航空学报 > 2024, Vol. 45 Issue (3): 328687-328687   doi: 10.7527/S1000-6893.2023.28687

事件触发机制下具有视场约束的三维协同制导

何智川1,2, 王江1,2, 范世鹏1,2(), 王鹏1,2, 侯淼1,2   

  1. 1.北京理工大学 宇航学院,北京  100081
    2.北京理工大学 中国?阿联酋智能无人系统“一带一路”联合实验室,北京  100081
  • 收稿日期:2023-03-13 修回日期:2023-04-18 接受日期:2023-06-01 出版日期:2024-02-15 发布日期:2023-06-06
  • 通讯作者: 范世鹏 E-mail:fspzxm@sina.com
  • 基金资助:
    国家自然科学基金(61827901)

Three-dimensional cooperative guidance with field-of-view constraints based on event-triggered mechanism

Zhichuan HE1,2, Jiang WANG1,2, Shipeng FAN1,2(), Peng WANG1,2, Miao HOU1,2   

  1. 1.School of Aerospace Engineering,Beijing Institute of Technology,Beijing  100081,China
    2.China-UAE Belt and Road Joint Laboratory on Intelligent Unmanned System,Beijing Institute of Technology,Beijing 100081,China
  • Received:2023-03-13 Revised:2023-04-18 Accepted:2023-06-01 Online:2024-02-15 Published:2023-06-06
  • Contact: Shipeng FAN E-mail:fspzxm@sina.com
  • Supported by:
    National Natural Science Foundation of China(61827901)

摘要:

针对多枚反舰导弹同时攻击舰艇目标的实际需求,考虑导引头视场角约束,研究了事件触发控制方式下的时间协同制导问题。基于三维耦合模型提出了一种由三维比例导引律(PNG)和事件触发偏置项组成的三维时间协同制导律,并给出了事件触发条件。该偏置项利用非线性函数来确保总前置角的有界性,以满足导引头的视场角约束,并且通过分布式事件触发一致性协议,使弹群的攻击时间能够收敛到一致,并有效降低协同控制系统更新频率,减少通信资源消耗。基于Lyapunov理论证明了所提出分布式协同制导律的稳定性,且不存在Zeno现象。最后,通过数学仿真验证了所提出的三维协同制导方法的有效性和鲁棒性。

关键词: 事件触发, 视场角约束, 时间协同制导, 协同通信, 不连续通信

Abstract:

To meet the requirement for simultaneousness of multiple anti-ship missiles in attacking a ship target, this paper investigates the time-cooperative guidance problem with the event-triggered control method by considering the seeker’s field-of-view constraint. A three-dimensional time-cooperative guidance law consisting of the three-dimensional proportional navigation guidance law and an event-triggered bias term is proposed based on the three-dimensional coupled nonlinear model, and the event- event-triggering conditions are also provided. The bias term utilizes a nonlinear function to ensure that the velocity lead angle is bounded to satisfy the seeker’s field-of-view constraint and enables the impact times of multiple missiles can synchronize by means of a distributed event-triggered consensus protocol, thus reducing the frequency of cooperative control system updates and communication resource consumption. Using the Lyapunov theory, the convergence of the proposed distributed cooperative guidance law is demonstrated to have no Zeno behavior. Finally, numerical simulations are conducted to verify the effectiveness and robustness of the proposed three-dimensional cooperative guidance law.

Key words: event-triggered, field-of-view constraint, time cooperative guidance, cooperative communication, discontinuous communication

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