带有攻击角约束的多导弹协同制导律  

Cooperative guidance law for multiple missiles with impact angle constraints

作　　者：宋俊红[1] 宋申民[1] 徐胜利[2] SONG Jun-hong SONG Shen-min XU Sheng-li(Center for Control Theory and Guidance Technology, Harbin Institute of Technology, Harbin 150001, China Institute of Shanghai Academy of Spaceflight Technology, Shanghai Electro-mechanical Engineering Institute, Shanghai 201109, China)

机构地区：[1]哈尔滨工业大学控制理论与制导技术研究中心,哈尔滨150001 [2]上海航天技术研究院上海机动工程研究所,上海201109

出　　处：《中国惯性技术学报》2016年第4期554-560,共7页Journal of Chinese Inertial Technology

基　　金：航空科学基金(20140177002);上海航天科技创新基金(SAST201402);国家自然科学基金创新群体项目(61021002)

摘　　要：针对带有攻击角约束的多导弹同时攻击机动目标问题,提出了一种带有攻击角约束的协同制导律。首先基于平面内的导弹-目标相对运动方程,建立了带有攻击角约束的协同制导模型;其次,把协同制导律的设计过程分离为两个部分:一是基于图论的有关内容,运用有限时间一致性理论设计沿着视线方向上的加速度指令来保证所有导弹与目标的相对距离在有限时间内到达一致,进而保证所有的导弹同时击中机动目标;二是利用非齐次干扰观测器对机动目标的加速度进行估计,并运用滑模控制设计视线法向上的加速度指令来保证每枚导弹与目标间的视线角速率收敛到零和视线角收敛到期望的终端视线角,即每枚导弹以期望的终端视线角成功击中目标;最后,对三枚导弹同时打击同一机动目标的情况进行仿真,仿真结果表明本文设计的带有攻击角约束的协同制导律的有效性和正确性。To solve the problem in multiple missiles attacking a maneuvering target simultaneously, a novel cooperative guidance law with impact angle constraints is proposed. At first, based on missile-target relative motion equation in plane, the cooperative guidance model with impact angle constraints is constructed. Then, the process of cooperative guidance law design is divided into two parts. In the first part, with the use of the graph and finite-time consensus theory, the acceleration command on the LOS direction is developed to guarantee that all relative distances from the missile to the target reach the agreement in finite time, and all missiles reach the maneuvering target simultaneously. In the second part, based on the sliding mode control and the non-homogeneous disturbance observer employed to estimate the acceleration of the maneuvering target, the acceleration command along the normal direction of the line-of-sight（LOS） is designed to guarantee that the LOS angular rate between each missile and the target converges to zero and the LOS angle converges to the desired terminal LOS angle. Thus every missile can successfully hit the target with the desired terminal LOS angle. Finally, simulation results for the interception scenario of three missiles intercepting a maneuvering target are provided, which demonstrate the effectiveness and superiority of the proposed cooperative guidance law with impact angle constraints.

关 键 词：协同制导律 攻击角约束 非齐次干扰观测器 滑模控制 通信拓扑 有限时间一致性 

分 类 号：V448.133[航空宇航科学与技术—飞行器设计]