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A hierarchical cooperative control method for suborbital swarm vehicles

A control method and collaborative control technology, applied in three-dimensional position/course control, control/regulation system, non-electric variable control, etc., can solve the problem of data volume and control algorithm complexity, high performance pressure of missile-borne computer, and low calculation efficiency Advanced problems, to achieve the effect of reducing the amount of data and the complexity of the control algorithm, the structure is simple, and the calculation efficiency is improved

Active Publication Date: 2019-02-26
HARBIN INST OF TECH
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  • Summary
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  • Application Information

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Problems solved by technology

[0029] The purpose of the present invention is to solve the problems of the existing centralized formation control strategy interaction information, the data volume and the complexity of the control algorithm, which are prone to conflicts, the performance pressure of the missile-borne computer is high, and the calculation efficiency is relatively low. Hierarchical Cooperative Control Method for Orbital Swarm Vehicles

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  • A hierarchical cooperative control method for suborbital swarm vehicles
  • A hierarchical cooperative control method for suborbital swarm vehicles
  • A hierarchical cooperative control method for suborbital swarm vehicles

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specific Embodiment approach 1

[0044] Specific implementation mode one: the following combination figure 1 Describe the present embodiment, the hierarchical cooperative control method of the suborbital swarm aircraft described in the present embodiment, the control method adopts the formation control method of Leader-Follower, and all worker bee aircraft in the aircraft group are based on the queen bee aircraft, Fix the center of the relative coordinate system on the queen bee aircraft. All worker bee aircraft in the aircraft group take the coordinates of the queen bee aircraft in the relative coordinate system as the control reference. When each worker bee aircraft stabilizes near the required position, the formation required formation; all worker bee aircraft only interact with the queen bee aircraft and accept the control of the queen bee aircraft;

[0045] The large formation control method composed of a large number of aircraft adopts a layered formation control method, specifically a single-Leader lay...

specific Embodiment approach 2

[0051] Specific embodiment two: this embodiment is further described to embodiment one, and the working process of queen bee aircraft is:

[0052] The queen bee aircraft obtains absolute position information and communicates with the battlefield command system. The queen bee aircraft conducts unified management of formation, flight, and assignment of attack tasks.

specific Embodiment approach 3

[0053] Specific implementation mode three: this implementation mode further explains implementation mode one or two, and the working process of the worker bee aircraft is:

[0054] The worker bee aircraft is equipped with a relative position measuring device, which measures the position of the worker bee aircraft relative to the queen bee aircraft or the deputy queen bee aircraft, and obtains mission information from the queen bee aircraft or the deputy queen bee aircraft.

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Abstract

The invention discloses a hierarchical cooperative control method for sub-orbital swarm aircrafts, and aims at solving a problem of the data size of the interaction information of a conventional centralized formation control strategy and complexity of a control algorithm, a problem that a conflict is liable to be caused, a problem that the pressure on the performance of a missile-borne computer isbig, and a problem that the computing efficiency is not high. According to the invention, a control method for a big formation formed by a large number of aircrafts is a hierarchical formation control method, specifically a single-Leader hierarchical Leader-Follower formation control method. The method comprises the steps: setting a plurality of auxiliary queen bee aircrafts in an aircraft group,wherein each auxiliary queen bee aircraft leads a worker bee aircraft of a small aircraft group, a main queen bee aircraft just carries out the information interaction with the auxiliary queen bee aircrafts, and each auxiliary queen bee aircraft carries out the information interaction with the worker bee aircraft of the small aircraft group where the auxiliary queen bee aircraft is located. The method is sued for the sub-orbital swarm aircrafts.

Description

technical field [0001] The invention relates to a layered cooperative control method of a suborbital swarm aircraft. Background technique [0002] Formation flight control technology is the technical basis for multi-bomb coordinated operations. Formation flight control includes formation maintenance and formation change. Coordinated operations of missiles require that waves of missiles launched from different aircraft, different launch positions, and different launch times can be assembled at the predetermined time and place to form a formation that is conducive to coordinated operations. After the missile arrives at the assembly point according to the time requirement, it forms a preliminary fan formation; but in order to form a stable preset formation, it is necessary to know the precise relative positions between the follower missile and the leader missile, and the follower missile and the follower missile. Then maintain and adjust the formation formation. In order to ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/10
CPCG05D1/104
Inventor 白瑜亮荣思远王小刚崔乃刚丁一波
Owner HARBIN INST OF TECH
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