从飞行器无导引头的主-从式多飞行器协同制导方法

doi:10.12382/bgxb.2023.0678

摘要/Abstract

摘要：

针对主-从式多飞行器多方位封锁协同打击目标问题,提出三维空间下当从飞行器无导引头时的协同制导方法。主飞行器通过给出的固定时间收敛攻击时间控制制导律实现对目标的指定时间命中,以主飞行器为基准提出球心和半径可动态自调整的目标封锁球面构型函数。以期望封控球面为参考,给出可实现对目标多方位覆盖封锁的同时命中协同制导律,并理论分析该方法的稳定性。仿真结果表明,新提出的方法可实现飞行器群于指定命中时刻同时命中目标,且主飞行器和无导引头的从飞行器可构成对目标的封锁态势。

关键词: 主-从式多飞行器, 协同制导, 无导引头, 多方位封锁, 攻击时间

Abstract:

A three-dimensional cooperative guidance method is presented to investigate the problem of leader and seeker-less follower flight vehicles attacking on the targets by sector coverage. An impact time control guidance law with fixed-time convergence is presented for the leader to reach a target at desired impact time. A sector coverage configuration against target with dynamic self-adjusting center and radius is proposed with the leader as baseline. Finally,on the basis of the desired converge sector, the cooperative guidance law is given for the followers to reach the target simultaneously with multi-directional sector blockade. A theoretical analysis is given to prove the stability of the proposed method. The simulated results show that the proposed method can be used to make all the flight vehicles hit the target at appointed impact time, and the leader and the seeker-less followers can form the coverage situation towards the target.

Key words: leader-follower flight vehicles, cooperative guidance, seeker-less, muti-directional coverage, impact time

中图分类号:

TJ765.3

李国飞, 汤清璞, 吴云洁. 从飞行器无导引头的主-从式多飞行器协同制导方法[J]. 兵工学报, 2023, 44(11): 3436-3446.

LI Guofei, TANG Qingpu, WU Yunjie. Cooperative Guidance Method of Leader and Seeker-less Follower Flight Vehicles[J]. Acta Armamentarii, 2023, 44(11): 3436-3446.

图/表 16

图1 飞行器i与目标的相对运动关系

Fig.1 Relative motion relationship between the ith flight vehicle and the target

图2 R0≫ρ时的飞行构型

Fig.2 Flight configuration for R0≫ρ

图3 R0≈ρ时呈球面封锁构型

Fig.3 Sphere-shaped coverage configuration for R0≈ρ

图4 视线平行坐标系

Fig.4 LOS parallel coordinate system

图5 主-从式飞行器通信拓扑图

Fig.5 Communication topology of leader and follower flight vehicles

表1 飞行器初始条件

Table 1 Initial conditions of flight vehicles

飞行器	(x,y,z)/m	θ/(°)	ψ_V/(°)
主飞行器	(5000, 8500,7600)	-10	10
从飞行器1	(4000,8000,7000)	-10	10
从飞行器2	(4500,8000,7000)	-10	10
从飞行器3	(4000,8500,7600)	-10	10

图6 飞行器轨迹曲线

Fig.6 Trajectory curves of flight vehicles

图7 t=42s之后飞行器轨迹曲线

Fig.7 Trajectory curves of flight vehicles after t=42s

图8 各飞行器之间距离

Fig.8 Distances among flight vehicles

图9 主飞行器攻击时间误差

Fig.9 Impact time error of leader

图10 协同变量ξi响应

Fig.10 Response of cooperative variable ξi

图11 协同变量ηi响应

Fig.11 Response of cooperative variable ηi

图12 各飞行器与目标距离

Fig.12 Distance between flight vehicle and target

图13 本文方法主飞行器三通道加速度

Fig.13 Three-axis accelerations of leader in the proposed method

图14 制导律式(6)下主飞行器三通道加速度

Fig.14 Three-axis accelerations of leader under guidance law (6)

图15 从飞行器三通道加速度

Fig.15 Three-axis acelerations of followers

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