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Multi-ship-borne isomer ship surface collaborative trajectory planning and control method based on isomorphism-tracking

A trajectory planning and control method technology, applied in two-dimensional position/channel control, control/regulation system, non-electric variable control and other directions, can solve the problem of difficulty in taking into account calculation efficiency and accuracy, difficult to strictly meet terminal constraints, and ineffective Application of multi-carrier aircraft cooperative trajectory planning and control to achieve the effect of improving computational efficiency and robustness

Active Publication Date: 2021-06-04
中国人民解放军军事科学院战争研究院
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  • Application Information

AI Technical Summary

Problems solved by technology

Although these methods can solve the collaborative trajectory planning problem, it is difficult to balance the computational efficiency and accuracy.
[0005] In addition, the deployment of carrier-based aircraft on the deck often requires the aircraft to arrive at the target position accurately at a predetermined angle, that is, the trajectory of the aircraft must strictly meet the terminal constraints, and most of the existing collaborative trajectory planning and control methods are difficult to strictly meet the terminal constraints. requirements, so it cannot be effectively applied to the problem of cooperative trajectory planning and control of multiple carrier-based aircraft

Method used

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  • Multi-ship-borne isomer ship surface collaborative trajectory planning and control method based on isomorphism-tracking
  • Multi-ship-borne isomer ship surface collaborative trajectory planning and control method based on isomorphism-tracking
  • Multi-ship-borne isomer ship surface collaborative trajectory planning and control method based on isomorphism-tracking

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Embodiment Construction

[0063] The present invention will be further described below in conjunction with specific examples.

[0064] Take the coordinated trajectory planning and control of a system consisting of 5 aircraft as an example, in which 2 taxiing aircraft (Type 0 in Table 1) and 3 of them are towed by rod tractors (Type 1 in Table 1), specifically See the table below for the parameters.

[0065] Table 1.5 Initial and terminal attitudes of the aircraft

[0066]

[0067] Both the rod-towing aircraft system and the taxiing aircraft system are described as circular, and the radius of the rod-towing aircraft system is 12m (including the safety buffer zone R safe = 1m), the radius of the taxiing aircraft system is 10m (including the safety buffer zone R safe = 1m). The geometric parameters of the system are: L 1 =6m,L 2 = 4m, L 3 = 2m, M = 1m. There are two obstacles (O1 and O2) in the environment. The geometric center of O1 is (74m, 6.5m), and the geometric center of O2 is (135m, 6.5m)...

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Abstract

The invention discloses a multi-ship-borne isomer ship surface collaborative trajectory planning and control method based on isomorphism-tracking, and belongs to the technical field of ship surface collaborative planning and control. The method comprises the following steps: firstly, simplifying a rod traction aircraft system into a virtual aircraft system, simplifying a heterogeneous system into an isomorphic system formed by a virtual / taxiing aircraft system, and establishing an optimal control model for multi-isomorphic collaborative trajectory planning; then, solving the model by adopting an optimal control algorithm to obtain standard optimal tracks and control quantities of each virtual aircraft system and each taxiing aircraft system; and finally, enabling each rod traction aircraft system to track the virtual aircraft system standard optimal trajectory constructed according to the rod traction aircraft system, establishing an optimal control model for trajectory tracking of the rod traction aircraft system, and adopting an optimal control algorithm to solve and obtain the trajectory and the control quantity of each rod traction aircraft system. According to the method, the problem of multi-ship-borne isomer collaborative trajectory planning and control can be effectively solved, and the calculation efficiency and robustness are improved.

Description

technical field [0001] The invention belongs to the technical field of ship-board cooperative planning and control of ship-borne heterogeneous systems, and in particular relates to a multi-ship-borne heterogeneous ship-surface collaborative trajectory planning and control method based on isomorphism-tracking. Background technique [0002] There are two modes of carrier-based aircraft deployment, that is, aircraft taxiing and towing, because these two transportation methods are often carried out at the same time, and the structure and control characteristics of the taxiing aircraft system and the towed aircraft system are quite different. Therefore, how to realize the effective coordination between the traction / taxiing aircraft systems with rods in the narrow deck space and complex operating environment, so as to ensure the coordination, safety and efficiency of each stage of operation, is the key issue to improve the recovery capability of the aircraft carrier. [0003] Most...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0202
Inventor 刘洁董献洲王昕炜高岚岚刘纯徐浩雷霆赵中正彭海军吴文波
Owner 中国人民解放军军事科学院战争研究院
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