三维自适应固定时间多导弹协同制导律

doi:10.12382/bgxb.2023.0640

摘要/Abstract

摘要：

针对三维空间内多导弹对机动目标同时攻击的问题,提出一种具有自适应律的三维多导弹固定时间协同制导律。建立三维空间导弹-目标动力学模型,以弹目视线方向和其垂直方向设计制导律,可保证剩余飞行时间和法向速度在固定时间内完成一致性收敛。采用自适应律来跟踪机动目标运动参数策略,提高多导弹系统的稳定性与对机动目标的打击精度。改进多导弹系统收敛条件,所设计的制导律具备了对攻击时间的约束能力。向制导律中加入饱和函数,避免因符号函数带来的系统抖振。通过仿真实验验证所提固定时间协同制导律的有效性及对抗通信拓扑切换的鲁棒性。实验结果表明:相较于对比文献所设计的制导律具有系统快速收敛以及高精度。

关键词: 多导弹协同制导, 固定时间, 自适应律, 机动目标

Abstract:

An adaptive fixed-time cooperative guidance law is proposed for multiple missiles simultaneously attacking a maneuvering target in three-dimensional space. A 3-D missile-target dynamics model is established, and the adaptive guidance law are designed based on the line of sight (LOS) direction and its vertical direction. This ensures that the remaining flight time and normal velocity converge consistently within a fixed time. The adaptive guidance law are employed to track the motion parameters of maneuvering targets, thus enhancing the stability of multiple missile system and its strike accuracy against the maneuvering targets. The convergence conditions of the multiple missile system are improved, and the designed guidance law possess the capability to constrain the attack time. Saturated functions are introduced into the guidance law to avoid system oscillations caused by the sign function. The effectiveness of the proposed fixed-time cooperative guidance law and its robustness against communication topology switches are validated through simulation experiment. The experimental results indicate that, compared to the guidance law designed in the reference literatures, the proposed guidance law exhibit rapid system convergence and high accuracy.

Key words: multi-missile cooperative guidance, fixed-time, adaptive law, maneuvering target

中图分类号:

TJ765.3

于航, 李清玉, 戴可人, 李豪杰, 邹尧, 张合. 三维自适应固定时间多导弹协同制导律[J]. 兵工学报, 2024, 45(8): 2646-2657.

YU Hang, LI Qingyu, DAI Keren, LI Haojie, ZOU Yao, ZHANG He. Three-dimensional Adaptive Fixed-time Multi-missile Cooperative Guidance Law[J]. Acta Armamentarii, 2024, 45(8): 2646-2657.

图/表 8

图1 多枚导弹同时攻击示意图

Fig.1 Schematic diagram of simultaneous attack of multiple missiles

图2 导弹三维动力学图

Fig.2 Three-dimensional dynamic diagram of missile

图3 导弹通信拓扑G

Fig.3 The communication topology G of missiles

表1 各导弹和目标初始状态

Table 1 Initial states of each missile and target

导弹与目标	位置/m	初速/ (m·s^-1)	纵向面垂直于视线方向航向角误差/rad	横向面垂直于视线方向航向角误差/rad
导弹1	(3000,0,3000)	450	-0.09	0.02
导弹2	(7000,-2000,0)	440	0.10	-0.07
导弹3	(0,0,0)	350	0.11	0.05
导弹4	(-7000,0,0)	350	-0.15	0.01
导弹5	(-3000,1000,-1000)	400	0.12	-0.10
目标	(15000,15000,15000)

图4 自适应制导律式(14)~式(16)仿真示意图

Fig.4 Simulated results of Eq. (14)-(16) of adaptive distributed guidance law

图5 具有攻击时间约束的制导律式(41)仿真结果

Fig.5 Simulation results of Eq.(41) of guidance law with attack time constraint

图6 在相同初始条件下自适应制导律式(14)~式(16)与文献[11]所提制导律对比结果

Fig.6 Comparison of adaptive guidance laws Eq.(14)- (16) with those in Ref.[11] under the same initial conditions

图7 制导律式(14)~式(16)对抗拓扑切换的鲁棒性仿真结果

Fig.7 Robustness simulation results of guidance laws Eq.(14)-(16) against topology switching

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