考虑时间约束的攻击型无人机三维制导律设计  

Design of Three-dimensional Guidance Law for Attack Unmanned Aerial Vehicle Considering Time Constraint

作　　者：姚鹏 王德川 YAO Peng;WANG Dechuan(College of Engineering,Ocean University of China,Qingdao 266404,China)

机构地区：[1]中国海洋大学工程学院,青岛266404

出　　处：《无人系统技术》2025年第1期88-96,共9页Unmanned Systems Technology

基　　金：国家自然科学基金(51909252);山东省自然科学基金(ZR2023ME009)。

摘　　要：针对具有完备防空火力的高价值目标,攻击型无人机对其进行饱和打击可提高任务成功率,因此设计了考虑时间约束的三维制导律。首先,在三维场景下,建立交战场景下无人机寻的制导的动力学模型。然后,结合三维比例导引法,通过无人机速度方向和视线的夹角与距离变化,预测剩余飞行时间。最后,根据剩余飞行时间的误差状态量,提出了一种基于滑模控制的时间约束制导律,无人机在末端飞行过程中根据制导律指令调整飞行轨迹使得时间误差趋于零。仿真试验对所提方法的鲁棒性与稳定性进行了验证,无人机能够在脱靶量为0的同时以期望的时间对目标发动攻击。For the high-value target with complete air defense firepower,the attack unmanned aerial vehicle(UAV)can carry out saturation attack to improve the mission success rate,so a three-dimensional guidance law considering time constraint is designed.Firstly,in a three-dimensional scene,we establish a dynamic model for the guidance of UAV in combat scenarios.Then,combined with the three-dimensional proportional navigation guidance(PNG)method,the remaining flight time is predicted by the changes in the angle and distance between the UAV velocity vector and the line of sight,and thus the error state quantity about the remaining flight time is constructed.Finally,a sliding mode time-constrained guidance law(SMTGL)is proposed,according to which the UAV adjusts the flight trajectory to make the time error tend to zero during the terminal flight.The robustness and stability of the proposed method are verified through simulation experiments,and the UAV is able to launch an attack on the target at the expected time while achieving a zero miss distance.

关 键 词：攻击型无人机 饱和打击 三维比例导引法 滑模 时间约束制导律 剩余飞行时间 脱靶量 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]