| 考虑侧窗约束的模型预测静态规划末制导方法 |
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| 引用本文： | 权申明,晁涛,张登辉,杨明.考虑侧窗约束的模型预测静态规划末制导方法[J].宇航学报,2022,43(10):1322-1332. |
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| 作者姓名： | 权申明 晁涛 张登辉 杨明 |
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| 作者单位： | 1. 哈尔滨工业大学航天学院控制与仿真中心，哈尔滨 150080；2. 上海机电工程研究所，上海 201109；3. 沈阳飞机设计研究所，沈阳 110031 |
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| 基金项目： | 国家自然科学基金（61627810, 61790562, 61403096） |
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| 摘 要： | 针对红外导引头侧窗探测模式下,非对称视场约束造成末制导阶段目标易丢失的问题，提出一种考虑侧窗约束的模型预测静态规划末制导方法。首先，基于体视线坐标系建立三维相对运动模型，得到不依赖于“小攻角”假设的准确模型。在处理无过程约束问题的模型预测静态规划方法基础上，引入松弛变量与虚拟控制量，设计出考虑侧窗视场约束的末制导算法。为了进一步降低末制导算法对初始猜测轨迹的依赖性，提高适应性与计算效率，提出逐步增加约束条件的计算策略。仿真结果表明，该方法在末制导过程中满足侧窗约束，相比于凸优化方法，优化变量减少，计算速度更快；相比于基于障碍李雅普诺夫函数的末制导律，能够满足侧窗约束，同时能适应不同的初始条件。
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| 关 键 词： | 红外导引头 模型预测静态规划 体视线坐标系 松弛变量 |
| 收稿时间： | 2022-01-25 |
Model Predictive Static Programming Terminal Guidance Method Considering Side window Constraints |
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| QUAN Shenming,CHAO Tao,ZHANG Denghui,YANG Ming.Model Predictive Static Programming Terminal Guidance Method Considering Side window Constraints[J].Journal of Astronautics,2022,43(10):1322-1332. |
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| Authors: | QUAN Shenming CHAO Tao ZHANG Denghui YANG Ming |
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| Affiliation: | 1. Control and Simulation Center, School of Astronautics, Harbin Institute of Technology, Harbin 150080, China;2. Shanghai Electro Mechanical Engineering Institute, Shanghai 201109, China;3. Shenyang Aircraft Design and Research Institute, Shenyang 110031, China |
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| Abstract: | Aiming at the problem that the target is easy to lose in the terminal guidance stage due to the asymmetric field of view constraints in the side window detection mode, a terminal guidance method for side window detection based on model prediction static programming is proposed. Firstly, a three dimensional relative motion model is established based on the body line of sight coordinate system, and an accurate model independent of the ‘small angle of attack’ assumption is obtained. Based on the model predictive static programming method to deal with the problem of no process constraints, slack variables and virtual control variables are introduced, and a corresponding terminal guidance algorithm is designed. In order to further reduce the dependence of the terminal guidance algorithm on the initial guess trajectory and improve the adaptability and computational efficiency, a computational strategy of gradually increasing constraints is proposed. The simulation results show that the proposed method satisfies the side window constraints during the terminal guidance stage. Compared with the convex optimization method, the optimization variables are reduced and the calculation speed is faster. Compared with the terminal guidance law based on the barrier Lyapunov function, the proposed method can adapt to different initial conditions, while satisfying the side window constraints. |
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| Keywords: | Infrared seeker Model prediction static programming Body line of sight coordinate system Slack variable |
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