CN107422744A - A kind of intersection duration control method based on radial velocity control - Google Patents
A kind of intersection duration control method based on radial velocity control Download PDFInfo
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
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Abstract
The present invention discloses a kind of intersection duration control method based on radial velocity control.Methods described includes：Set hit time of the ROV with intersecting target；Calculate the most short remaining time that the ROV reaches the intersection target；According to the hit time, the Actual Time Remaining that the ROV reaches the intersection target is calculated；By the radial velocity for controlling the ROV to be moved relative to the intersection target, the Actual Time Remaining is converged into the most short remaining time.In the method, pass through the control to radial velocity, regulation radial velocity makes Actual Time Remaining restrain to the least residue time, consider that remaining time is less than the situation of straight line hit time in the design process simultaneously, and remain to make carrier most quickly reach intersection target in this case, and in the case where bearer rate changes, remain to make carrier realize that target intersects in the way of closest to the setting intersection time.
Description
Technical field
The present invention relates to control field, more particularly to a kind of intersection duration control method based on radial velocity control.
Background technology
With the development of science and technology, the process intersected of single or multiple movable bodies and target, during except requiring intersection
Outside the intersection precision at quarter, the requirement accurately controlled it is also proposed to the time of intersection.The development of Interception Technology is particularly defendd, it is single
Hair guided weapon causes the strike success rate to targets such as naval vessels to be remarkably decreased, it is therefore desirable to carries out saturation attack, i.e., from single-point
Or multi-point transmitting one or more ripple time weapon is attacked same target, all weapons is arrived in the approximate same time
Up at the object hit.
Common intersection problem only considers the overload situations in guided procedure, without being controlled for the time of intersection consumption
System.The time needed for accurate control intersection, typically by increase trajectory curvature, make the motion path of movable body increase and then
Consume the unnecessary trajectory time.
At present to the control of intersection time, the control problem of time will be typically intersected, is considered as one in proportional guidance law
(PNG) compensation guides the time difference problem ε that intersects time between of the time with needs in guidanceT, the PNG of estimation is guided surplus
Remaining time TdDifference with the time to be flown on current location is as a compensation rate εTIt is introduced into PNG controller and is modified, and
The closed loop of guidance law is provided by the theory of optimal control and Taylor series.But this method does not consider to compensate time εT＜ 0,
The situation of PNG navigation time can not be less than with navigation time, and do not consider the situation of bearer rate change.
In addition, also exist remaining time T at presentdBe converted to a target range R=V (Td- t) situation, V is in formula
Bearer rate, the state equation of the deviation of distance to go and target range is further established, remaining time control problem is changed
The problem of being tracked for a kind of distance.But easily cause method to dissipate because of the minor variations of bearer rate in this method, can not
Used in the case where bearer rate changes；In addition, this method requirement is synchronous in use, each carrier intersects with target in multichip carrier
Flight (navigation) time and each carrier straight line hit time phase difference it is little, and each carrier straight line hit time phase difference not
Greatly, the requirement significantly limit the usage scenario of method.
The content of the invention
It is any first to solve it is an object of the invention to provide a kind of intersection duration control method based on radial velocity control
Under the conditions of beginning problem is intersected independent of the time-constrain to trajectory time Estimate and speed variable.
To achieve the above object, the present invention provides a kind of intersection duration control method based on radial velocity control, the party
Method includes：
Set hit time of the carrier with intersecting target；
Calculate the most short remaining time that the carrier reaches the intersection target；
According to the hit time, the Actual Time Remaining that the carrier reaches the intersection target is calculated；
By controlling the radial velocity of the carrier, the Actual Time Remaining is converged into the most short remaining time.
Preferably, the radial velocity by controlling the carrier, Actual Time Remaining is converged to described most short surplus
The remaining time, specifically include：
Build the radial velocity instruction of the carrier；
The radial velocity is adjusted according to radial velocity instruction, Actual Time Remaining converged to described most short surplus
The remaining time.
Preferably, the radial velocity instruction of the structure carrier, is specifically included：
The Actual Time Remaining is modified, obtained for the first correction time；
According to first correction time, the radial velocity instruction of the carrier is calculated；
The radial velocity is instructed and carries out limited amplitude protection.
Preferably, it is described that the Actual Time Remaining is modified, obtained for the first correction time, specifically include：
According to the most short remaining time and the Actual Time Remaining, the compensation for building the Actual Time Remaining is believed
Breath；
According to the compensated information, and the corresponding penalty coefficient of selection, the Actual Time Remaining is modified, obtained
To first correction time.
Preferably, described instructed to the radial velocity carries out limited amplitude protection, including：
When movement velocity of the radial velocity instruction more than the carrier, the radial velocity instruction is taken to be equal to described
The movement velocity of carrier.
Preferably, it is described that the radial velocity is adjusted according to radial velocity instruction, specifically include：
Calculate radial velocity of the carrier relative to intersection target motion；
Instructed according to the carrier relative to the radial distance of intersection target, radial velocity and the radial velocity, structure
The state change model of the carrier；
The radial velocity of the carrier and radial velocity instruction is controlled to reach unanimity according to the state change model.
Preferably, it is described fast relative to the radial distance of intersection target, radial velocity and the radial direction according to the carrier
Degree instruction, builds the state change model of the carrier, specifically includes：
Instructed according to the radial distance of the carrier, radial velocity and radial velocity, build the state variable of the carrier；
Derivation is carried out to the state variable, obtains the state change model of the carrier.
Preferably, it is described to control the radial velocity of the carrier and radial velocity instruction to become according to the state change model
In consistent, specifically include：
Extract the controlled quentity controlled variable of the state change model；
The controlled quentity controlled variable is approached using exponent approximation control law, obtains the first analytical parameters；
The stability of the System with Sliding Mode Controller of the radial velocity of the carrier formed based on first analytical parameters, really
The radial velocity and radial velocity instruction for protecting the carrier reach unanimity.
Using a kind of intersection duration control method based on radial velocity control provided by the invention, based on to radial velocity
Control, makes Actual Time Remaining restrain to the least residue time by adjusting radial velocity, while considers in the design process surplus
The remaining time is less than the situation of straight line hit time, and remains to make carrier most quickly reach intersection target, Yi Ji in this case
In the case that bearer rate changes, remain to make carrier realize that target intersects in the way of closest to the setting intersection time.
Brief description of the drawings
Fig. 1 is intersection schematic diagram of the ROV provided in an embodiment of the present invention with intersecting target；
Fig. 2 is the flow chart of the intersection duration control method provided in an embodiment of the present invention based on radial velocity control；
Fig. 3 is that ROV of the embodiment of the present invention intersects state with intersecting the earth coordinates lower horizontal plane during target intersects
Gesture figure；
Fig. 4 be the embodiment of the present invention in ROV with 1100m/s movement velocity and intersect target intersect analogous diagram；
Fig. 5 be the embodiment of the present invention in ROV with 900m/s movement velocity and intersect target intersect analogous diagram；
Fig. 6 be the embodiment of the present invention in ROV with 700m/s movement velocity and intersect target intersect analogous diagram；
Fig. 7-1 be the embodiment of the present invention in ROV with 499m/s movement velocity and intersect target intersect analogous diagram；
Fig. 7-2 is Fig. 7-1 partial enlarged drawing；
Fig. 8 is in different emission times, in same transmitting position, with different emission rate V in the embodiment of the present inventiontTransmitting
Multiple ROVs and the same analogous diagram for intersecting target intersection；
Fig. 9-1 be in the embodiment of the present invention in different transmitting positions, with identical emission rate launch multiple ROVs with it is same
The analogous diagram of one intersection target intersection；
Fig. 9-2 be in the embodiment of the present invention in different transmitting positions, with different emission rates launch multiple ROVs with
The analogous diagram of same intersection target intersection.
Reference A in accompanying drawing represents ROV, and T represents intersection target.
Embodiment
Below by drawings and examples, technical scheme is described in further detail.
Fig. 1 is intersection schematic diagram of the ROV provided in an embodiment of the present invention with intersecting target.Under normal circumstances, setting
The hit time T of ROV (i.e. weapon carrier)fAfterwards, ROV is launched, as shown in figure 1, the movement velocity of ROV is Vt,
Trajectory is curve track as shown in Figure 1, and for ROV in t, the air line distance relative to intersection target is r, the present invention
The purpose of embodiment is the radial velocity by controlling ROV, makes ROV (such as S location) when moving to a certain position, is turned
To in the motion for being similar to straight line of relative intersection target, ROV and the intersection time for intersect target accurate are controlled to setting
The hit time T setf。
Fig. 2 is the flow chart of the intersection duration control method provided in an embodiment of the present invention based on radial velocity control.Such as
Shown in Fig. 2, this method specific implementation is as follows：
Step S100：Set hit time of the ROV with intersecting target.
Specifically, before ROV is launched, the hit time T of ROV is first setf, make ROV hit the time with
Intersect target intersection.
Step S200：Calculate the most short remaining time that the ROV reaches the intersection target.
Specifically, it is assumed that intersection target hovering, after ROV is emitted, ROV is reached from current location in t and handed over
Can shortest time of target be：
Wherein, r be ROV in t with intersecting the air line distance of target, tgo1It is ROV from t full speed edge
Time needed for linear motion to intersection target, VtFor the movement velocity of ROV.
Step S300：According to the hit time, when calculating the ROV and reaching the real surplus of the intersection target
Between.
Specifically, during t, the Actual Time Remaining that ROV reaches needed for intersection target is：
tgo=Tf-t (2)
Wherein, tgoThe Actual Time Remaining needed for intersection target is reached for ROV.
Step S400：By the radial velocity for controlling the ROV to be moved relative to the intersection target, by the reality
Border remaining time converges to the most short remaining time.
In particular, it is desirable to be intersected in terminal phase using near linear trajectory with target, then there must be a moment so that actual
Remaining time is equal to most short remaining time, i.e.,：tgo≈tgo1, for example, in such as Fig. 1, when ROV runs to S location, now
Actual Time Remaining tgoConverge to most short remaining time tgo1。
To realize Actual Time Remaining tgoConverge to most short remaining time tgo1, can be fast by constructing the radial direction of ROV
Degree is instructed to adjust the radial velocity of ROV, the curve trajectory of ROV is turned to straight line trajectory at certain point, and then make reality
Border remaining time tgoConverge to most short remaining time tgo1, specifically implementation method is as follows：
Step S410：Build the radial velocity instruction of the ROV.
Specifically, as shown in figure 1, ROV is when being initially launched, if not being the attack time of setting not enough or setting
The hit time just reach straight line hit, then：tgo＞ tgo1, to the Actual Time Remaining tgoIt is modified, is specially：
Order
st=tgo-tgo1 (3)
Wherein, stActual Time Remaining tgoCompensated information；
According to compensated information st, and according to certain penalty coefficient k, to the Actual Time Remaining tgoIt is modified, obtains
To the first correction time, it is specially：
Wherein,For the first correction time；
According to the first correction timeThe radial velocity instruction of ROV is calculated, is：
Wherein,The as radial velocity instruction of ROV, from physical characteristic, under the hypothesis of the embodiment of the present invention,
The radial velocity of ROVThe movement velocity V of ROV can not possibly be more thant；To ensure ROV all the time towards intersection target fortune
It is dynamic, avoid intersection process from dissipating, the Actual Time Remaining is converged to the most short remaining time, therefore to radial direction speed
Degree instruction carries out limited amplitude protection, is specially：
Specifically, from formula (6), to ensure that ROV moves towards target all the time, it is necessary to makeAnd then requireFrom formula (6), to ensureK ＞ 0 must be chosen.
Under special circumstances, appearance is worked asObviously now ROV will not contract away from intersection target, Actual Time Remaining
It is short, therefore in order to keepAnd possible maximum should be got, makeεtFor the arithmetic number of a very little, such as can take
εt=0.000001, avoidAnd dissipate intersection process.
It is to during intersection, the Actual Time Remaining divides to the most short remaining time convergent process below
Analysis：
In procedure is intersected, the inertia of system is not considered, is located at t0Moment radial velocity instructsBy very short one
After section time Δ t, distance is changed into：From formula (1), (2), (3)：
Obviously
∴st1≤st0
Δ t is replaced with infinitesimal dt, with infinitesimal dstInstead of Δ st=st1-st0, can be released by formula (7)：
Again because in initial moment, tgo＞ tgo1, in TfMoment tgo=0, and any time tgo1>=0, it is clear that tgoAnd tgo1
It is consecutive variations, at a time t ∈ (0, Tf], there is tgo=tgo1, that is, work as tgo=tgo1When, ROV turns to directly from curve trajectory
Line trajectory, moved to intersection target.
Further, as Actual Time Remaining tgoLess than most short remaining time tgolWhen, have：
Understood according to formula (6), now
Obviously, byDefinition and physical characteristic understand, the radial velocity of ROVAbsolute valueMaximum is Vt,
WhenWhen, ROV moves along with intersecting target link to intersection target line.I.e. in this case, this guidance method can be led
Drawing ROV, temporally minimum method intersects with target, without the situation of diverging.
Further, the selection of the penalty coefficient k in formula (4) can be：
According to formula (4), (6) and (7), it is known that：
AndObviously in identical (r, Tf,st) condition when, with k increase,Successively decrease, λ is increased with k increase, i.e., trajectory remaining time restrain to can straight line hit the time speed speed.But by phase
To the equation of motion (as shown in Figure 3), the radial velocity of ROV isWherein, q is ROV with intersecting mesh
The angle of sight between mark,ROV relative to earth coordinates angle；By the radial velocity of ROV
Understand,Adjustment really by adjusting q,Carry out, and angle of sight q changes with relative position, it is especially larger in distance r
When, change is slow, and in order to consume more remaining times in trajectory, later stage trajectory is as far as possible straight, therefore main in early stage early stage
By adjustmentTo adjust the difference of the Actual Time Remaining and least residue time, andInfluenceed by ROV characteristic, it is impossible to mistake
It hurry up, and in terms of overload angle, it is unsuitable too fast, to ensure that trajectory is steady.Therefore k values should be suitably selected, adapts to the needs used, this
It is 3 that inventive embodiments, which can use k values, in other practical applications, in the case where meeting above-mentioned condition, can according to demand depending on.
Step S420：The radial velocity is adjusted according to radial velocity instruction, Actual Time Remaining is converged to
The most short remaining time.
Specifically, to avoid the movement velocity V due to ROVtChange and cause the hair of Actual Time Remaining convergence process
Dissipate, the embodiment of the present invention is by controlling the radial velocity of ROVMake the radial velocity of ROV processedWith the footpath of ROV processed
Reached unanimity all the time to speed command, it is ensured that the Actual Time Remaining tgoStably to the most short remaining time tgo1Convergence,
It is specific as follows：
Fig. 3 is that ROV of the embodiment of the present invention intersects state with intersecting the earth coordinates lower horizontal plane during target intersects
Gesture figure.As shown in figure 3, ROV A course isThe speed of a ship or plane is Vt, it is assumed that intersection target T approximations are motionless, and line of sight angle is q,
Target range is r, by Fig. 3, is obtained：
Wherein,For the radial velocity of ROV, q be ROV with intersecting the angle of sight between target,ROV is relative
In the angle of earth coordinates,For the lateral velocity of ROV.
First derivative is asked to obtain respectively formula (9) left and right：
Build the state variable of ROV：
Think to instruct consecutive variationsIt is approximately zero, to state variable X derivations, obtains the state change model of ROV, has
Body is：
Wherein, u is the controlled quentity controlled variable of the state change model, and form is:
The System with Sliding Mode Controller of design radial velocity makes radial velocity trace command.TakeForced using exponential form
Nearly rateThe controlled quentity controlled variable u of the state equation of radial velocity control system is designed, can obtain the first analysis ginseng
Number, makes the control system by exponential approach in sliding-mode surface s=0, i.e. radial velocityInstructed by exponential approach in radial velocity
It is specific as follows：
Restrained, had according to exponent approximation form control：
Wherein, function sgn (s) is used for access value s symbol, and ε is arithmetic number；
Orderu1As described first analytical parameters.
Obtain the first analytical parameters u1Afterwards, the course angular speed of needs can be released according to formula (11)AsInstruction.
To based on the first analytical parameters u1The radial velocity of the ROV of compositionThe stability of System with Sliding Mode Controller divided
Analysis, if system can stably ensure to make radial velocityThe radial velocity that levels off to instructsFurther ensure the real surplus
Time tgoStably to the most short remaining time tgo1Convergence, it is specific as follows：
Take liapunov function
(1) whenWhen understanding, then
∵ k, ε ＞ 0
Obviously, system is stable, the Actual Time Remaining tgoStably to the most short remaining time tgo1Convergence.
(2) whenWhen, andWhen unknowable,Bounded, i.e.,Now, controlled quentity controlled variable is
OrderThen
Obviously, as ε >=m,System is stable, the Actual Time Remaining tgoStably to it is described most short remaining when
Between tgo1Convergence.
The embodiment of the present invention is by controlling the course angular speed of ROVAnd then control the radial velocity of ROVMake
The radial velocity of ROVRadial velocity instruction with ROV reaches unanimity all the time, it is ensured that the Actual Time Remaining tgoSurely
Surely to the most short remaining time tgo1Convergence, while the movement velocity V in ROV can be avoidedtChange causes real surplus
Time tgoThe diverging of convergence process.
Further, in actual applications, method provided in an embodiment of the present invention is applied to same ROV with different hairs
Firing rate degree Vt(i.e. movement velocity Vt) intersected with the same target that intersects.
For example, Fig. 4 to Fig. 6, and Fig. 7-1 to Fig. 7-2 is same ROV with different emission rate Vt(i.e. movement velocity
Vt) with it is same intersect target intersection analogous diagram.Such as Fig. 4 to Fig. 6, and shown in Fig. 7-1 to Fig. 7-2, simulation step length 0.001s,
The emitter position of ROV is (10000,0) m, and the position for intersecting target is that (0,0) m direction of the launch is 150 °, ROV
Emission rate is respectively 1100m/s, 900m/s, 700m/s, 499m/s, hits time TfIt is set as 20s, the ROV is most
Big angle rate limitation is 50 °/s.Understand that ROV is in different fortune by Fig. 4 to Fig. 6, and Fig. 7-1 to Fig. 7-2 simulation result
It can be achieved to intersect with target according to the time as defined in approximation (20s) under dynamic speed.As shown in table 1, situation 1,2,3 intersects the time
It is 19.999s, 4th kind situation substantially completely consistent (emulation cycle 0.001s) with defined hit time 20s, during intersection
Between 20.068s.
Situation 1, during ROV speed of a ship or plane 1100m/s, the time of straight line intersection is about 10000/1100=9.091s, and is required
The intersection time for 20s and be more than 2 times of the rectilinear flight time, it is larger with the time phase difference of rectilinear flight, therefore the situation
Suitable for more usage scenarios.
Situation 4, during ROV speed of a ship or plane 1100m/s, most short remaining time is about 10000/499=20.04s, than what is required
The intersection time is big, from Fig. 7-2 as can be seen that ROV turns to straight line by maximum angular rate intersects direction with prestissimo and target
Intersection, intersect time 0.028s only more than most short remaining time.
Table 1 intersects situation from same position and angle in emission time, friction speed ROV with target
Further, in actual applications, method provided in an embodiment of the present invention is also applied in different emission times,
Same transmitting position, with different emission rate Vt(i.e. movement velocity Vt) the multiple ROVs of transmitting intersect with the same target that intersects.
For example, Fig. 8 is in different emission times, in same transmitting position, with different emission rate Vt(i.e. movement velocity Vt)
Launch multiple ROVs and the same analogous diagram for intersecting target intersection.As shown in Figure 8, it is assumed that launch point launches one every 10s
ROV, launch 4 altogether, launch angle is 135 °.As 0 moment when being launched using first ROV, four boats after 104s
Row device is with intersecting target intersection.The transmitting position of ROV is (0, -1500) m, is intersected target location (0,0).Each ROV
Initial velocity be 20m/s, the speed between time 30s-40s is [20+0.5 (t-30)] (m/s), in time 40s-
Speed between 50s is [25-0.2 (t-40)] (m/s), and speed is 23m/s after time 50s.
The same position of table 2 launches multiple ROVs and the same intersection situation for intersecting target
As shown in Table 2, each ROV is launched in same position by different time, and larger speed change itself be present
Under, it is each to hit the time according to the rules in the same time with intersecting target intersection.
Further, in actual applications, method provided in an embodiment of the present invention is applied also in different transmitting positions, with
Identical or different emission rate Vt(i.e. movement velocity Vt) the multiple ROVs of transmitting intersect with the same target that intersects.
Fig. 9-1 to Fig. 9-2 is in different transmitting positions, with identical or different emission rate Vt(i.e. movement velocity Vt)
Launch multiple ROVs and the same analogous diagram for intersecting target intersection.As shown in Fig. 9-1 and Fig. 9-2, bar is emulated according to table 3 respectively
Part is emulated.Fig. 9-1 is the analogous diagram of situation 1 in table 3, and Fig. 9-2 is the analogous diagram of situation 2 in table 3.Four ROV difference
Launch from (- 9093,5250) m, (- 6364, -6364) m, (- 2070, -7727) m and (4750, -8227) m, by situation 1 in table 3
(position is (0,0) m) intersection, obtains the simulation result such as table 3.1 and table 3.2 with intersecting target with the speed of situation 2.
The more ROV saturation intersections of the multiposition of table 3 use simulated conditions
The situation 1 of table 3.1 sets the simulation result that 36s is intersected
The situation 2 of table 3.2 sets the simulation result that 40s is intersected
Shown by the simulation result of table 3.1 and table 3.2, situation 1 is a kind of ideal situation, i.e., the navigation of each launch point transmitting
Device is ideal situation, and its speed of a ship or plane is consistent, and situation 2 is a kind of highly non-uniform situation of ROV VELOCITY DISTRIBUTION, this two kinds
In the case of, ROV reaches intersection target point by the hit time of setting substantially.Situation 2 covers the similar boat in
The velocity deviation of row device.Wherein No. 3 ROVs in case 2, due to straight line intersection the time with set the hit time difference only
There are a 5ms surpluses, and course and the angle of target line hit line are 30 ° during its initial position, peak turn rate is 50 °/
S, thus its arrival time be slightly larger than setting time.
Comprehensive, from Fig. 4 to Fig. 6, Fig. 7-1 to 7-2, Fig. 8, Fig. 9-1 to Fig. 9-2 simulation scenarios, the present invention is implemented
The intersection duration control method that example provides is applied to low speed, middling speed, high speed, the ROV of speed change and temporally intersects use；Meanwhile
Its least residue time t is close to or smaller than suitable for the single ROV intersection timego1Intersect the situation of target；It is equally applicable to
Multiple ROVs are launched, according to same speed or different in same position or diverse location, same time or different time
Speed, the final use intersected simultaneously with intersecting target.Therefore this method covers possible whole use ranges.
Above-described embodiment, the purpose of the present invention, technical scheme and beneficial effect are carried out further
Describe in detail, should be understood that the embodiment that the foregoing is only the present invention, be not intended to limit the present invention
Protection domain, within the spirit and principles of the invention, any modification, equivalent substitution and improvements done etc., all should include
Within protection scope of the present invention.
Claims (8)
1. a kind of intersection duration control method based on radial velocity control, it is characterised in that methods described includes：
Set hit time of the carrier with intersecting target；
Calculate the most short remaining time that the carrier reaches the intersection target；
According to the hit time, the Actual Time Remaining that the carrier reaches the intersection target is calculated；
By controlling the radial velocity of the carrier, the Actual Time Remaining is converged into the most short remaining time.
2. according to the method for claim 1, it is characterised in that the radial velocity by controlling the carrier, will be real
Border remaining time converges to the most short remaining time, specifically includes：
Build the radial velocity instruction of the carrier；
The radial velocity is adjusted according to radial velocity instruction, when Actual Time Remaining is converged into described most short remaining
Between.
3. according to the method for claim 2, it is characterised in that the radial velocity instruction of the structure carrier, specifically
Including：
The Actual Time Remaining is modified, obtained for the first correction time；
According to first correction time, the radial velocity instruction of the carrier is calculated；
The radial velocity is instructed and carries out limited amplitude protection.
4. according to the method described in claim 3, it is characterised in that it is described that the Actual Time Remaining is modified, obtain
To the first correction time, specifically include：
According to the most short remaining time and the Actual Time Remaining, the compensated information of the Actual Time Remaining is built；
According to the compensated information, and the corresponding penalty coefficient of selection, the Actual Time Remaining is modified, obtains institute
Stated for the first correction time.
5. according to the method described in claim 4, it is characterised in that described instructed to the radial velocity carries out amplitude limit guarantor
Shield, including：
When movement velocity of the radial velocity instruction more than the carrier, the radial velocity instruction is taken to be equal to the carrier
Movement velocity.
6. according to the method described in claim 2, it is characterised in that described to adjust the footpath according to radial velocity instruction
To speed, specifically include：
Calculate radial velocity of the carrier relative to intersection target motion；
Instructed according to the carrier relative to the radial distance of intersection target, radial velocity and the radial velocity, described in structure
The state change model of carrier；
The radial velocity of the carrier and radial velocity instruction is controlled to reach unanimity according to the state change model.
7. according to the method for claim 6, it is characterised in that the radial direction according to the carrier relative to intersection target
Distance, radial velocity and radial velocity instruction, build the state change model of the carrier, specifically include：
Instructed according to the radial distance of the carrier, radial velocity and radial velocity, build the state variable of the carrier；
Derivation is carried out to the state variable, obtains the state change model of the carrier.
8. according to the method for claim 6, it is characterised in that described that the carrier is controlled according to the state change model
Radial velocity and radial velocity instruction reach unanimity, specifically include：
Extract the controlled quentity controlled variable of the state change model；
The controlled quentity controlled variable is approached using exponent approximation control law, obtains the first analytical parameters；
The stability of the System with Sliding Mode Controller of the radial velocity of the carrier formed based on first analytical parameters, it is ensured that institute
The radial velocity and radial velocity instruction for stating carrier reach unanimity.
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| CN109976383A (en) * | 2019-04-26 | 2019-07-05 | 北京中科星通技术有限公司 | The method for allocating tasks and device of anti-isomorphism unmanned plane |
| CN114326814A (en) * | 2021-12-31 | 2022-04-12 | 北京航天自动控制研究所 | Three-dimensional guidance system of unpowered aircraft |
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| CN114326814B (en) * | 2021-12-31 | 2023-06-16 | 北京航天自动控制研究所 | Three-dimensional guidance system of unpowered aircraft |
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