具有角度和时间约束的固定时间协同制导律  

Fixed-time Cooperative Guidance Law with Angle and Remaining Flight Time Constraints

作　　者：李鹤宇 王建斌[1] 张锐[1] 宋峰[1] 姚雨晗[1] 楼朝飞[1] LI Heyu;WANG Jianbin;ZHANG Rui;SONG Feng;YAO Yuhan;LOU Chaofei(Beijing Institute of Electronic System Engineering,Beijing 100854,China;Graduate School,The 2nd Academy,China Aerospace Science&Industry Corporation Limited,Beijing 100854,China)

机构地区：[1]北京电子工程总体研究所,北京100854 [2]中国航天科工集团第二研究院研究生院,北京100854

出　　处：《宇航学报》2024年第3期462-468,共7页Journal of Astronautics

基　　金：基础加强项目(2020-JCJQ-ZD-064-00)。

摘　　要：针对多飞行器协同打击机动目标问题,提出一种具有终端角度约束和时间一致性约束的固定时间收敛协同中制导方法。建立二维场景下飞行器-目标视线(LOS)坐标系,将加速度分解为沿视线方向和与视线垂直方向。首先,基于代数图论和分布式合作协议算法,对飞行器的沿视线方向加速度进行设计,以保证多个飞行器的剩余飞行时间在固定时间内收敛至一致。其次,基于滑模控制理论和固定时间到达算法,构建飞行器视线法线方向加速度计算方法,使得视线角在固定时间内收敛到期望值。此外,针对目标加速度未知的问题,采用固定时间观测器进行估计,并在制导指令中进行补偿。仿真结果表明所提出的协同制导方法能够在固定时间内实现剩余飞行时间和视线角度的收敛。Aiming at the problem of multi-vehicle cooperatively attacking the maneuvering target,a fixed-time convergence cooperative medium guidance law with terminal angle constraint and time consistency constraint is proposed.A line-of-sight(LOS)coordinate system is established in the two-dimensional scene,and the acceleration is decomposed into the direction along the LOS and the directions perpendicular to the LOS.First,based on the algebraic graph theory and the distributed cooperative protocol,the acceleration of the vehicle along the LOS direction is designed to ensure that the remaining flight time of multiple vehicles converge to the same within a fixed time.Second,based on the sliding mode control theory and the fixed time arrival algorithm,the acceleration in the normal direction of the LOS is constructed so that the terminal LOS angle converges to the desired value within a fixed time.In addition,the unknown target acceleration is estimated by a fixed-time observer and compensated in the guidance command.The simulation results show that the proposed cooperative guidance method can achieve the convergence of the remaining flight time and the terminal LOS angle within a fixed time.

关 键 词：飞行器 协同制导 时间一致性 滑模控制 固定时间收敛 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计]