A homogenization-planning-tracking method to solve cooperative autonomous motion control for heterogeneous carrier dispatch systems

Taxiing aircraft and towed aircraft with drawbar are two typical dispatch modes on the flight deck of aircraft carriers. In this paper, a novel hierarchical solution strategy, named as the Homogenization-Planning-Tracking (HPT) method, to solve cooperative autonomous motion control for heterogeneous carrier dispatch systems is developed. In the homogenization layer, any towed aircraft system involved in the sortie task is abstracted into a virtual taxiing aircraft. This layer transforms the heterogeneous systems into a homogeneous configuration. Then in the planning layer, a centralized optimal control problem is formulated for the homogeneous system. Compared with conducting the path planning directly with the original heterogeneous system, the homogenization layer contributes to reduce the dimension and nonlinearity of the formulated optimal control problem in the planning layer and consequently improves the robustness and efficiency of the solution process. Finally, in the tracking layer, a receding horizon controller is developed to track the reference trajectory obtained in the planning layer. To improve the tracking performance, multi-objective optimization techniques are implemented offline in advance to determine optimal weight parameters used in the tracking layer. Simulations demonstrate that smooth and collision-free cooperative trajectory can be generated efficiently in the planning phase. And robust trajectory tracking can be realized in the presence of external disturbances in the tracking phase. The developed HPT method provides a promising solution to the autonomous deck dispatch for unmanned carrier aircraft in the future.     

Exploring mission planning method for a team of carrier aircraft launching

High-level efficiency and safety are of great significance for improving the fighting capability of an aircraft carrier. One way to enhance efficiency and safety level is to organize the carrier aircraft into combat effectively. This paper studies the mission planning problem for a team of carrier aircraft launching, and a novel distributed mission planning architecture is proposed. The architecture is hierarchical and is comprised of four levels, namely, the input level, the coordination level,the path planning level and the execution level. Realistic constraints in each level of the distributed architecture, such as the vortex flow effect, the crowd effect and the motion of aircraft, are considered in the model. To solve this problem, a distributed path planning algorithm based on the asynchronous planning strategy is developed. The proposed Mission Planning Approach for Carrier Aircraft Launching(MPACAL) is validated using the setups of the Nimitz-class aircraft carrier.Compared to the isolated planning architecture and the centralized planning architecture, the proposed distributed planning architecture has advantages in coordinating the launch tasks not only belonging to the same catapult but also when all different catapults are considered. The proposed MPACAL provides a modeling method for the flight deck operation on aircraft carrier.     

Optimization of fixed aviation support resource station configuration for aircraft carrier based on aircraft dispatch mission scheduling

Before the dispatch of the carrier-based aircraft, a series of pre-flight preparation operations need to be completed on the flight deck. Flight deck fixed aviation support resource station configuration has an important impact on operation efficiency and sortie rate. However, the resource station configuration is determined during the aircraft carrier design phase and is rarely modified as required, which may not be suitable for some pre-flight preparation missions. In order to solve the above defects, the joint optimization of flight deck resource station configuration and aircraft carrier pre-flight preparation scheduling is studied in this paper, which is formulated as a two-tier optimization decision-making framework. An improved variable neighborhood search algorithm with four original neighborhood structures is presented. Dispatch mission experiment and algorithm performance comparison experiment are carried out in the computational experiment section. The correlation between the pre-flight preparation time (makespan) and flight deck cabin occupancy percentage is given, and advantages of the proposed algorithm in solving the mathematical model are verified.     

民用飞机试飞规划与管理技术研究

梳理了通用的民机试飞需求类型,讨论了民机试飞任务分工和试飞计划制订原则,分析了民机试飞科目特点和逻辑关系,研究并提出了一种民机试飞任务优化方法,系统地阐述了试飞规划与管理体系,实现了民机试飞的闭环控制,解决了国内试飞规划中未能系统研究的问题,并创建了一套具有国际先进水平的民机试飞规划与管理系统(Flight Test Control System,简称"FTCS")。FTCS已在实际型号试飞工作中得到了验证和应用,起到了减少试飞架次和提高试飞效率的作用,具有实际的工程应用意义。     

海上雾霾天气下基于能见度的舰载机目视着舰风险评估方法研究

针对雾霾天气对舰载机目视着舰安全性的影响难以量化的问题,利用激光雷达在近海的能见度观测数据,反演海上雾霾天气下飞行员目视着舰的斜程能见度的状况,提出 1种基于能见度指标的目视着舰风险评估方法,将舰载机着舰过程中飞行员频繁的目测压力,转变为舰上数据测量、风险评估和应对措施等程序化工作,将定性的安全分析转变为定量的风险评估和安全指导,谋求在现有着舰控制模式下有效降低飞行员着舰压力,提升指挥引导效率,为低能见度下舰载机目视着舰训练提供理论依据和实践指导。     

基于网络计划技术的冷校靶流程

为提高飞机大修效率,缩短大修时间,对其中航炮冷校靶流程进行了分析,运用网络计划技术原理并根据逻辑关系绘制了航炮冷校靶网络图,采用关键线路法对关键工序进行优化,调整关键线路进而有效缩短航炮冷校靶时间,对于飞机大修其他工作流程也可应用网络计划技术,从而能有效地提高飞机大修效率。     

Adaptive path planning for unmanned aerial vehicles based on bi-level programming and variable planning time interval

This paper presents an adaptive path planner for unmanned aerial vehicles (UAVs) to adapt a real-time path search procedure to variations and fluctuations of UAVs’ relevant performances, with respect to sensory capability, maneuverability, and flight velocity limit. On the basis of a novel adaptability-involved problem statement, bi-level programming (BLP) and variable planning step techniques are introduced to model the necessary path planning components and then an adaptive path planner is developed for the purpose of adaptation and optimization. Additionally, both probabilistic-risk-based obstacle avoidance and performance limits are described as path search constraints to guarantee path safety and navigability. A discrete-search-based path planning solution, embedded with four optimization strategies, is especially designed for the planner to efficiently generate optimal flight paths in complex operational spaces, within which different surface-to-air missiles (SAMs) are deployed. Simulation results in challenging and stochastic scenarios firstly demonstrate the effectiveness and efficiency of the proposed planner, and then verify its great adaptability and relative stability when planning optimal paths for a UAV with changing or fluctuating performances.     

舰—机适配条件对舰载机滑跃起飞性能的影响

针对不同舰-机适配条件下舰载机起飞安全性的问题,建立了飞机滑跃起飞动力学分析模型,用数值方法分析了飞机起飞质量、甲板参数、舰船航行速度等因素对飞机滑跃起飞性能的影响。仿真结果表明：舰载机起飞质量增大会减小其离舰爬升率;平直甲板越长或斜甲板出口倾角越大,离舰爬升率越大;但是出口倾角太大时,会使飞机离舰迎角超出限制;增大舰船的行驶速度,可以缩短舰载机起飞所需甲板的长度。     

金属增材制造数据处理与工艺规划研究综述

金属增材制造数据处理与工艺规划是金属增材制造软件系统的核心,涵盖了金属支撑结构设计、模型切片以及路径规划等内容,决定着最终金属零部件的产品性能.从金属增材制造模型前处理出发,较为全面地概述了与之相关的多类型支撑设计和新型支撑优化等数据处理内容,针对金属增材制造数据处理中模型切片这一关键环节,分别从平面切片、自适应切片和...     

水下单信标导航航路规划和最优航路接近方法

相比于传统的长基线和超短基线等导航方式，水下单信标导航具有布放简单的优点，但其导航精度有待进一步提高。为此，提出了单信标导航的航路规划方案，通过泰勒级数展开推导了水平位置精度因子的表达式，并分析了导航点和声信标的相对几何位置关系对导航精度的影响，最终提出了航路规划方案。在此基础上，还提出了自主水下航行器(autonomous underwater vehicle，AUV)从其他位置接近最优航路的方法，包括两部分：一是建立以时延为观测量的滤波模型，利用滤波算法实时获取AUV的位置估计值；二是基于可观测度分析结果对最优航路接近过程的轨迹进行了设计。二者的结合使得AUV高效率且高精度地逼近最优航路。仿真证明了采用所提出的航路规划方案和最优航路接近方法可以提高导航精度，航路规划方案使得AUV位置估计的均方根误差近似为2 m。     

直接升力控制对飞机着舰稳定性的改善

本文讨论了舰载飞机以最小需用推力对应速度(V_(?))的左侧速度进场的航迹稳定性问题。并对直接升力控制对着舰稳定性的改善进行了初步探讨.结果表明,采用直接升力控制来保证飞机着舰稳定性是可行的.     

舰载机拦阻着舰动力学研究

舰载机拦阻着舰是舰载机有别于陆基飞机的主要特点,也是造成舰载机高事故率的主要原因。文章通过对舰载机着舰过程的分析建立了较完整的舰载机拦阻着舰动力学方程,并通过对拦阻力所在的拦阻平面研究,依据拦阻钩与拦阻索相对滑动所经历的时间进一步计算出舰载机撞索的安全范围。     

基于MAS的舰载机动态调度模型

基于多主体系统(MAS)技术研究了充分考虑舰载机故障与维修影响的实时动态调度模型.通过系统分析舰载机的基本作业流程,建立了3层混合控制的柔性模型架构.充分考虑故障等系统扰动的影响,提出基于合同网协议(CNP)的两级交互协同机制提高主体(Agent)问的协商效率,并尽可能消除重调度的影响.给出Agent个体的抽象原则以及开放性式内部结构.深入探讨了基于MAS的舰载机动态调度的基本算法.最后,选取舰载机的典型任务,在特定舰载机可靠性维修性水平下对调度过程进行仿真验证,获取了与实际调度过程趋势相符的舰载机出动能力曲线,证明了模型的可行性.     

阻拦索断裂对螺旋桨舰载机着舰安全影响数值分析

喷气动力舰载机着舰拦阻滑跑，如阻拦索断裂，其逃逸复飞的概率极小。螺旋桨动力舰载机零升阻力大，推重比小，其安全复飞的能力值得研究。本文基于建立的螺旋桨舰载机逃逸复飞仿真模型（含阻拦索工作模型、发动机动力响应模型、升降舵操纵模型与气动力的动力影响修正模型），数值模拟了E-2C舰载预警机着舰阻拦索断裂情况下，其逃逸复飞的过程。仿真计算显示对象飞机在不同气动力、离舰速度与舵面操纵逻辑状态下，其纵向动力学方程中敏感参数与航迹下沉量的动态变化，结合视频数据分析其复飞成功的原因。研究表明：动力对螺旋桨舰载机俯仰力矩与升力特性的影响是其逃逸复飞成功的关键。动力影响使对象飞机的俯仰力矩曲线上移0.15，8°迎角下纵向静稳定性减小85%，升力线斜率增大29.7%、最大升力系数增大39%。这显著改善了螺旋桨飞机逃逸复飞状态下俯仰操纵的敏捷性，升降舵操纵效率与失速特性。动力影响使螺旋桨舰载机可在较小的加速度、离舰速度与有限的留空时间情况下，迅速改变其航迹角，减小航迹下沉量，保证逃逸复飞安全。     

基于单因素SVM的航空兵空运转场飞行架次需求预测研究

航空兵部队成建制空运转场飞行架次需求预测,对机关、航空兵部队拟定空运计划、进行空运准备等都具有重要的意义。运用序列后向选择方法(SBS)对影响飞行架次的特征因素进行逐层淘汰,利用支持向量机(SVM)理论建立单因素非线性回归模型,进而对飞行架次进行预测。预测结果表明:同多因素SVM预测模型相比,单因素SVM预测模型虽在预测精度上没有显著提高,但其减少了预测的前期工作量,方便了机关和部队的使用,实现了飞行架次预测的实时性要求。     

考虑运动学约束的不规则目标遗传避碰规划算法

 针对复杂环境下不规则目标的路径规划问题,提出了一种带有运动学约束的遗传避碰规划算法。以舰载机在航母甲板上的路径规划问题作为研究对象,并且该算法可推广至其他具有此类约束的路径规划问题中,它较好地解决了目标形状复杂、障碍环境复杂、目标运动时带有回转半径约束等特殊问题。在传统遗传路径规划算法的基础上,针对性地设计了三维位置和姿态混合编码、三段法路径解码、轨迹包围盒的碰撞检测及距离计算等方法,并在遗传操作中引入惩罚项和修补策略来辅助算法寻优。最后,为得出复杂环境下的最优路径,基于VC++平台对算法进行了仿真验证。结果表明,在复杂障碍环境下,本文提出的算法可求得最优避碰路径,并满足预先设定的目标回转半径约束,能够有效地解决此类目标的避碰路径规划问题。     

舰载机着舰甲板运动误差及其补偿仿真研究

论述了舰载机着舰过程中的甲板运动扰动,分析了其对飞机着舰的影响,据此对舰载机着舰引导系统进行甲板运动补偿网络设计,并进行仿真,仿真结果表明,补偿网络明显的减小了飞机着舰的纵向误差,通过随即给的航母甲板运动初始相位进行仿真,说明补偿网络具有良好的适应性。     

海上无人机多机协同巡检航迹规划方法

随着无人机技术应用的不断深入,如何提高无人机编队的协同能力及在复杂动态环境的自适应性,已成为“集群智能”的 1个重要研究方向。文章对海上无人机多机协同航迹规划整体流程进行了分析,分别阐释了静态和动态场景下的多机协同规划方法。静态场景下主要采用分支定界法建立静态问题模型,为每架无人机划分作业区域、生成作业路径,使得整个巡检作业的航迹长度代价与作业时间代价最小;动态场景下主要针对气象变化、连续跟监、海域变化 3种突发场景,侧重于协同决策和路径规划设计对应的目标函数,采用启发式算法为整个巡检作业进行自适应航迹规划,以确保安全性和效率性。实验结果显示,无人机协同路径规划能够根据环境变化和任务需求动态调整多无人机的巡检路径,快速给出不同突发情况下的最佳动态调整方案,以应对复杂的海上环境并动态规避障碍物。     

基于冲突分类与消解的多智能体路径规划算法设计CSCD

多智能体路径规划应用广泛但求解困难。为更好地处理多智能体路径规划中的路径冲突问题,提高求解效率,将冲突进一步分类为相向顶点冲突和交叉顶点冲突,并提出了对应的消解方式。相向顶点冲突的消解方法采用提前添加约束的方式,避免在消解其冲突的过程中产生另一个可预见的冲突;交叉顶点冲突的消解方法采用寻找最佳等待时间的方式,在消解其冲突的同时消解其他存在的冲突。两种冲突消解方法均可减小约束树的规模,在一定程度上减少算法的计算量。并提出了基于冲突搜索算法的高层节点冲突搜索算法。实验结果表明,所提出的冲突分类及消解方式有效地减小了算法高层中约束树的规模,降低了算法计算量,并在智能体密集的环境下表现出更大的优势。     

基于低可探测性的参考航迹规划

根据分层规划思想,确定参考航迹是进行航迹规划时首先要解决的问题。在充分考虑雷达探测的各种环境因素及飞行器RCS方位分布特性的基础上,将雷达对目标发现概率作为参考航迹的一个重要评价指标,基于自适应进化算法,采用新的遗传算子,最终生成综合考虑雷达威胁和飞行距离的参考航迹。结果表明,该航迹规划模型能根据对低可探测性和航程的不...