有翼飞行器初制导阶段两段式协同集结方法

doi:10.12305/j.issn.1001-506X.2024.10.26

摘要/Abstract

摘要：

针对多枚有翼飞行器初制导阶段跨大空域飞行的协同集结问题, 将协同集结问题转化为初始部署点到编队协同飞行区域之间的时间与位置协同问题。将协同集结过程划分为两个阶段, 第一阶段飞行器间无信息交互, 设计了带有集结角度约束的第一阶段时间协同集结方法, 为各枚飞行器指定共同的集结时间和集结角度, 采用模糊逻辑实现航迹控制与速度控制的合理分配, 在可靠建立通信拓扑且满足终端放宽判断条件后, 转入第二阶段协同集结飞行。第二阶段飞行器利用相互间构建的通信拓扑交互信息, 为跟随者飞行器设计了基于编队跟踪控制的协同集结方法, 通过李雅普诺夫理论对闭环系统稳定性进行了证明。仿真算例验证了所提方法的有效性。

关键词: 有翼飞行器, 协同集结, 领-从模式, 模糊逻辑, 编队跟踪控制

Abstract:

To solve the problem of cooperative rendezvous of multiple winged aircraft flying across large airspace in the initial guidance phase, the cooperative rendezvous problem is transformed into the problem of time and position coordination between the initial deployment point and the formation cooperative flight area. The cooperative rendezvous process is divided into two stages. In the first stage, there is no information interaction between the aircraft. A cooperative rendezvous method with rendezvous angle constraints is designed to specify a common rendezvous time and angle for each aircraft. Fuzzy logic is used to realize the reasonable allocation of trajectory control and speed control. Then it turns to the second stage of cooperative rendezvous flight after establishing a reliable communication topology and meeting the terminal's relaxed judgment conditions. In the second stage, a cooperative rendezvous method based on formation tracking control is designed for the follower aircraft, by using the communication topology interaction information built between them. The stability of the closed-loop system is proved by Lyapunov theory. Simulation example verifies the effectiveness of the proposed method.

Key words: winged aircraft, cooperative rendezvous, leader-follower mode, fuzzy logic, formation tracking control

中图分类号:

V448.2

徐星光, 何星才, 任章. 有翼飞行器初制导阶段两段式协同集结方法[J]. 系统工程与电子技术, 2024, 46(10): 3492-3505.

Xingguang XU, Xingcai HE, Zhang REN. Two-stage cooperative rendezvous method for winged aircraft in initial guidance phase[J]. Systems Engineering and Electronics, 2024, 46(10): 3492-3505.

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V_i(t)	K₃	V_i(t)	K₃
NB	PB	PS	PS
NS	PS	PB	PB
Z	Z	-	-

V_i(t)	K₄	V_i(t)	K₄
NB	Z	PS	PS
NS	PS	PB	Z
Z	PB	-	-

飞行器	X向位置/km	Z向位置/km	速度/(km/s)	航迹偏角/(°)
飞行器0	120	320	2	0
飞行器1	140	380	2	-20
飞行器2	160	410	2	-40
飞行器3	200	440	2	-70
飞行器4	130	260	2	20
飞行器5	150	200	2	40
飞行器6	200	160	2	70

飞行器	X向位置/km	Z向位置/km	速度/(km/s)
飞行器0	250.4	300.8	2.00
飞行器1	251.7	304.2	2.05
飞行器2	250.0	306.7	2.13
飞行器3	247.6	310.0	2.26
飞行器4	250.5	298.1	2.09
飞行器5	249.3	295.8	2.15
飞行器6	247.4	291.1	2.26

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