攻击角度和时间精确控制的制导律设计  

Design of guidance law with precise impact angle and time control

作　　者：董伟 易鑫 张后军 王春彦 邓方[1,5] DONG Wei;YI Xin;ZHANG Houjun;WANG Chunyan;DENG Fang(National Key Lab of Autonomous Intelligent Unmanned Systems,Beijing Institute of Technology,Beijing 100081,China;School of Aerospace Engineering,Beijing Institute of Technology,Beijing 100081,China;Beijing System Design Institute of Electro-Mechanic Engineering,Beijing 100083,China;Advanced Technology Research Institute,Beijing Institute of Technology,Jinan 250300,China;Chongqing Innovation Center,Beijing Institute of Technology,Chongqing 401120,China)

机构地区：[1]北京理工大学自主智能无人系统全国重点实验室,北京100081 [2]北京理工大学宇航学院,北京100081 [3]北京机电工程研究所,北京100083 [4]北京理工大学前沿技术研究院,济南250300 [5]北京理工大学重庆创新中心,重庆401120

出　　处：《航空学报》2025年第4期200-216,共17页Acta Aeronautica et Astronautica Sinica

基　　金：国家杰出青年科学基金(62025301);国家自然科学基金(62373055,62403052);博士后创新人才支持计划(BX20230461);中国博士后科学基金面上资助(2023M740249)。

摘　　要：时空约束制导是指同时满足攻击角度和攻击时间约束的制导方式。针对导弹末制导问题,设计了一种具有精确控制能力的时空约束制导律。首先,基于最优落角约束制导律的剩余飞行时间估计式,在不依赖于小角度假设的情况下,逆向推导了剩余飞行时间可以精确预测的变增益落角约束制导律。其次,在该制导律的基础上增加攻击时间误差反馈项,设计得到了不存在指令奇异现象的时空约束制导律,实现了攻击角度和时间的同时精确控制。接着,引入剩余弹道长度作为自变量,将所提出的时空约束制导律拓展到了导弹速度大小变化的实际场景。最后,通过多组数值仿真算例,验证了所提制导律的有效性和优势。Spatial-temporal constrained guidance is a method that simultaneously meets impact angle and time con⁃straints.To address the problem of missile terminal guidance,a spatial-temporal constrained guidance law with pre⁃cise control capability is designed in this paper.First,based on the time-to-go estimation of the optimal impact angle constrained guidance law,a varying-gain impact angle constrained guidance law whose time-to-go can be precisely predicted is inversely derived without any small angle approximation.Second,an impact-time error feedback term is added to the above guidance law to obtain the singularity-free spatial-temporal guidance law for simultaneous precise control of impact angle and time.Third,by introducing the remaining trajectory length as an independent variable,the proposed spatial-temporal guidance law is extended to practical scenarios with missile speed variation.Finally,the ef⁃fectiveness and advantages of the proposed guidance law are verified through several numerical simulations.

关 键 词：攻击时间约束 攻击角度约束 时空约束制导 剩余飞行时间 导弹速度变化 

分 类 号：V448.133[航空宇航科学与技术—飞行器设计]