航空学报 > 2018, Vol. 39 Issue (10): 322115-322115   doi: 10.7527/S1000-6893.2018.22115

带空间协同的多导弹时间协同制导律

吕腾, 吕跃勇, 李传江, 郭延宁   

  1. 哈尔滨工业大学 航天学院, 哈尔滨 150001
  • 收稿日期:2018-03-06 修回日期:2018-06-29 出版日期:2018-10-15 发布日期:2018-07-09
  • 通讯作者: 李传江 E-mail:lichuan@hit.edu.cn
  • 基金资助:
    国家自然科学基金(61603114,61673135)

Time-cooperative guidance law for multiple missiles with spatial cooperation

LYU Teng, LYU Yueyong, LI Chuanjiang, GUO Yanning   

  1. School of Astronautics, Harbin Institute of Technology, Harbin 150001, China
  • Received:2018-03-06 Revised:2018-06-29 Online:2018-10-15 Published:2018-07-09
  • Supported by:
    National Natural Science Foundation of China (61603114, 61673135)

摘要: 针对多导弹在平面内从期望的弹目视线(LOS)相对方向同时击中固定目标问题,提出了一种带空间协同的多导弹时间协同制导律。基于平面内的导弹-目标相对运动方程,建立了带空间协同的多导弹时间协同制导模型;基于多智能体协同控制理论,在视线方向设计了分布式时间协同制导律,可保证所有导弹的打击时刻在有限时间内达到一致,在视线法向方向设计了分布式空间协同制导律,可保证所有导弹的相对视线角在有限时间内收敛到期望值;最后,通过仿真验证了所设计的协同制导律可使多导弹从期望的弹目视线相对方向同时击中目标。

关键词: 空间协同, 时间协同, 多智能体协同控制, 相对视线角, 有限时间

Abstract: In order that multiple missiles can hit a stationary target simultaneously in the desired relative direction of the missile-target Line-of-Sight(LOS) in the plane, a time-cooperative guidance law for multiple missiles with spatial cooperation is proposed. Based on in-plane missile-target relative motion equations, a time cooperative guidance model for multiple missiles with spatial cooperation is constructed. Based on the theory of multi-agent cooperative control, in LOS direction, a distributed time-cooperative guidance law is postulated, which can guarantee that all missiles' impact times reach consensus in a finite time. In the vertical direction of LOS, a distributed space-cooperative guidance law is postulated, which can guarantee that missiles' relative LOS angles converge to the desired values in a finite time. Numerical simulations demonstrate that the proposed cooperative guidance laws can ensure that multiple missiles hit the target simultaneously in the desired relative directions of the missile-target LOS.

Key words: spatial cooperation, time cooperation, multi-agent cooperative control, relative line-of-sight angle, finite time

中图分类号: