drone are taken as the coordinate origin. The axis is the horizontal symmetry axis of the drone and points to its head. The axis is located in the plane of the symmetry axis and Vertically upward, Axis and Axis and The axes are vertical and form a right-handed system; UAV velocity coordinate system The coordinates of the center of mass of the drone are taken as the coordinate origin. The axis is the direction of movement of the drone, The axis is located in the plane of the symmetry axis and Vertically upward, Axis and Axis and The axes are vertical and form a right-handed system; The coordinate system group transformation model is used to implement the above coordinate system transformation operations, including the ground coordinate system To body coordinate system Conversion model And the body coordinate system To ground coordinate system Transposed model .

3. The method for controlling the water exit of a submarine-launched UAV launcher according to claim 2, characterized in that: in: ， 。 4. The method for controlling the water exit of a submarine-launched UAV launcher according to claim 1, wherein: Momentum mathematical model of the submarine-launched UAV And the mathematical model of angular momentum , which can be expressed as: ； ； Where m is the mass of the submarine-launched UAV, The buoyancy center of the submarine-launched UAV in the body coordinate system The coordinates in ; They are submarine-launched drones in axis, axis, The moment of inertia of the shaft; They are respectively the submarine-launched UAV in the velocity coordinate system The velocity components of each axis under They are respectively the roll angular velocity, yaw angular velocity, and pitch angular velocity of the submarine-launched UAV.

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