CN110412874A - Multi-missile cooperative guidance law design method for maneuvering target and time delay communication - Google Patents
Multi-missile cooperative guidance law design method for maneuvering target and time delay communication Download PDFInfo
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Abstract
The invention discloses a multi-missile cooperative guidance law design method aiming at maneuvering targets and time delay communication, which comprises the following steps: for a maneuvering target with unknown acceleration, establishing a kinematic model of the relative position relationship between the missile and the target in a three-dimensional space; in the pitching direction and the offset direction, a guidance law is established by utilizing discontinuous control, so that the components of the relative speed of the missile and the target in the two directions can be converged to zero within a limited time, and the missile can be ensured to finally hit the target; in the sight line direction, a distributed guidance law is established by utilizing a communication network, a consistency protocol and discontinuous control among the missiles, and when the communication network contains time lag, the relative distance between each missile and a target and the component of the relative speed of each missile and the target in the sight line direction can be consistent; the continuous method and the parameter self-adaptive method are utilized to improve the guidance law in three directions, and the phenomena of sudden change of control input and buffeting are reduced while the accuracy is met.
Description
Technical field
The present invention relates to the distributed Design of Guidance Law sides that one kind controls more pieces of guided missile cooperations in three dimensions
Method more particularly to a kind of more guided missile cooperative guidances communicated for maneuvering target and time delay restrain design method.
Background technique
With the extensive application of new-type advanced weaponry, air defense early warning mechanism is increasingly mature, and the guided missile of single piece of operation of tradition has
Very interception of the maximum probability by enemy air defences system, it is difficult to which effectively strike is implemented to target；And the saturation of more pieces of guided missiles is relied on to attack
Hitting can cause intrusion scene excessively high, reduce attack income.In recent years, development communication technologies were rapid, interactive using the network information,
Can be achieved more guided missiles to the cooperation of target and while hit, greatly compensate for the defect of single missile operations, also reduce
Saturation attack duration and intrusion scene have very high researching value.
The more guided missile cooperation Design of Guidance Law methods that there is now are broadly divided into two kinds, and one is guided based on ratio
It restrains, the estimated value the time required to being hit target between guided missile by interaction, by changing acceleration magnitude to realize while attack mesh
Mark, if the prior art [1] is (referring to In-Soo Jeon, Jin-Ik Lee and Min-Jea Tahk. " Homing guidance
law for cooperative attack of multiple missiles.”Journal of guidance,control,
And dynamics 33.1 (2010): 275-280.), the prior art [2] is (referring to Zhang Gong, Li Fan, Zhao Jianhui, Zhang Wenpeng bullet
Time controllable maneuvering target play cooperative guidance rule [J] command and control and emulation, 2010,32 (1) more).It makes in this way
The motion profile for the guided missile led is kept in a two-dimensional plane, when target movement is irregular, when guided missile can not accurately estimate hit
Between, to reduce concerted attack effect.Second of the speed and location information passed through between interaction guided missile, to realize guided missile and mesh
Target relative velocity and relative distance reach unanimity, such as the prior art [3] (Jialing Zhou, Yuezu Lv, Zhongkui
Li,Jianying Yang.“Cooperative guidance law design for simultaneous attack
with multiple missiles against a maneuvering target.”Journal of Systems
Science and Complexity 31.1 (2018):287-301.).This method can be directed to any maneuvering target, but lead
The motion profile of bullet is still in a two-dimensional plane.In addition, two kinds of method of guidance are required to interaction real time information between guided missile, to net
The quality requirement of network communication is higher.
Battlefield situation is complicated and changeable in practice, and the motion profile of the maneuvering targets such as naval vessels is irregular to follow.Because guided missile
Movement velocity is exceedingly fast, and communication network often suffers from the interference of hostile electromagnetic signal, usually has in message transmitting procedure bright
Aobvious delay.Communication delay may cause hit time of guided missile, and there are obvious errors, reduce concerted attack effect, thus this because
Element can not be ignored.For cooperative guidance rule research three-dimensional under the communication delay of maneuvering target, yet there are no relevant
Document.
Summary of the invention
In view of the deficiencies of the prior art, the present invention provides the more guided missile cooperative guidances communicated for maneuvering target and time delay
Design method is restrained, can be in the case where the irregular communications of target trajectory contain time lag, Guidance Law can still be realized
The relative distance of guided missile and maneuvering target establishes preliminary Guidance Law with regard to pitch orientation, offset direction, direction of visual lines respectively,
And continuous process and adaptive parameter control are utilized, it solves to buffet caused by discontinuously controlling in conductance processed and parameter is chosen
Problem.
The more guided missile cooperative guidances communicated for maneuvering target and time delay of the invention restrain design method, including following step
It is rapid:
Step: 1: for the maneuvering target that motion profile is irregular, establishing in three dimensions, guided missile is opposite with target
The kinematics model of positional relationship；
Step 2: using the acceleration Guidance Law of discontinuous control design case pitching and offset direction, so that guided missile and target
Relative velocity component in both directions can recycle serialization and auto-adaptive parameter control in Finite-time convergence to zero
Method processed improves Guidance Law；
Step 3: the communication network between building cloud, using discontinuous control and consistency protocol design along sight side
To acceleration Guidance Law, so that the relative velocity of relative distance of each guided missile away from target, direction of visual lines is reached unanimity, recycle
Serialization and adaptive parameter control method improve Guidance Law.
Further, the specific construction method of cooperation motion model with N pieces of guided missile in step 1 are as follows:
Step 1-1. chooses any point O in space, establishes inertial coodinate system OXYZ by Z axis of vertical direction.To participation
The guided missile of concerted attack is numbered, noteFor the position coordinates of guided missile i,For the velocity vector of guided missile i,For adding for guided missile i
Velocity vector.
Step 1-2. obtains the location information of maneuvering target using detecting devices such as radar or laserAnd velocity information
Step 1-3. is for guided missile i, for the more guided missile concerted attack models of maneuvering target
Wherein,Indicate the relative distance of guided missile i and target, Here, pitch angleDeviation angleSpin matrixThis
Outside in (1),Respectively relative velocity of the guided missile i on direction of visual lines, pitch orientation, offset direction point
Amount；Respectively acceleration of the target T on the direction of visual lines of guided missile i, pitch orientation, offset direction
Component, which, which can not survey, can not also be utilized；Respectively guided missile i is along direction of visual lines, pitching side
The Acceleration Control input of Guidance Law on, offset direction.
In step 2, the Guidance Law along pitch orientation and offset direction is designed specifically to:
Step 2-1. establishes the discontinuous Guidance Law as shown in (2) in pitch orientation.
Wherein,For convergence constant,For Disturbance Rejection coefficient, and meetIndicate target along the upper bound of guided missile i pitch orientation component of acceleration.
Step 2-2. establishes the discontinuous Guidance Law as shown in (3) on offset direction.
Wherein,For convergence constant,For Disturbance Rejection coefficient, and meetIndicate target along the upper bound of the offset direction guided missile i component of acceleration.
Step 2-3. constructs adaptive Disturbance Rejection coefficient.It selects excellently,It can be indicated such as (4):
Wherein,For adaptive growth factor,For anti-coefficient of divergence.
Step 2-4. is since comprising discontinuous sign function, switching characteristic will lead to relative velocity point in (2) (3)
For amount when tending to zero crossings, there is chattering phenomenon in acceleration input.It in order to avoid the problem, selects excellently, symbol in (2) (3)
Function sign () can be by saturation function satε() replaces
In the initial stage of Missile Motion, velocity component is often larger and unstable, and to protect engine, system is needed
Input is prevented to be mutated；After Missile Motion enters intermediate range, velocity component stablize zero crossings and variation it is smaller, be at this time
System needs to increase system accuracy while preventing and buffeting.In order to be respectively increased Guidance Law in the missile flight initial stage
The precision of anti-mutability and middle second half section is selected excellently, and it is shown to can use saturation coefficient such as (5):
Wherein, tanh () is hyperbolic tangent function,Indicate that guided missile is maximum along pitch orientation and offset direction
For acceleration, normalisation coefftStop coefficientAnti- change coefficientAnti- buffeting coefficient
Step 2-5. for self performance constraint, guided missile have peak acceleration input limitation, select excellently, along pitching side
To Guidance Law may be designed as:
It selects excellently, the Design of Guidance Law along offset direction are as follows:
In step 3, along the Design of Guidance Law step of direction of visual lines specifically:
Step 3-1. constructs communication network, so that can be along communication between guided missile using radio receiver-transmitter on guided missile
The company side of topological diagram carries out information exchange.Remember aijFor communication topology figure adjacency matrix element, led if guided missile i can be received
The information that j is issued is played, then aij=1, otherwise aij=0, particularly enable aii=0.Further, concerted attack need to guarantee constructed
Contain directed spanning tree in network communication topological diagram, that is, there is guided missile s0, so as to guided missile s any in cloud*, opened up in communication
It flutters in figure and contains from s*To s0Directed path.
Step 3-2. establishes the discontinuous Guidance Law as shown in (8) on direction of visual lines.
It selects excellently, is expressed from the next using the distributed Feedback of communication network:
Wherein, ki1, ki2For convergence coefficient, and ki1> 0,Indicate consistent ginseng
Examine speed, rj(t-τij(t)) indicate that guided missile i receives guided missile j in (t- τ in t momentij(t)) moment and target relative distance are believed
Breath.
Wherein,For Disturbance Rejection coefficient, and meet Indicate mesh
Mark is along the upper bound of guided missile i direction of visual lines component of acceleration.
Step 3-3. constructs adaptive Disturbance Rejection coefficient.It selects excellently,It is represented by
Wherein,For adaptive growth factor,For anti-coefficient of divergence.
Discontinuous control in step 3-4. (9) will lead to system and generate chattering phenomenon.It selects excellently, sign function in (9)
Sign () can be by saturation function satε() replaces.It selects excellently, it is as follows to can use saturation coefficient ε:
Wherein,Indicate guided missile along the maximum for acceleration, normalisation coefft of direction of visual linesStop coefficientAnti- change coefficientAnti- buffeting coefficient
Step 3-5. for self performance constraint, guided missile along direction of visual lines having peak acceleration input limitation.It selects excellent
Ground, the Guidance Law along pitch orientation can be as shown in (12):
The present invention is communicated for more guided missile concerted attack maneuvering targets in three-dimensional space for maneuvering target and time delay
More guided missile cooperative guidances restrain design method,
The present invention in cloud communication network there are when time lag, still may be implemented to acceleration unknown object while
Attack；Guidance Law has separately designed discontinuous control input with regard to the guided missile acceleration of direction of visual lines, pitch orientation, offset direction,
The conformity error of relative velocity and each guided missile distance objective that direction of visual lines may be implemented converges to allowable error range
Interior, the speed of pitch orientation and offset direction is in Finite-time convergence to zero；To prevent control input mutation and system from trembling
Vibration, Guidance Law utilize continuous process, had both guaranteed that conformity error finite time convergence matter was constant, and can also prevent from controlling defeated
Enter mutation and system chatter；
Maneuvering target concerted attack is wanted in conclusion Guidance Law method of the invention can meet cloud in space
It asks.In addition, Guidance Law allow to communicate between there are time lag, improve the environment fitness of cooperation, and Guidance Law have it is good
Robustness and control smoothing input, have a good application prospect.
Detailed description of the invention
Fig. 1 is that three-dimensional more guided missile cooperation Guidance Law steps are shown under the communication delay for maneuvering target of the invention
It is intended to；
Fig. 2 is that three-dimensional more guided missile cooperation Guidance Law methods are shown under the communication delay for maneuvering target of the invention
It is intended to；
Fig. 3 is the status diagram of guided missile about target relative movement of the invention under LOS coordinate system；
Fig. 4 is the cloud communication topology schematic diagram of analogue simulation of the present invention；
Fig. 5 is the cloud of analogue simulation of the present invention and the motion profile result schematic diagram of target
Fig. 6 is each guided missile of analogue simulation of the present invention and the relative distance result schematic diagram of target；
Fig. 7 be analogue simulation of the present invention each guided missile and target relative velocity pitch orientation component result schematic diagram；
Fig. 8 be analogue simulation of the present invention each guided missile and target relative velocity offset direction component result schematic diagram；
Fig. 9 be analogue simulation of the present invention each guided missile and target relative velocity direction of visual lines component result schematic diagram；
Figure 10 is the Guidance Law acceleration input results signal of each guided missile of analogue simulation of the present invention in the pitch direction
Figure；
Figure 11 is the Guidance Law acceleration input results signal of each guided missile of analogue simulation of the present invention in the pitch direction
Figure；
Figure 12 is the Guidance Law acceleration input results signal of each guided missile of analogue simulation of the present invention in the pitch direction
Figure；
Specific embodiment
Goal of the invention of the invention, technical solution, invention advantage are described in further detail below in conjunction with attached drawing.
Existing more guided missile cooperative guidances rule, the missile flight track guided mostly in a two-dimensional plane, cannot be fine
Portray the flight path of guided missile in ground；Target is attacked simultaneously to realize, existing Guidance Law proposes very communication quality guided missile
High requirement is often unable to reach in practical operational environment.If easily generating and trembling using discontinuous control in Guidance Law
The mutation of phenomenon of shaking and control input, engine and steering system damage to guided missile greatly reduce the effect of concerted attack.
Based on considerations above, the present invention has initially set up the fortune that guided missile in three-dimensional space is directed to maneuvering target cooperation
It is dynamic to learn model, and pitch orientation, offset direction, direction of visual lines have been separately designed to preliminary discontinuous Guidance Law, especially regarding
The distributed AC servo system for allowing time lag is utilized in line direction.The relative velocity of each guided missile and target can be achieved in pitching and offset side
Upward component is reached unanimity along the relative velocity of direction of visual lines, with the relative distance of target through finite time convergence control to zero,
And it is hit the mark with biggish consistent speed.Further, self adaptive control adjusting parameter, utilization and continuous process are utilized
Discontinuous part in preliminary guidance rule is improved, chattering phenomenon is both eliminated, also improves Guidance Law in missile flight front half section
Anti- mutability and hit when precision.
Fig. 1 and Fig. 2 illustrates that the present invention realizes the design method of the cooperation Guidance Law for maneuvering target, side
Method execution specific as follows:
Step 1. is directed to the maneuvering target T of the irregular variation of acceleration, establishes more guided missile cooperations in three dimensions
Kinematics model, the detailed process of the step are as follows:
Step 1-1. is the motion state for describing target and each guided missile, any point O in space is chosen, with vertical direction
Inertial coodinate system OXYZ is established for Z axis.
It is numbered to cooperation guided missile is participated in: 1,2,3...N, noteTo lead
The position coordinates of i are played,For the velocity vector of guided missile i,For the vector acceleration of guided missile i, i=1 ..., N.
Step 1-2. obtains the location information of maneuvering target using detecting devices such as radar or laserAnd velocity information
Step 1-3. for guided missile i, foundation take withFor originLOS coordinate systemAs shown in Figure 3.It enables
riFor the relative distance with target T, θiFor in sight and edgeThe angle of axis direction,Exist for sightThrowing in plane
Shadow withThe angle of axis,For direction of visual lines,For pitch orientation,For offset direction,Respectively lead
The relative velocity for playing i existsOn component,The acceleration of respectively target T existsOn component, which, which can not survey, can not also be utilized,Respectively lead
I is played to existThe control input of Guidance Law on direction.
These variables meet:
Then cloud and the kinematics model of target can be by shown in (1):
Step 2. is established in pitch orientation and offset direction using discontinuous control and finite time consistency protocol
Component of acceleration Guidance Law.It realizes in finite time, the relative velocity of guided missile in both directions can converge to zero, then benefit
Guidance Law is improved with self adaptive control and continuous process.This step is specifically divided into again:
Step 2-1. utilizes discontinuous control design case, establishes preliminary guidance in pitch orientation and restrains.
Wherein,For convergence constant,For Disturbance Rejection coefficient, and meet Indicate target along the upper bound of guided missile i pitch orientation component of acceleration.
If enabledBringing into (1) has
It using the Lyapunov method and finite time convergence control theorem, is computed, when t meets following condition, has
Step 2-2. utilizes discontinuous control design case, establishes preliminary guidance on offset direction and restrains.
Wherein,For convergence constant,For Disturbance Rejection coefficient, and meet Indicate target along the upper bound of the offset direction guided missile i component of acceleration.
If enabledBringing into (1) has
It using the Lyapunov method and finite time convergence control theorem, is computed, when t meets following condition, has
In step 2-3. concrete application, the acceleration Guidance Law of above-mentioned pitch orientation such as following formula is indicated:
The acceleration Guidance Law of offset direction such as following formula indicates:
Wherein,For adaptive growth factor,For anti-coefficient of divergence, tanh ()
For hyperbolic tangent function,Indicate guided missile along pitch orientation and offset direction maximum for acceleration, normalisation coefftStop coefficientAnti- change coefficientAnti- buffeting coefficient
Allowable error is arranged in step 2-4.It chooses
Due to auto-adaptive parameterIt is the function of monotonic nondecreasing, whenWhen, haveTherefore, ifIt is unstable in zero point
In field, then it can be realized through finite time
WhenWhen,If still having at this timeThen
According to the Lyapunov method and finite time convergence control theorem, in allowable errorIt is interior,It can be limited
It goes to zero in time.Similarly, in allowable errorIt is interior,It can go to zero in finite time.
Step 3. transmits the information of each guided missile Yu target relative distance using the communication network between cloud, in conjunction with not connecting
The distributed Guidance Law along direction of visual lines acceleration is established in continuous control.Can be achieved each guided missile along direction of visual lines relative velocity, with
The relative distance of target reaches unanimously, and is hit the mark with the consistent reference velocity of preset in advance, recycles self adaptive control
Guidance Law is improved with continuous process.This step is specifically divided into again:
Step 3-1. constructs communication network between guided missile, so that information can be transmitted along the company side of communication topology figure.aijFor
Communication topology figure adjacency matrix element, if guided missile i can receive the information that guided missile j is issued, aij=1, otherwise aij
=0, particularly enable aii=0.Further, communication topology figure need to contain directed spanning tree: there are guided missile s0, so as in cloud
Any guided missile s*, contain in communication topology from s*To s0Directed path.I.e. Meet
Based on communication network and discontinuous control, preliminary distributed Guidance Law is established.
Wherein, ki1> 0,Disturbance Rejection coefficient Indicate consistent reference velocity.rj(t-τij(t)) indicate that guided missile i is received in t moment
Guided missile j is in (t- τij(t)) moment and target relative distance information.
If enabledIt brings into (1), has
According to multiple agent congruity theory, if containing directed spanning tree and leading in the communication topology figure of constructed network
Interrogate time lag τij(t)≤τ0< ∞ then can be achieved β (t) in finite time and go to zero.Using synovial membrane control thought, when β (t) is steady
After being scheduled on zero point, the relative distance r of each guided missile and targeti, along the relative velocity of direction of visual linesTended to negative exponent speed
Unanimously.Further, since rightUsing continuous opened loop control, so can realizeFinal consistent velocity-stabilization Vr0It is attached
Closely, the error of the two is related with communication delay value.
In step 3-2. concrete application, the acceleration Guidance Law of above-mentioned direction of visual lines such as following formula is indicated:
Wherein,For adaptive growth factor,For anti-coefficient of divergence.Indicate guided missile along sight
The maximum in direction is for acceleration, normalisation coefftStop coefficientAnti- change coefficientAnti- buffeting coefficient
Allowable error is arranged in step 3-3.It chooses
Because of auto-adaptive parameterMonotonic nondecreasing, whenWhen, thenTherefore, if | β (t) | it is unstable in zero point
Field in, then can be realized through finite time
WhenWhen,If still having at this timeThen
According to the Lyapunov method and finite time convergence control theorem, in allowable errorInterior, β (t) can be when limited
It is interior to tend to null vector.
It is designed by the present invention below for more guided missile cooperative guidance rule simulations three-dimensional under the communication delay of maneuvering target
Simulating, verifying.
Assuming that there is five pieces of guided missile M1..., M5Cooperation is initiated to a certain maneuvering target T, using vertical direction as Z axis
Under the inertial coodinate system OXYZ of foundation, the initial motion status information of each guided missile is as shown in table 1, and wherein the angle of depression is indicated with guided missile
With the angle of Z axis, azimuth indicates the angle of projection and X-axis of the guided missile in OXY plane；The motion profile of guided missile, in coordinate
It is that each component is as shown in table 2 under OXYZ.
Table 1
Table 2
In emulation experiment, it is assumed that communication topology figure between constructed guided missile is as shown in figure 4, communication topology figure adjacency matrix
Element is such as shown in (10), it is seen that contains directed spanning tree in communication topology.And assume that there are time lag τ in message transmitting procedureij=
5s, i, j=1 ..., 5.
Parameter in Guidance Law (4) in pitch orientation is chosen as follows:
Parameter in Guidance Law (5) on offset direction is chosen as follows:
Parameter in Guidance Law (9) on direction of visual lines is chosen as follows: ki1=5 × 10-3, ki2=
0.01, Vr0=300,
More guided missile cooperation simulation results are as shown in table 3, Fig. 5 to Figure 12.It will be seen from figures 5 and 6 that containing
In the case where communication delay, restrained using cooperative guidance designed by the present invention, five pieces of guided missiles are to the maneuvering target in three-dimensional space
Can be achieved simultaneously attack, the hit time of each guided missile is as shown in table 3, hit the time standard deviation and it is very poor be respectively less than 0.1s, this
Error is in the reasonable scope.
Table 3
| Guided missile | M1 | M2 | M3 | M4 | M5 |
| It hits time (s) | 558.59 | 558.57 | 558.56 | 558.57 | 558.58 |
Speed of the guided missile in pitch orientation and offset direction can be in Finite-time convergence it can be seen from Fig. 7 and Fig. 8
To zero；According to Fig. 9, guided missile can be realized unanimously along the relative velocity of direction of visual lines.
Figure 10 to Figure 12 shows the mutation and chattering phenomenon that guided missile is not frequent along the acceleration in three directions, In
Initial stage acceleration change is comparatively fast the speed of direction of visual lines in order to allow pitching, the speed on offset direction to converge to zero as early as possible
Degree reaches unanimity as early as possible.Realize convergence with it is consistent after, acceleration mainly changes because of the variation of aimed acceleration.
Comprehensive simulating is tested, and Guidance Law designed by the present invention can satisfy the requirement of more guided missile cooperations.
For the present embodiment for the maneuvering target of movement irregular in three-dimensional space, cloud can be by constructing communication network
Data interaction is carried out, is attacked while to complete to target；There are still have order when obvious time lag in communication network for this Guidance Law
The satisfied guidance of people is as a result, substantially reduce the requirement to communication quality.Meanwhile the present invention is using continuous process and adaptively
Parameter designing reduces mutation and the chattering phenomenon of the input of Guidance Law acceleration.
The above is only the preferred embodiment of the present invention, it is noted that and the above implementation column does not constitute restriction to the present invention,
For relevant staff in the range of without departing from technical thought of the invention, the various change and modification carried out all fall within this hair
In bright protection scope.
Claims (4)
1. the more guided missile cooperative guidances communicated for maneuvering target and time delay restrain design method, it is characterised in that: including following step
It is rapid:
Step: 1: for the maneuvering target that motion profile is irregular, establishing in three dimensions, guided missile and target relative position are closed
The kinematics model of system；
Step 2: using the acceleration Guidance Law of discontinuous control design case pitching and offset direction, so that guided missile and target is opposite
The component of speed in both directions can recycle serialization and adaptive parameter control method to change in Finite-time convergence to zero
Into Guidance Law；
Step 3: constructing the communication network between cloud, the adding along direction of visual lines using discontinuous control and consistency protocol design
Speed Guidance Law makes the relative velocity of relative distance of each guided missile away from target, direction of visual lines reach unanimity, recycle serialization and
Adaptive parameter control method improves Guidance Law.
2. the more guided missile cooperative guidances communicated as described in claim 1 for maneuvering target and time delay restrain design method, special
Sign is: with the specific construction method of cooperation motion model of N pieces of guided missile in the step 1 are as follows:
Step 1-1: any point O in space is chosen, establishes inertial coodinate system OXYZ by Z axis of vertical direction；Participation is cooperateed with
The guided missile of attack is numbered, noteFor the position coordinates of guided missile i,For the velocity vector of guided missile i,For adding for guided missile i
Velocity vector；
Step 1-2: using detecting devices such as radar or laser, the location information of maneuvering target is obtainedAnd velocity information
Step 1-3: for guided missile i, for the more guided missile concerted attack models of maneuvering target are as follows:
Wherein,Indicate the relative distance of guided missile i and target, Here, pitch angleDeviation angleSpin matrix
In (1),Respectively relative velocity of the guided missile i on direction of visual lines, pitch orientation, offset direction point
Amount；Respectively acceleration of the target T on the direction of visual lines of guided missile i, pitch orientation, offset direction point
Amount, which, which can not survey, can not also be utilized；
The acceleration control of respectively guided missile i Guidance Law along direction of visual lines, pitch orientation, offset direction
System input.
3. the more guided missile cooperative guidances communicated as described in claim 1 for maneuvering target and time delay restrain design method, feature
: the acceleration Guidance Law specific steps in step 2, along pitch orientation and offset direction are as follows:
Step (2-1): discontinuous control design case is utilized, the discontinuous Guidance Law of pitch orientation is established:
Wherein,For convergence constant,For Disturbance Rejection coefficient, meet
Indicate target along the upper bound of guided missile i pitch orientation component of acceleration.
Step 2-2: utilizing discontinuous control design case, establishes preliminary guidance on offset direction and restrains:
Wherein,For convergence constant,For Disturbance Rejection coefficient, and meet Indicate target along the upper bound of the offset direction guided missile i component of acceleration；
Step 2-3: constructing adaptive Disturbance Rejection coefficient,It can be indicated such as (4):
Wherein,For adaptive growth factor,For anti-coefficient of divergence.
Step 2-4. is since comprising discontinuous sign function, switching characteristic will lead to relative velocity component and become in (2) (3)
When zero crossings, there is chattering phenomenon in acceleration input.It in order to avoid the problem, selects excellently, sign function in (2) (3)
Sign () can be by saturation function satε() replaces
In the initial stage of Missile Motion, velocity component is often larger and unstable, and to protect engine, system needs are prevented
Input mutation；After Missile Motion enters intermediate range, velocity component stablize zero crossings and variation it is smaller, at this time system need exist
It prevents from increasing system accuracy while buffeting；In order to be respectively increased the anti-mutability in the missile flight initial stage of Guidance Law with
It is shown to can use saturation coefficient such as (5) for the precision of middle second half section:
Wherein, tanh () is hyperbolic tangent function,Indicate guided missile along pitch orientation and offset direction maximum for adding
Speed, normalisation coefftStop coefficientAnti- change coefficientAnti- buffeting coefficient
Step 2-5. for self performance constraint, guided missile have peak acceleration input limitation, the Guidance Law along pitch orientation can
Design are as follows:
Design of Guidance Law along offset direction are as follows:
4. the more guided missile cooperative guidances communicated as described in claim 1 for maneuvering target and time delay restrain design method, feature
It is: along the acceleration Guidance Law specific steps of direction of visual lines in the step 3 are as follows:
Step 3-1: using radio receiver-transmitter on guided missile, constructing communication network, so that can be along communication topology between guided missile
The company side of figure carries out information exchange；
Remember aijFor communication topology figure adjacency matrix element, if guided missile i can receive the information that guided missile j is issued, aij=1,
Otherwise aij=0, particularly enable aii=0；
Communication topology figure need to contain directed spanning tree, that is, there is guided missile s0, so as to guided missile s any in cloud*, in communication topology
Contain in figure from s*To s0Directed path；
Step 3-2: establish the discontinuous Guidance Law as shown in (8) on direction of visual lines: using communication network distributed Feedback by
Following formula indicates:
Wherein, ki1, ki2For convergence coefficient, and ki1> 0,Indicate consistent reference velocity,
rj(t-τij(t)) indicate that guided missile i receives guided missile j in (t- τ in t momentij(t)) moment and target relative distance information；
Wherein,For Disturbance Rejection coefficient, and meet Indicate that target edge is led
Play the upper bound of i direction of visual lines component of acceleration；
Step 3-3.: adaptive Disturbance Rejection coefficient is constructed；It is represented by
Wherein,For adaptive growth factor,For anti-coefficient of divergence；
Step 3-4: the discontinuous control in above-mentioned (9) will lead to system and generate chattering phenomenon, can be by sign function in (9)
Sign () can be by saturation function satε() replaces；
Desirable saturation coefficient ε is as follows:
Wherein,Indicate guided missile along the maximum for acceleration, normalisation coefft of direction of visual linesStop coefficientAnti- change coefficientAnti- buffeting coefficient
Step 3-5.: for the constraint of self performance, guided missile is having peak acceleration input limitation along direction of visual lines；Along pitching side
To Guidance Law can be as shown in (12):
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