带攻击角度约束的三维领弹-从弹时间协同制导律

doi:10.12382/bgxb.2023.0174

摘要/Abstract

摘要：

针对多导弹在三维空间以期望角度协同攻击机动目标的问题,提出一种三维领弹-从弹时间协同制导律。根据弹目相对运动关系建立领弹-从弹三维非线性协同制导模型,无需小角度假设;在视线法向和侧向上,基于2阶滑模控制理论和设计的有限时间收敛滑模面,分别设计领弹-从弹三维角度控制制导律,在提高系统收敛速度的同时抑制了抖振现象;在从弹视线方向上提出时间协同制导律,创新性地将领弹-从弹协同制导问题转化为2阶多智能体一致性跟踪控制问题,充分利用导弹间的信息交互,在实现从弹和领弹时间协同的同时避免传统的剩余时间估计造成的误差问题;同时对新算法分别进行严格的Lyapunov稳定性证明。仿真结果表明:新的三维领弹-从弹时间协同制导律可以有效控制领弹和从弹在三维空间以期望角度高精度协同攻击机动目标。

关键词: 三维领弹-从弹, 攻击角度约束, 时间协同, 2阶滑模, 机动目标, 一致性跟踪

Abstract:

A three-dimensional leader-follower cooperative guidance law is proposed for the salvo attack of multiple missiles against a maneuvering target with the desired angles of impact. A three-dimensional nonlinear guidance model for the multiple missiles is established based on the relative motion relationship of missile and target, in which it is not necessary to assum a small lead angle. The three-dimensional guidance laws of leader and followers in the normal and lateral directions to the LOS are designed, respectively, based on the second-order sliding mode control (SMC) theory and designed finite-time convergence SMC surface, which can improve the system convergence speed while suppressing chattering phenomenon. The proposed guidance law innovatively transforms the time consistency problem of the leader-following missiles into a second-order multiagent consensus tracking in the LOS direction of the followers, which achieves the time consistency of leader and followers and, effectively solves the practical problem of low guidance precision caused by the time-to-go estimation. Moreover, the proposed guidance algorithms are proved by strict Lyapunov stability, respectively. The simulated results show that the proposed three-dimensional leader-follower cooperative guidance law can effectively control the leader and followers to attack a maneuvering target with high precision at the desired angles of attack.

Key words: three-dimensional leader-followers, angle of attack constraint, time consistency, second-order sliding mode control, maneuvering target, consensus tracking

中图分类号:

TJ765.3

尤浩, 常新龙, 赵久奋, 张有宏, 王顺宏. 带攻击角度约束的三维领弹-从弹时间协同制导律[J]. 兵工学报, 2023, 44(11): 3369-3381.

YOU Hao, CHANG Xinlong, ZHAO Jiufen, ZHANG Youhong, WANG Shunhong. Three-dimensional Leader-follower Cooperative Guidance Law with Impact Angle Constraints[J]. Acta Armamentarii, 2023, 44(11): 3369-3381.

图/表 12

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导弹与目标	初始位置/m	初始速度/(m·s^-1)	初始弹道倾角/(°)	初始弹道偏角/(°)	期望视线倾角/(°)	期望视线偏角/(°)
领弹	(4500,7000,4000)	320	-30	-25	-25	-25
从弹1	(4000,6000,4000)	310	-15	-30	-60	-40
从弹2	(3500,5500,4500)	320	15	20	-45	-75
从弹3	(4000,6000,3500)	300	25	15	-35	-60
目标	(9000,3000,9000)	110	10	15

导弹与目标	初始位置/m	初始速度/(m·s^-1)	初始弹道倾角/(°)	初始弹道偏角/(°)	期望视线倾角/(°)	期望视线偏角/(°)
领弹	(4500,7000,4000)	320	-30	-25	-25	-25
从弹1	(4000,6000,4000)	310	-15	-30	-60	-40
从弹2	(3500,5500,4500)	320	15	20	-45	-75
从弹3	(4000,6000,3500)	300	25	15	-35	-60
目标	(9000,3000,9000)	110	10	15

导弹与目标	初始位置/m	初始速度/(m·s^-1)	初始弹道倾角/(°)	初始弹道偏角/(°)	期望视线倾角/(°)	期望视线偏角/(°)
领弹	(6000,6000,6000)	300	-45	-30	-30	-30
从弹1	(5500,5500,5500)	290	-15	-10	-45	-15
从弹2	(5000,5000,6000)	300	-60	-60	-60	-45
从弹3	(5000,5500,6500)	280	-30	-50	-75	-60
目标	(9000,0,9000)	100	5	10

导弹与目标	初始位置/m	初始速度/(m·s^-1)	初始弹道倾角/(°)	初始弹道偏角/(°)	期望视线倾角/(°)	期望视线偏角/(°)
领弹	(6000,6000,6000)	300	-45	-30	-30	-30
从弹1	(5500,5500,5500)	290	-15	-10	-45	-15
从弹2	(5000,5000,6000)	300	-60	-60	-60	-45
从弹3	(5000,5500,6500)	280	-30	-50	-75	-60
目标	(9000,0,9000)	100	5	10

导弹	攻击时间/ s	脱靶量/ m	视线倾角误差/(°)	视线偏角误差/(°)
领弹	29.84	0.0916	0.0434	0.0292
从弹1	29.84	0.0863	0.0368	0.0383
从弹2	29.84	0.0938	0.0351	0.0415
从弹3	29.84	0.0766	0.0268	0.0308