张钰清, 陈长风, 张扬, 于江龙, 董希旺, 任章. 带有时间约束的多飞行器协同轨迹规划[J]. 工程科学学报. DOI: 10.13374/j.issn2095-9389.2023.11.23.002
引用本文: 张钰清, 陈长风, 张扬, 于江龙, 董希旺, 任章. 带有时间约束的多飞行器协同轨迹规划[J]. 工程科学学报. DOI: 10.13374/j.issn2095-9389.2023.11.23.002
ZHANG Yuqing, CHEN Changfeng, ZHANG Yang, YU Jianglong, DONG Xiwang, REN Zhang. Time-coordination entry trajectory planning for multihypersonic vehicles[J]. Chinese Journal of Engineering. DOI: 10.13374/j.issn2095-9389.2023.11.23.002
Citation: ZHANG Yuqing, CHEN Changfeng, ZHANG Yang, YU Jianglong, DONG Xiwang, REN Zhang. Time-coordination entry trajectory planning for multihypersonic vehicles[J]. Chinese Journal of Engineering. DOI: 10.13374/j.issn2095-9389.2023.11.23.002

带有时间约束的多飞行器协同轨迹规划

Time-coordination entry trajectory planning for multihypersonic vehicles

  • 摘要: 面向多个高超声速飞行器在指定时间到达指定区域的场景,本文提出了一种带有时间约束的多飞行器协同轨迹规划方法. 首先,通过解决飞行器再入飞行时间与横向机动之间的耦合问题,基于二元牛顿迭代法设计了一种考虑飞行时间约束和航程约束的纵向轨迹规划方法. 然后,在横向平面内基于一种边界可调式的航向角偏差走廊实现了飞行器的横向机动,同时,设计了一种补偿更新策略不断迭代直至得到满足飞行时间约束的三维轨迹. 在此基础上,分析了飞行器的飞行能力并给出了一种飞行器的协同飞行时间、终端高度和飞行航程的确定方法. 最后,通过多飞行器协同飞行的仿真结果表明,本文的方法能够得到多飞行器满足飞行时间和终端约束的三维轨迹,并具有良好的计算精度. 同时,蒙特卡洛仿真表明该协同轨迹规划方法对各项扰动具有较强的鲁棒性.

     

    Abstract: In recent years, the research on high-speed vehicles has become a hot spot, among which the research on hypersonic vehicles is particularly important. Multihypersonic vehicles will inevitably work cooperatively in the future under the weaponization and armament acquisition processes of hypersonic vehicles. However, the characteristics of hypersonic vehicles, such as without thrust and with strong nonlinearity, strong coupling, and multiple constraints, have led to considerable difficulties and challenges in the cooperative formation control problem of multihypersonic vehicles. This paper proposes a time-coordination entry trajectory planning method for multihypersonic vehicles for scenarios where multihypersonic vehicles arrive at a designated area with cooperative time constraints. First, the coupling problem between the re-entry flight time and lateral maneuvering of a vehicle is solved by reasonably simplifying the motion equation of the vehicle in the longitudinal plane, and a longitudinal trajectory planning method considering arrival time and range constraints is designed based on the binary Newton iteration method. Then, the inverse logic of the bank angle is designed based on the heading angle deviation corridor; thus, the terminal flight range constraint and heading angle deviation constraint can be satisfied, and the three-dimensional trajectory of the vehicle is obtained. However, the impact of the lateral motion will inevitably result in a certain deviation between the final and expected flight times. Therefore, a strategy for compensation and renewal is designed and the entry trajectory is planned iteratively until meeting the flight range and arrival time constraints. Simultaneously, the impact of different bank angle profiles on the flight range, flight time, and terminal height in trajectory planning of vehicles is investigated, and on this basis, a method for determining the collaborative flight time, terminal altitude, and flight range of the vehicles is introduced. Finally, the numerical simulation is conducted to verify the trajectory planning problem of multiple vehicles with time coordination, and the simulation results show that multihypersonic vehicles can simultaneously arrive at the terminal area using the method proposed in this study, which can satisfy the flight range, arrival time, and terminal height constraints and has good calculation accuracy. Meanwhile, varying degrees of uncertainty can be detected in the initial altitude, speed, longitude, latitude, flight path angle, heading angle, and other initial conditions and various disturbances, such as atmospheric density and aircraft mass, during the actual flight of the hypersonic vehicle. Moreover, the Monte Carlo simulation verified that the trajectory planning method with time coordination has strong robustness to various disturbances and remarkable application prospects.

     

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