北京航空航天大学学报 ›› 2021, Vol. 47 ›› Issue (10): 2105-2117.doi: 10.13700/j.bh.1001-5965.2020.0363

• 论文 • 上一篇    下一篇

俯冲段高超声速飞行器有限时间协同制导律设计

唐博1, 席建祥1, 刘太阳2, 李冰3   

  1. 1. 火箭军工程大学 导弹工程学院, 西安 710025;
    2. 空军预警学院, 武汉 430019;
    3. 火箭军装备部驻西安地区第一军事代表室, 西安 710025
  • 收稿日期:2020-07-28 发布日期:2021-11-08
  • 通讯作者: 席建祥 E-mail:xijx07@mails.tsinghua.edu.cn

Design of finite-time cooperative guidance law for hypersonic vehicles in dive phase

TANG Bo1, XI Jianxiang1, LIU Taiyang2, LI Bing3   

  1. 1. College of Missile Engineering, Rocket Force University of Engineering, Xi'an 710025, China;
    2. Air Force Early Warning Academy, Wuhan 430019, China;
    3. The First Military Representative Office of Rocket Force Equipment Department in Xi'an, Xi'an 710025, China
  • Received:2020-07-28 Published:2021-11-08

摘要: 针对多枚高超声速飞行器在俯冲段协同攻击一个固定目标或慢速移动目标的问题,基于有限时间理论设计了带有视线(LOS)高低角和视线方位角约束的协同制导律。首先,将俯冲段制导过程划分为横向和纵向2个方向;其次,在纵向视线方向,将所有参与攻击的飞行器与邻居间的相对位置差值和视线速度差值作为误差项引入制导律;最后,为实现横向和纵向的视线角收敛,设计有限时间滑模制导律,并设计自适应干扰观测器估计时变扰动的上界。通过Lyapunov函数对提出的协同制导律给出详细的有限时间收敛证明,仿真实验结果验证了所设计协同制导律的正确性和有效性。

关键词: 协同制导律, 高超声速飞行器, 有限时间理论, 滑模控制, 自适应干扰观测器

Abstract: Focusing on the problem that multiple hypersonic vehicles in the dive phase attack a stationary target or a slowly moving target, a cooperative guidance law with Line-of-Sight (LOS) elevation and LOS azimuth constraint is designed based on finite-time theory. Firstly, the guidance process of the dive phase is divided into two directions:horizontal and longitudinal. Secondly, in the longitudinal LOS direction, the relative position difference and LOS velocity difference are introduced as errors into the guidance law, and the errors come from the hypersonic vehicles participating in the attack and their neighbors. Finally, in order to achieve the convergence of the horizontal and longitudinal LOS angles, the finite-time sliding mode guidance law is designed, and the upper bound of the time-varying disturbance is estimated by the designed adaptive disturbance observer. The finite-time convergence of the proposed cooperative guidance law is proved by Lyapunov function. The simulation results show that the proposed cooperative guidance law is correct and effective.

Key words: cooperative guidance law, hypersonic vehicle, finite-time theory, sliding mode control, adaptive disturbance observer

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