Closed-loop cooperative terminal guidance law based on predictor-corrector for hypersonic gliding vehicles
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摘要:
针对能量持续衰减的高超声速滑翔飞行器末制导段时间协同问题，提出一种预测飞行时间并校正飞行剖面的协同制导方法。设计了一种带有负比例导引系数的参数化飞行剖面，在辨识气动参数后快速预测剩余飞行时间；通过数值算法修正飞行剖面参数，并输出制导指令，满足单飞行器时间约束制导要求；设计闭环协同策略，在分析飞行器时间调整能力后，各飞行器协调期望飞行时间，再自主规划飞行剖面以同时攻击目标。仿真结果表明：预测校正闭环协同制导方法可以满足时间协同末制导任务需求，落点误差小于5 m，相对时间误差小于1 s。
Abstract:A closed-loop guidance solution based on a flight time predictor and a flight profile corrector is proposed for the time cooperative problem in the terminal guiding phase of hypersonic glide vehicles with continuous energy decay. Firstly, parameterized proportional guidance flight profile with negative coefficient is designed. The remaining time of the vehicle could be predicted after the aerodynamic uncertainty identification. Secondly, the flight profile parameter is corrected by the numerical algorithm. Then the command could guide a single vehicle to meet time constraints. Thirdly, a closed-loop coordination strategy is designed. The time adjustment capability of the vehicle is analyzed with flight profile coefficient. Multiple vehicles could plan the expected flight time and corresponding flight profile independently for cooperative terminal guidance tasks. The simulation results show that the cooperative guidance law could meet the needs of time cooperative terminal guidance tasks, the position error is less than 5 meters, and the relative time error is less than 1 second.
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图 3 ${t_{\rm{f}}}$与${t_1}$关系
Figure 3. Relationship between ${t_{\rm{f}}}$ and ${t_1}$
图 4 基于时间预测校正的闭环协同末制导框架
Figure 4. Closed-loop cooperative terminal guidance law based on time predictor-corrector
图 8 闭环协同任务蒙特卡罗仿真结果
Figure 8. Monte Carlo simulation results of closed-loop cooperative task
表 1 初始状态
Table 1. Initial state
V/(m·s−1) $\gamma $/(o) $\psi $/(o) x/km y/km z/km 1300 −10 −85 70 −10 20 
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表 2 飞行时间约束及终端误差
Table 2. Flight time constraints and terminal errors
任务 期望飞行
时间/s实际飞行
时间/s飞行时间
误差/s终端位置
误差/m1 80 79.67 −0.33 3.59 2 85 84.28 −0.72 0.49
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表 3 初始状态偏差限
Table 3. Initial state deviation limit
V/(m·s−1) $\gamma $/(o) $\psi $/(o) x/km y/km z/m ±50 ±1 ±1 ±1 ±1 ±100
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表 5 协同任务初始状态
Table 5. Initial state in cooperative task
飞行器 V/(m·s−1) $\gamma $/(o) $\psi $/(o) x/km y/km z/km 飞行器1 1400 −10 −110 30 55 20 飞行器2 1400 −10 −90 60 20 20 飞行器3 1400 −10 −50 40 −50 20
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表 6 协同任务结果
Table 6. Results of time cooperative task
飞行器 飞行时间/s 终端位置误差/m 飞行器1 69.01 1.50 飞行器2 68.91 1.16 飞行器3 69.34 2.61
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