基于控制障碍函数的飞行器避障与制导控制

doi:10.12382/bgxb.2022.1002

摘要/Abstract

摘要：

为实现动态障碍物环境下飞行器对目标的打击以提高其工程适用性,建立飞行器与障碍物以及飞行器与目标的运动学模型。在控制障碍函数的基础上进行拓展,结合速度障碍法对飞行器速度施加约束,与现有的比例制导律构建二次优化问题,得到闭式解形式的避障制导律。数值仿真并分析轨迹和过载曲线的特性。研究结果表明:所提出的避障制导律可以实时地避开运动障碍物并打击目标,有较好的全局特性;与已有避障制导律相比,过载曲线更加平缓且饱和过载占比小。

关键词: 飞行器, 避障控制, 制导律, 控制障碍函数

Abstract:

To improve the engineering applicability of aircraft when pursuing a target in the presence of dynamic obstacles, the relative motion relationship between the aircraft and obstacles, as well as between the aircraft and the target are analyzed. Leveraging the control barrier function (CBF), the velocity obstacle approach is used to constrain the velocity of the aircraft, and a quadratic programming (QP) problem is constructed with the existing proportional guidance law. Then, a closed-form obstacle avoidance guidance law is proposed by solving the QP problem. Numerical simulation and analysis of the trajectory properties and overload show that the proposed obstacle avoidance and guidance law can avoid a moving obstacle in real time and pursue the target with favorable global properties. Compared to existing methods, the overload curve is smoother, and the saturation overload ratio is smaller.

Key words: aircraft, obstacle avoidance control, guidance law, control barrier function

中图分类号:

TJ765.3

杜宏宝, 王正杰, 唐礼喜, 张小宁. 基于控制障碍函数的飞行器避障与制导控制[J]. 兵工学报, 2023, 44(9): 2814-2823.

DU Hongbao, WANG Zhengjie, TANG Lixi, ZHANG Xiaoning. Control Barrier Function-based Control for Aircraft Avoidance and Guidance with Dynamic Obstacles[J]. Acta Armamentarii, 2023, 44(9): 2814-2823.

图/表 12

图1 飞行器与障碍物相对运动关系

Fig.1 Relative motion relationship between aircraft and obstacle

图2 飞行器与目标相对运动关系

Fig.2 Relative motion relationship between aircraft and target

图3 速度障碍法示意图

Fig.3 Diagram of the velocity obstacle approach

图4 飞行器避障制导控制流程

Fig.4 Avoidance and guidance control flow of an aircraft

表1 避障制导律仿真参数

Table 1 Simulation parameters of obstacle avoidance and guidance law

参数	数值
飞行器初始位置/km	(0,1)
飞行器速度/(m·s^-1)	400
目标初始位置/km	(4,1)
目标速度/(m·s^-1)	130±10
障碍物初始位置/km	(2.3,1.75)
障碍物速度/(m·s^-1)	10~50

图5 比例制导律的弹道轨迹

Fig.5 Trajectory of proportional guidance law

图6 避障制导律的不同工况下弹道轨迹对比

Fig.6 Aircraft trajectory comparison of obstacle avoidance and guidance law under different conditions

图7 不同β值的弹道轨迹

Fig.7 Trajectories of the aircraft with different β values

图8 飞行器过载在不同工况下的法向过载对比

Fig.8 Aircraft overload comparison of obstacle avoidance and guidance law under different conditions

图9 飞行器速度及横向过载与障碍物速度关系

Fig.9 Relationship between aircraft velocity and overload

图10 本文与文献[6]和文献[20]避障制导律对比

Fig.10 Comparison of this work with Ref.[6] and Ref.[20]

表2 不同避障制导律仿真性能对比

Table 2 Performance comparison of obstacle avoidance and different guidance laws

避障制导律	静止障碍物	运动障碍物	命中时间/s
本文	√	√	11.87
文献[6]	√	√	12.14
文献[20]	√	×	11.46

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