拦截机动目标的分布式协同围捕制导方法  

Distributed cooperative encirclement hunting guidance method for intercepting maneuvering target

作　　者：于江龙 董希旺 李清东[1] 吕金虎 任章[1] YU Jianglong;DONG Xiwang;LI Qingdong;LYU Jinhu;REN Zhang(Science and Technology on Aircraft Control Laboratory,School of Automation Science and Electrical Engineering,Beihang University,Beijing 100191,China;Institute of Artificial Intelligence,Beihang University,Beijing 100191,China)

机构地区：[1]北京航空航天大学自动化科学与电气工程学院,飞行器控制一体化技术国防科技重点实验室,北京100191 [2]北京航空航天大学人工智能研究院,北京100191

出　　处：《航空学报》2022年第9期513-533,共21页Acta Aeronautica et Astronautica Sinica

基　　金：国家自然科学基金(62103016,61922008,61973013,61803014,62103023);2020年度科技创新2030-“新一代人工智能”重大项目(2020AAA0108200);博士后创新人才支持计划(BX20200034);中国博士后科学基金(2020M680297)。

摘　　要：研究了多领导者-多跟随者模式下多飞行器协同拦截机动目标的分布式协同围捕制导问题。借鉴狼群协同围捕大机动猎物的行为学机理,在数学层面抽象出领-从模式协同制导架构、分布式通信与状态估计以及多路多方向协同围捕制导律3种映射策略。首先,针对领-从模式协同制导架构,提出了多领导者-多跟随者协同围捕方案。其次,针对多领导者飞行器,设计带有目标不确定机动补偿的协同逆轨拦截制导律,为跟随者飞行器提供有利的围捕拦截参考轨迹。再次,针对多跟随者,利用分布式状态观测器对多领导者状态轨迹凸组合进行估计,进而设计了时变围捕视线角编队跟踪制导律,引入动态增益补偿系统来解决最大可用过载受限问题。然后,证明了闭环系统稳定性,并给出了协同制导可行性分析结论。最后,对理论结果进行仿真验证,结果显示,多飞行器在目标逃逸方向两侧形成一定散布的围捕构型,即存在若干飞行器的末制导拦截阵位是合适的,提高了对机动目标的拦截效能。In this paper,the problem of distributed cooperative encirclement hunting guidance for multiple aircrafts intercepting a maneuvering target in the multi-leader multi-follower mode is studied.Based on the biological mechanism of wolves’ cooperative encirclement hunting of large maneuvering prey,three strategies for the cooperative guidance architecture in the leader-follower mode,distributed communication and state estimation,and multi-channel and multi-directional cooperative encirclement hunting guidance Law are abstracted mathematically.Firstly,for the leader-follower cooperative guidance architecture,a cooperative encirclement hunting scheme in the multi-leader multi-follower mode is proposed.Secondly,for multi-leader aircrafts,a cooperative anti-orbit interception guidance law with target’s uncertain maneuver compensation is developed to provide a favorable reference trajectory for the follower aircrafts.For multiple followers,a distributed state observer is used to estimate the convex combination of the state trajectories of multiple leaders.A time-varying encirclement hunting line of line-of-sight formation tracking guidance law is designed by using local information,and a dynamic compensation system is introduced to solve the input saturation problem.Then,the stability analysis of the closed-loop system and the feasibility analysis of the cooperative guidance system are conducted.Finally,the theoretical results are verified by numerical simulation.The simulation results show that it is appropriate for multiple aircrafts to form a certain encirclement hunting configuration on both sides of the target escape direction.That is,there exist several proper terminal guidance interception positions for aircrafts,which can improve maneuvering target interception efficiency.

关 键 词：协同制导 时变编队跟踪 围捕制导 机动目标 逆轨拦截 领从模式 视线角编队 

分 类 号：V448.23[航空宇航科学与技术—飞行器设计] TJ765.3[兵器科学与技术—武器系统与运用工程]