俯冲段高超声速飞行器有限时间协同制导律设计

唐博; 席建祥; 刘太阳; 李冰

doi:10.13700/j.bh.1001-5965.2020.0363

俯冲段高超声速飞行器有限时间协同制导律设计

doi: 10.13700/j.bh.1001-5965.2020.0363

唐博¹,
席建祥^1, ,,
刘太阳²,
李冰³

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

详细信息

通讯作者:
席建祥, E-mail: xijx07@mails.tsinghua.edu.cn

中图分类号: V249.1;TJ765.3
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- 文章访问数: 445
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- 被引次数: 0
出版历程
- 收稿日期: 2020-07-28
- 录用日期: 2020-09-25
- 网络出版日期: 2021-10-20

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

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

More Information

Corresponding author: XI Jianxiang, E-mail: xijx07@mails.tsinghua.edu.cn

摘要

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。
- 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.
- cooperative guidance law /
- hypersonic vehicle /
- finite-time theory /
- sliding mode control /
- adaptive disturbance observer

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图 1 飞行器与目标之间的相对运动示意图

Figure 1. Illustration of relative motion of vehicles and target

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图 2 三枚高超声速飞行器通信拓扑示意图

Figure 2. Illustration of communication topology for three hypersonic vehicles

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图 3 高超声速飞行器的速度

Figure 3. Velocity of hypersonic vehicle

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图 4 高超声速飞行器的攻角

Figure 4. Attack angle of hypersonic vehicle

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图 5 高超声速飞行器与目标的相对距离

Figure 5. Relative distance between hypersonic vehicles and target

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图 6 加速度指令u_1i

Figure 6. Accleration command u_1i

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图 7 视线方向速度

Figure 7. LOS velocity

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图 8 视线高低角

Figure 8. LOS elevation angle

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图 9 视线方位角

Figure 9. LOS azimuth angle

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表 1 式(1)中符号物理含义

Table 1. Physical meaning of symbols in Eq.(1)

符号	物理含义	符号	物理含义
v_i	飞行器速度		动压
m	质量	S	飞行器参考面积
α_i	攻角	g	重力加速度
σ_i	速度方位角	r_e	地球半径
θ_i	速度倾角	h_i	飞行器高度
ζ_i	倾侧角	ϕ_i	经度
C_Di	阻力系数	φ_i	纬度
C_Li	升力系数	v_m	声速

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表 2 三枚高超声速飞行器的初始状态

Table 2. Initial state for three hypersonic vehicles

飞行器	h_i(0)/m	v_i(0)/(m·s^-1)	λ_di(0)/(°)	λ_TTi(0)/(°)	θ_i/(°)	σ_i/(°)	η_di/(°)	η_ti/(°)
1	15 000	2 100	40	4	0	35	2	1.5
2	16 000	2 300	43	5	0	40	2	2
3	15 000	2 200	38	6	0	36	2	1.5

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表 3 终端高超声速飞行器状态

Table 3. Terminal status for hypersonic vehicles

飞行器	协同时间/s	制导时间/s	末速度/(m·s^-1)	加速度/(m·s^-2)
1	1.2	11.581 4	2 301	29.418 1
2	1.2	11.581 2	2 487	-32.613 7
3	1.2	11.581 1	2 475	19.127 7

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