考虑射向位置调节的高超声速滑翔飞行器编队控制方法

doi:10.12382/bgxb.2024.0410

摘要/Abstract

摘要：

由于高超声速滑翔飞行器无动力、轴向过载不可控的特点,高超声速滑翔飞行器编队机动飞行至滑翔段与末段的交班点时射向通常存在较大位置误差,对末段的协同打击精度造成显著影响。针对该问题,提出一种考虑射向位置调节的高超声速滑翔飞行器编队控制方法。面向二阶多智能体系统设计固定时间收敛一致性控制器。在此基础上设计欠驱动飞行器编队控制架构,围绕高超声速滑翔飞行器编队的欠驱动控制特征开展分析,设计射向调节策略,建立射向位置调节与附加侧向速度的关联;赋予飞行器编队射向调节能力的前提下建立三维人工势场,设计飞行器编队的避碰控制策略。理论分析和数值仿真表明,该方法可以支撑多个飞行器在编队散开、编队收缩、编队整体转向和高低编队飞行等场景中实现编队的形成与保持,在保证编队内部安全的前提下实现一致到达,为末段制导提供良好的交班条件。

关键词: 高超声速滑翔飞行器, 欠驱动编队控制, 固定时间收敛, 射向位置调节, 人工势场

Abstract:

Due to the characteristics of hypersonic glide vehicles (HGVs) being unpowered and uncontrollable in axial overload,a significant positional error of HGV often exists at the transition between the gliding phase and the terminal phase,thereby substantially impacting the precision of coordinated strikes during the terminal phase.To address this issue,a formation control method for HGVs is proposed,which considers the capability of adjusting the position in launch direction.Fixed-time consensus controllers are devised for the second-order multi-agent system,serving as the foundation for an underactuated formation control framework.The underactuated control characteristics of HGV formation is analyzed.An adjustment strategy for HGV position in launch direction is formulated,and an analytical relationship between launch-direction position adjustments and additional lateral velocity is established.After enabling the capability for launch-direction adjustment,a three-dimensional artificial potential field is established,and a collision avoidance control strategy for HGV formation is proposed.Theoretical analysis and numerical simulations demonstrate that the proposed method can support the formation and maintenance of a group of HGVs in scenarios such as dispersion,contraction,collective steering,and high and low flying of formation.

Key words: hypersonic glide vehicle, underactuated formation control, fixed-time convergence, launch-direction position adjustment, artificial potential field

中图分类号:

V448.235

王浩凝, 郭杰, 万泱泱, 张宝超, 唐胜景, 李响. 考虑射向位置调节的高超声速滑翔飞行器编队控制方法[J]. 兵工学报, 2025, 46(4): 240410-.

WANG Haoning, GUO Jie, WAN Yangyang, ZHANG Baochao, TANG Shengjing, LI Xiang. Formation Control of Hypersonic Glide Vehicles Considering Position Adjustment in Launch Direction[J]. Acta Armamentarii, 2025, 46(4): 240410-.

图/表 18

图1 飞行器编队坐标系

Fig.1 Coordinate system for HGV formation

图2 欠驱动控制示意图

Fig.2 Diagram of underactuated control

图3 射向位置误差调节示意图

Fig.3 Diagram of position error adjustment in launch direction

图4 人工势场示意图

Fig.4 Diagram of artificial potential field

图5 欠驱动飞行器编队控制架构

Fig.5 Control architecture for underactuated HGV formation

表1 飞行器初始位置

Table 1 Initial positions of HGVs km

飞行器	任务
飞行器	1	2	3	4
M₁	(0,30,0)	(0,30,0)	(0,30,0)	(0,30,0)
M₂	(0,30,0)	(5,30,0)	(5,30,0)	(5,31.5,0)
M₃	(0,30,0)	(-5,30,0)	(-5,30,0)	(-5,31.5,0)
M₄	(0,30,0)	(10,30,0)	(10,30,0)	(10,33,0)
M₅	(0,30,0)	(-10,30,0)	(-10,30,0)	(-10,33,0)

表2 飞行器编队期望队形

Table 2 Desired formation of HGVs km

飞行器	任务
飞行器	1	2	3	4
M₁	(0,0,0)	(0,0,0)	(0,0,0)	(0,0,0)
M₂	(-5,0,0)	(-1.5,0,0)	(-5,0,0)	(-5,1.5,0)
M₃	(5,0,0)	(1.5,0,0)	(5,0,0)	(5,1.5,0)
M₄	(-10,0,0)	(-3,0,0)	(-10,0,0)	(-10,3,0)
M₅	(10,0,0)	(3,0,0)	(10,0,0)	(10,3,0)

图6 各任务三维编队轨迹

Fig.6 3D formation trajectories for each mission

图7 各任务速度

Fig.7 Velocity curves for each mission

图8 各任务高度

Fig.8 Altitude curves for each mission

图9 各任务制导指令

Fig.9 Guidance command curves for each mission

表3 方法1终端编队间隔距离

Table 3 Terminal formation interval distance with position adjustment in Method 1

任务	M₁与M₂			M₁与M₃			M₂与M₄			M₃与M₅
任务	Δx/m	Δy/m	Δz/m	Δx/m	Δy/m	Δz/m	Δx/m	Δy/m	Δz/m	Δx/m	Δy/m	Δz/m
1	4994.12	0.0021	198.90	5005.72	0.0022	4.70	5001.31	0.0003	518.23	4989.68	0.0005	186.78
2	1592.52	0.0067	854.82	1660.07	0.0046	579.22	1746.29	0.0051	208.56	1737.20	0.0001	23.46
3	4943.65	0.0110	728.30	5053.97	0.0011	172.14	4959.98	0.0011	116.22	5029.10	0.0135	491.62
4	5095.62	1500.01	862.75	4904.38	1500.01	862.75	4863.37	1500.01	54.89	5136.63	1500.01	54.89

表4 方法2终端编队间隔距离

Table 4 Terminal formation interval distance without position adjustment in Method 2

任务	M₁与M₂			M₁与M₃			M₂与M₄			M₃与M₅
任务	Δx/m	Δy/m	Δz/m	Δx/m	Δy/m	Δz/m	Δx/m	Δy/m	Δz/m	Δx/m	Δy/m	Δz/m
1	5000.00	0	4200.43	5000.00	0	5296.45	5000.00	0	12806.37	5000.00	0	13826.46
2	1500.01	0	1807.01	1500.01	0	2272.72	1500.01	0	5579.01	1500.01	0	6013.45
3	5000.50	0	1206.19	4999.61	0	1326.80	5000.06	0	1267.05	5000.06	0	1266.07
4	5000.00	1500.00	11047.87	5000.00	1500.00	11047.87	5000.00	1500.00	7067.40	5000.00	1500.00	7067.40

图10 任务2地面轨迹的射向调节对比

Fig.10 Comparison of launch direction adjustments in ground trajectories for Mission 2

图11 各任务编队最大射向距离变化

Fig.11 Curves of maximum distance variation in launch direction for formations in each mission

表5 各任务最大终端射向距离

Table 5 The maximum terminal distance in launch direction of each mission km

方法	任务1	任务2	任务3	任务4
1	0.52	1.06	0.79	0.92
2	19.12	8.29	5.07	18.12

图12 任务2地面轨迹的避碰控制对比

Fig.12 Comparison of collision avoidance controls in ground trajectories for Mission 2

图13 任务2编队最小空间距离

Fig.13 Minimum spatial distance of formation in Mission 2

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