拦截机动目标的多约束下协同制导律  

Cooperative guidance law with multiple constraints for intercepting maneuvering target

作　　者：吴盘龙[1] 王勇 钟俊 何雨飞 WU Panlong;WANG Yong;ZHONG Jun;HE Yufei(School of Automation,Nanjing University of Science and Technology,Nanjing 210094,China;Qian Xuesen College,Nanjing University of Science and Technology,Nanjing 210094,China)

机构地区：[1]南京理工大学自动化学院,南京210094 [2]南京理工大学钱学森学院,南京210094

出　　处：《中国惯性技术学报》2023年第11期1142-1149,共8页Journal of Chinese Inertial Technology

基　　金：航天SAST基金(SAST2021-027,SAST2021-056);航空科学基金(20220001059001,2022Z037059001)。

摘　　要：为使多空空导弹以不同的落角同时命中机动目标的不同关键部位,提出一带有落角约束和视场角约束的三维协同制导律。首先在导弹的偏航和俯仰平面分别运用二次型最优控制的黎卡提方程推导了带有落角约束的加速度指令,以确保导弹按期望的落向和落角打击目标。其次采用可控开关反向原加速度指令的方法,对视场角进行修正,确保目标始终在导弹视场内。然后基于有限时间一致性理论,在落角约束与视场角约束的基础上设计了具有时变导引系数的协同制导律,使各导弹同时击中机动目标。最后通过仿真验证了所设计的多约束条件协同制导律的有效性与正确性,相比于比例导引可以实现对目标不同方位的协同打击,脱靶量小于0.41 m,落角落向误差均小于0.23°,时间误差在0.1 s以内,并有效避免了机动指令的抖振现象。In order to make multiple air-to-air missiles hit different key parts of maneuvering targets simultaneously at different impact angles,a three-dimensional cooperative guidance law with constraints of impact angle and field of view is proposed.First,in the yaw and pitch planes of the missile,the acceleration commands with impact angle constraint is derived by using the Riccati equation with the optimal control of the quadratic type to ensure that missiles hit the target at desired impact direction and angle.Next,the field of view is corrected using a controlled switch to reverse the original acceleration command to ensure that the target is always in the missiles'field of view.Then,by applying the finite time consistency theory,a cooperative guidance law with time-varying navigation coefficient is designed on the basis of the impact angle constraint and the field of view constraint,so that each missile hits the maneuvering target at the same time.Finally,the simulation results show the effectiveness and correctness of the designed multi-constraint cooperative guidance law.Compared with proportional guidance,the proposed method can achieve coordinated strikes on different directions of the target,the miss distance,impact angle error and time error are controlled within 0.41 m,0.23°and 0.1 s respectively,and the jitter of maneuvering commands is effectively avoided.

关 键 词：协同制导律 落角约束 视场角约束 剩余飞行时间 时间一致性 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]