Research On Modeling And Simulation Of Coordinate Control Of The System Of Multiple Vehicles

Along with the development of aerospace and information war, more and more tasks require multiple aircrafts to complete, but it also brings the problem of how to coordinate these vehicles.From modeling and simulation point of view, the simulation method of multi-aircrafts’ coordinate control, the modeling framework and the algorithms of the coordinate control are deeply reasearched in this article.The main content and achievement are as follows.It is show n that the kind of multi-aircrafts cooperative flight is a complex CDCS(Combined Discrete event Continuous variables System). Each member in the system is also complex CDCS. The main properties of system are discussed, and the suggestion is made that the method of modeling and simulation for Agent Based CDCS must be employed.For the purpose, the meta modeling of CDCS and simulation algorithm are put forward firstly, secondly, the concept of intelligent control is discussed, and the meta modeling of Intelligent Control Unit is constructed, then, synthesizing it with CDCS,the meta modeling and simulation algorithm for Agent Based CDCS are established. Finally, the basic simulation framework of Agent Based CDCS, the framework of single computer with double process,is given.In the Goddard architecture, Agent is composed of sensing, communication, modeling, planning and excution compents,each compent has its own internal structure and performs specific functions.The entire processes of the Agent’s perception, decision-making and action under the environment and stimulation are given.Referring the Goddard architecture, each aircraft is regarded as an agent with Goddard architecture,Based on analysis of the physical processes of multi-aircrafts’ coordinate control, the individual layer,control layer and behaviror layer are divided. Every layer respectively corresponds to the compents of the Agent.The modeling framework is built for multi-aircrafts’ coordinate control based on the thought of the component.Then the simulation prototype system is designed and realized.According to the idea of model reuse,unified input and output interfaces are designed.The modeling and simulation of multi-missiles cooperative flight is studied. Regarding multi-missiles’ reaching the target at the sa me time as the research object, according to the designed idea of the framework of multi-aircraft cooperative flight,the cooperative aircrafts flight topology model, centroid kinematics model of the missiles, one order autopilot dynamics model, proportional navigation model are established.The control models which are based on proportional navigation guidance and consensus algorithm are proved, and the cooperative control algorithm is demonstrated theoretically.By using the framework, the simulation of multi-missiles reaching the target at the same time is completed, and the effects of velocity control and lead angle control of the time they arrive and the trajectory are analysed.The modeling and simulation of large swarm of spacecrafts rigorous formation keeping is researched. Firstly,the virtual spring-damper mesh control algorithm is proved, then,as for chain topolgy with one dimensional two particles and multi-particles, multi-dimensional multi-particles,theoretically proved the validity and the stability conditions of the control method. Using virtual spring-damper mesh control method to realize the cluster spacecraft strict maintenance, established the model of relative motion dynamics model, dynamics model that considering the J2 perturbation and the virtual spring-damper mesh control model, using multi-Aircraft cooperative flight simulation framework to complete the simulation of spacecrafts rigorous formation keeping. The simulation results show that, the cluster spacecraft can be rigorous formation keeping, virtual spring-damper mesh control method is effective.