考虑攻击时间和视线角度约束的预定时间收敛协同制导方法

常亚南; 王先至; 李国飞

doi:10.13700/j.bh.1001-5965.2024.0395

考虑攻击时间和视线角度约束的预定时间收敛协同制导方法

doi: 10.13700/j.bh.1001-5965.2024.0395

西北工业大学航天学院，西安 710072

基金项目:

国家自然科学基金(62373304,62003021)；中国科协青年人才托举工程(YESS20230443)；中国高校产学研创新基金(2021ZYA02009)；陕西秦创原引用高层次创新创业人才项目(QCYRCXM-2022-136)；陕西省高校科协青年人才托举计划(XXJS202218)；中央高校基本科研业务费专项资金(D5000210830)

详细信息

通讯作者:
E-mail：liguofei1@126.com

中图分类号: V448
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出版历程
- 收稿日期: 2024-06-05
- 录用日期: 2024-08-17
- 网络出版日期: 2024-09-20
- 整期出版日期: 2026-02-28

Prescribed-time convergent cooperative guidance method with impact time and line-of-sight angle constraints

School of Astronautics，Northwestern Polytechnical University，Xi’an 710072，China

Funds:

National Natural Science Foundation of China (62373304,62003021); Young Elite Scientist Sponsorship Program by CAST (YESS20230443); China Higher Education Institution Industry-University-Research Innovation Fund (2021ZYA02009); Shaanxi Qinchuangyuan High-level Innovation and Entrepreneurship Talent Project (QCYRCXM-2022-136); Young Talent Fund of University Association for Science and Technology in Shaanxi, China (XXJS202218); The Fundamental Research Funds for the Central Universities (D5000210830)

More Information

Corresponding author: E-mail：liguofei1@126.com

摘要

摘要:
基于预定时间收敛一致性理论，设计多飞行器区域封控约束协同拦截制导律。视线(LOS)方向设计预定时间收敛协同制导律，使多个飞行器命中时间误差和命中时间一致性误差收敛到零，命中时间趋于一致，满足指定时间同时命中要求；视线法向结合滑模控制方法设计预定时间收敛滑模面和视线角约束制导律，使各飞行器视线角误差、视线角速率收敛到零，实现多个飞行器按各自指定视线角命中目标，满足期望视线角度要求。视线方向和视线法向的设计使预定时间收敛协同制导律能够同时满足攻击时间和视线角度的双重约束。理论分析表明，所设计的制导方法可保证多飞行器以期望视线角度同时命中目标。仿真结果验证了所提方法的正确性和有效性。
- 协同制导 /
- 多飞行器 /
- 预定时间收敛 /
- 攻击时间约束 /
- 视线角度约束
Abstract:
Based on the theory of prescribed-time convergence consensus, a cooperative interception guidance law for multiple flight vehicles under regional confinement constraints is designed. In the line-of-sight (LOS) direction, a prescribed-time cooperative guidance law is designed to ensure that the impact time errors and the consensus errors of impact time converge to zero, thereby causing the impact times to tend toward consistency and satisfying the requirement of simultaneous interception at a designated time. In the vertical direction of the LOS, by integrating sliding mode control, a prescribed-time convergent sliding mode surface and a guidance law with LOS angle constraints are designed to drive the LOS angle errors and LOS angular rates of each flight vehicle to zero. This enables multiple flight vehicles to intercept the target at their respective specified LOS angles, thereby meeting the desired LOS angle requirements. The designs along the LOS direction and vertical to the LOS direction enable the prescribed-time convergence cooperative guidance law to simultaneously satisfy the dual constraints of impact time and LOS angle. Theoretical analysis demonstrates that the proposed guidance method ensures multiple flight vehicles intercept the target simultaneously at the desired LOS angles. Simulation results verify the correctness and effectiveness of the proposed method.
- cooperative guidance /
- multiple flight vehicles /
- prescribed-time convergence /
- impact time constraint /
- line-of-sight angle constraint

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图 1 多飞行器目标相对运动关系

Figure 1. The relative motion relationship of multi-vehicle and target

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图 2 飞行器通信拓扑

Figure 2. The communication topology of vehicles

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图 3 场景1飞行器和目标轨迹

Figure 3. The trajectory of vehicles and target in scene 1

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图 4 场景1命中时间误差/一致性误差

Figure 4. The impact time error/consistency error in scene 1

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图 5 场景1飞行器目标距离

Figure 5. The distance from vehicles to target in scene 1

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图 6 场景1视线角速率

Figure 6. Line-of-sight angle rate in scene 1

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图 7 场景1视线角

Figure 7. Line-of-sight angle in scene 1

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图 8 场景1视线法向加速度

Figure 8. The acceleration in line-of-sight normal direction in scene 1

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图 9 场景1视线方向加速度

Figure 9. The acceleration in line-of-sight direction in scene 1

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图 10 场景2飞行器和目标轨迹

Figure 10. The trajectory of vehicles and target in scene 2

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图 11 场景2命中时间误差/一致性误差

Figure 11. The impact time error/consistency error in scene 2

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图 12 场景2飞行器目标距离

Figure 12. The distance from vehicles to target in scene 2

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图 13 场景2视线角速率

Figure 13. Line-of-sight angle rate in scene 2

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图 14 场景2视线角

Figure 14. Line-of-sight angle in scene 2

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图 15 场景2视线法向加速度

Figure 15. The acceleration in line-of-sight normal direction in scene 2

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图 16 场景2视线方向加速度

Figure 16. The acceleration in line-of-sight direction in scene 2

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表 1 场景1飞行器和目标初始参数

Table 1. The initial parameters of vehicle and target in scene 1

飞行器/目标	位置/m	弹道倾角/(°)	速度/(m·s⁻¹)
飞行器1	(0, 0)	45	300
飞行器2	(−50, 600)	30	300
飞行器3	(−100, 1000)	45	300
飞行器4	(600, −50)	45	300
飞行器5	(1200, −100)	45	300
目标	(10000, 1000)	150	100

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表 2 场景2飞行器和目标初始参数

Table 2. The initial parameters of vehicle and target in scene 2

飞行器/目标	位置/m	弹道倾角/(°)	速度/(m·s⁻¹)
飞行器1	(0, 0)	45	300
飞行器2	(−50, 600)	30	350
飞行器3	(−100, 1000)	45	400
飞行器4	(600, −50)	45	300
飞行器5	(1200, −500)	30	300
目标	(10000, 5000)	0	100

下载: 导出CSV

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