多高超声速滑翔飞行器协同避障轨迹规划研究  

Research on collaborative obstacle avoidance trajectory planning for multi hypersonic gliding vehicles

作　　者：徐小平[1] 刘宣廷 安凯 杨文沅 沈林成[4] 孙瑞胜[2] XU Xiaoping;LIU Xuanting;AN Kai;YANG Wenyuan;SHEN Lincheng;SUN Ruisheng(College of Advanced Interdisciplinary Studies,National University of Defense Technology,Changsha 410073,China;School of Energy and Power Engineering,Nanjing University of Science and Technology,Nanjing 210094,China;College of Aerospace Science and Engineering,National University of Defense Technology,Changsha 410073,China;College of Intelligence Science and Technology,National University of Defense Technology,Changsha 410073,China)

机构地区：[1]国防科技大学前沿交叉学科学院,湖南长沙410073 [2]南京理工大学能源与动力工程学院,江苏南京210094 [3]国防科技大学空天科学学院,湖南长沙410073 [4]国防科技大学智能科学学院,湖南长沙410073

出　　处：《中南大学学报（自然科学版）》2024年第10期3742-3755,共14页Journal of Central South University:Science and Technology

基　　金：国家自然科学基金资助项目(11972368);湖南省杰出青年自然科学基金资助项目(2021JJ10045)。

摘　　要：建立高超声速滑翔飞行器动力学模型和考虑复杂多约束条件的协同轨迹规划模型,着重考虑对雷达探测区、火力场覆盖区等禁飞区的避障和弹群内避碰问题,构造安全距离函数对禁飞区避障和弹群内避碰约束进行描述,采用自适应hp-Radau伪谱法将上述多约束条件下的复杂最优控制问题转化为非线性规划问题求解。提出协同避障轨迹规划流程,针对某通用大气飞行器(common aero vehicle,CAV)开展“异地出发,同时到达”的协同避障轨迹规划仿真,并进一步探究禁飞区位置和协同飞行时间对最优性能指标的影响。研究结果表明:本文提出的多高超声速滑翔飞行器协同避障轨迹规划方法有效处理了各种复杂约束条件,得到了满足各类约束条件和性能指标要求的多飞行器协同飞行轨迹。The hypersonic gliding vehicle dynamics model and the collaborative trajectory planning model were established considering complex and multi-constraint conditions,focusing on the problem of obstacle avoidance in no-fly zones such as radar detection area and fire field coverage area and collision avoidance within a missile group.In particular,a safe distance function was constructed to describe the obstacle avoidance in no-fly zones and collision avoidance constraints within a missile group.The adaptive hp-Radau pseudo-spectrum method was used to transform the complex optimal control problem with the above constraints into a nonlinear programming problem.A collaborative obstacle avoidance trajectory planning process was proposed,and a collaborative obstacle avoidance trajectory planning of"departure from different places and arrival at the same time"for a common aero vehicle(CAV)was simulated,and the influence of no-fly zone location and collaborative flight time on the optimal performance index was explored.The results show that the multi hypersonic gliding vehicles collaborative obstacle avoidance trajectory planning method proposed in this paper can effectively deal with various complex constraints,and obtain a multi vehicles collaborative flight trajectory that meets various requirements of constraints and performance index.

关 键 词：高超声速滑翔飞行器 协同避障 轨迹规划 hp-Radau伪谱法 

分 类 号：V19[航空宇航科学与技术—人机与环境工程]