考虑攻击时间及空间角度约束的三维自适应滑模协同制导律设计

doi:10.12382/bgxb.2022.1086

摘要/Abstract

摘要：

面向三维场景下的多导弹协同攻击机动目标问题,基于固定时间稳定理论和自适应滑模控制理论,设计考虑时间及空间约束的分布式协同制导律。在弹目视线方向上,基于固定时间一致性理论提出一种改进型自适应鲁棒协同制导律,驱动弹群以期望的攻击时刻协同拦截机动目标,并避免滑模固有的抖振问题;考虑视线法向的空间约束,基于固定时间非奇异终端滑模控制理论设计一种鲁棒自适应滑模制导律,在实现终端碰撞角约束的同时避免弹群间碰撞。通过Lyapunov稳定性理论证明闭环系统的固定时间稳定性。仿真结果表明:所设计三维协同制导律可以有效控制多发导弹在期望攻击时刻同时打击机动目标,并以期望的终端角度攻击目标。

关键词: 分布式协同制导, 固定时间稳定理论, 时间及空间角度约束, 自适应滑模, 机动目标

Abstract:

Aiming at the problem of three-dimensional multiple missiles intercepting a maneuvering target simultaneously, a three-dimensional distributed cooperative guidance law considering time and space constraints. The proposed guidance law is based on fixed-time stable theory and adaptive sliding mode theory. Along the light-of-sight (LOS) direction, an improved robust adaptive cooperative guidance law is presented based on fixed-time consensus, which can drive a group of missiles to attack maneuvering target at a desired impact time without inherent chattering of sliding mode control. Along the direction vertical to the line-of-sight, a robust adaptive guidance law is proposed based on nonsingular fixed-time terminal sliding mode technique, which can drive missiles attack target with desired impact angle and avoid collision between missiles. Through the Lyapunov stability theory, the fixed-time stability of closed-loop system is demonstrated. The simulation results show that the proposed approach can be implemented to intercept maneuvering targets with desired impact time and impact angle.

Key words: distributed cooperative guidance law, fixed-time control theory, impact time and impact angle constraint, adaptive sliding mode, maneuvering target

中图分类号:

V249.1

王雨辰, 王伟, 林时尧, 杨婧, 王少龙, 尹瞾. 考虑攻击时间及空间角度约束的三维自适应滑模协同制导律设计[J]. 兵工学报, 2023, 44(9): 2778-2790.

WANG Yuchen, WANG Wei, LIN Shiyao, YANG Jing, WANG Shaolong, YIN Zhao. Three-dimensional Adaptive Sliding Mode Cooperative Guidance Law with Impact Time and Angle Constraints[J]. Acta Armamentarii, 2023, 44(9): 2778-2790.

图/表 11

图1 三维多弹协同攻击

Fig.1 Three-dimensional multi-missile cooperative homing attack

图2 三维制导模型

Fig.2 Three-dimensional engagement geometry

图3 通讯拓扑

Fig.3 Communication topologies

表1 初始条件

Table 1 Initial conditions

导弹	相对距离/ m	速度/ (m·s^-1)	视线倾角/ (°)	视线偏角/ (°)	期望终端视线倾角/ (°)	期望终端视线偏角/ (°)
M₁	9200	300	20	60	12	55
M₂	9800	350	-10	20	-5	25
M₃	10400	330	10	30	10	26
M₄	11000	420	-20	10	-25	15

表2 目标初始条件

Table 2 Initial target conditions

参数	X/m	Y/m	Z/m
数值	5000	5000	5000

图4 工况1条件下的仿真结果

Fig.4 Simulation results of Case 1

表3 拦截时间,脱靶量及视线角度误差

Table 3 Interception time, miss distance and LOS angle errors

制导律	导弹	拦截时间/s	脱靶量/m	误差/ (°)	误差/ (°)
	M₁	40.006	0.0988	0.0643	0.0622
本文AITACGL	M₂	40.006	0.1275	0.0603	0.0624
	M₃	40.006	0.1518	0.0625	0.0607
	M₄	40.006	0.1243	0.0631	0.0629
	M₁	27.713	0.5914	0.4372	0.9221
FTCGL	M₂	27.713	0.3206	0.5837	0.5718
	M₃	27.713	0.0484	0.2943	0.5556
	M₄	27.713	0.2312	0.2658	0.3627

图5 AITACGL和FCGL能量消耗与差值

Fig.5 Energy consumption and difference of AITACGL and FCGL

图6 FTCGL仿真结果

Fig.6 Simulation results of FTCGL

图7 弹群的切换拓扑

Fig.7 Switching topologies of the missile groups

图8 视线方向上的仿真结果

Fig.8 Simulation results along the LOS direction

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