带有攻击角度和攻击时间控制的三维制导

 在三维空间导引动力学与运动学模型的基础上,假设目标静止,而导弹本身以恒速运动,根据实际的攻击角度与设定的攻击角度误差,分析和设计了期望的视线（LOS）角运动学,基于李雅普诺夫稳定性理论设计了带有攻击角度控制的三维导弹导引律。为了对攻击时间进行预测与控制,假设导弹本身以恒速或者匀加/减速运动,先将导弹导引到预定的攻击角度上,根据待飞直线距离对待飞时间进行估算,再根据预测时间误差,确定导弹按照特定的圆弧轨迹机动飞行的指令和机动飞行的时间,通过机动飞行来对时间误差进行补偿,最后,再利用所设计的导引律攻击目标。给出了仿真结果。     

基于最优误差动力学的时间角度控制制导律

针对带有攻击时间和终端攻击角度约束的导弹制导问题,设计了一种基于最优误差动力学的时间角度控制制导律,并给出了明确的性能指标。推导广义最优角度控制制导律作用下的剩余飞行时间估算表达式,在广义最优角度控制制导律的基础上增加攻击时间误差反馈项,将攻击时间误差看做跟踪误差,设计的制导律使跟踪误差以最优模式在有限时间内收敛到零,最终实现攻击时间和终端攻击角度的共同控制。对不同参数下的情况进行仿真,验证了所提制导律的有效性。     

基于理想视线制导的多导弹协同攻击策略

理想视线制导律是一种沿理想视线方向的、对终端相对位置与终端相对速度进行控制的弹道成型制导律。基于此制导律,提出了一种圆弧假设并推导了理想视线约束角度与飞行剩余时间之间的函数关系,设计了多导弹飞行时间协同控制系统。在此基础上,提出了针对低速目标的多导弹协同攻击策略。该制导策略通过调节各导弹终端理想视线与相对距离矢量方向夹角大小的方法,有效地减小了各导弹飞行时间之间的差额。仿真结果表明,所设计的制导策略可以很好地实现多导弹对固定目标的协同攻击并且有较强的容错性。     

主动防御协同自适应滑模制导律

飞机相比于攻击导弹,在飞行速度和机动性能等方面存在着劣势.为了提高其生存几率,设计了一种发射防御导弹协同对抗攻击导弹的自适应滑模制导律.该制导律本质是一种视线(Line of Sight,LOS)制导方法,通过对飞机与防御导弹和防御导弹与攻击导弹间的LOS调整以满足特定的几何关系,从而实现对攻击导弹的主动防御.最后,将所设计的制导律与比例导引进行了仿真比较.结果表明,由于与目标间的协同,所设计的制导律在机动性能和拦截性能方面具有明显的优势,且对于三方的飞行速度变化与攻击导弹的机动具有较强的鲁棒性.     

导弹速度时变的攻击时间与攻击角度控制导引律

针对导弹速度非定常情况下的协同制导问题,提出了两种分别满足攻击时间约束、攻击时间与攻击角度约束的导引律.首先通过求解导弹在比例导引(PN)及带攻击角度约束的偏置比例导引(BPNIAC)下的系统微分方程,得到导弹飞行的实际剩余航程,并根据指定的攻击时间与导弹的实际速度曲线构造标称剩余航程,将攻击时间控制问题转化为导弹实际剩余航程对标称剩余航程的跟踪问题.然后,在PN及BPNIAC的基础上附加反馈控制项使导弹实际的剩余航程跟踪标称值,从而实现导弹速度时变情况下攻击时间的控制要求.仿真结果验证了该方法的有效性,实际应用中可根据预测速度曲线及在线更新策略对标称剩余航程进行估算.     

攻击时间约束下的三维制导律

基于三维空间内导弹-目标的相对运动方程,针对固定目标,提出了一种攻击时间约束下的多导弹协同攻击的三维制导律。俯仰通道设计了滑模变结构制导律,偏航通道基于动态逆控制理论,采用机动控制,调整导弹的攻击时间,使其趋于指定值,并与在俯仰通道采用推导的增广比例制导律作了比较。最后,仿真结果表明,该制导律最终能使攻击的剩余时间误差趋于零,能够满足对制导精度和攻击时间的要求,证明了算法的正确性和优越性。     

基于轨迹成型的攻击角度与时间控制

假定所成型的导弹飞行轨迹由圆弧段和直线段构成,直线段经过目标点且满足导弹末端攻击角度的要求,圆弧段起始于导弹初始位置且与直线段相切于待定的点,该点由指定的导弹攻击时间通过迭代算法得到。给出了可行的攻击时间范围。在轨迹成型的基础上,提出一种新的虚拟目标轨迹跟踪控制方法：在圆弧段提出一种前馈加反馈的复合控制方案,在直线段提出一种带角度控制的比例导引方案。该方法是一种几何方法,易于工程实施。仿真结果表明,该方法可以有效地同时对攻击角度与攻击时间进行控制。     

攻击角度约束下打击机动目标的制导律

针对某些导弹要求限制末端攻击角度的作战要求,基于滑模变结构控制理论,面向机动目标,设计了一种同时满足脱靶量和攻击角度约束要求的制导律.采用自适应滑模趋近律,并将目标机动视为干扰,利用线性变结构制导律推导出目标加速度的估计方程,并通过仿真证实了其有效性.所设计的制导律形式简单、实用.仿真结果表明,该制导律能够以期望的攻击角度命中目标,并对所提出制导律的性能进行了分析,具有一定的工程应用价值.     

空空导弹高抛弹道复合导引律仿真研究

面向空空导弹远距攻击作战需求,提出了一种涵盖中制导、末制导和中末制导平滑过渡3个阶段的高抛弹道复合导引律。针对典型空中目标,建立基本机动飞行模型。在此基础之上,设计开发一套空战仿真软件通过设置对不同发射条件、不同目标机动条件,验证高抛弹道导引律的正确性,并与比例导引在最大攻击距离平均飞行速度、末端命中速度等方面进行对比分析。仿真结果显示,提出的高抛弹道导引律能够在各种发射条件下准确命中目标,具有较强的自适应性。同时,与比例导引相比,能够显著提高空空导弹的综合攻击效能,具有较高的工程应用价值。     

超声速拦射导弹的一种预测变结构中制导律

针对攻击超声速大机动目标的超声速拦射导弹的中制导律设计问题,基于变结构控制理论并结合预测导引的思想提出一种预测变结构中制导律。该制导律能够零化导弹速度前置角,交班时过载较小,从而很好地满足中末交班要求。通过调节预测步长,在目标作大机动的情况下,既能保证中末交班时几乎为零的导弹速度前置角,又能有效地减小交班时导弹法向过载。最后在Matlab/Simulink环境下对攻击超声速蛇形机动目标进行了仿真,仿真结果表明了所设计的制导律的正确性和攻击超声速大机动目标的有效性。     

基于虚拟领弹的攻击时间和攻击角度控制

构造一枚虚拟领弹按指定的攻击时间和攻击角度以直线飞向目标。实际导弹通过机动以"等待"虚拟领弹的到来,导弹与虚拟领弹相遇后随其一起飞向目标,从而实现导弹的攻击时间和攻击角度控制。对于这种导弹对虚拟领弹的轨迹跟踪问题,建立了控制设计模型并采用了分阶段控制设计方法。仿真结果验证了该方法的有效性。     

Generalized guidance law for homing missiles

The concept of a generalized guidance law is presented, and the closed-form solution for a homing missile pursuing a maneuvering target according to generalized guidance laws is given. It is shown that the guidance laws appearing in the literature are merely special cases of the one proposed by the authors. The derived generalized forms of capture area, missile acceleration, and homing time duration that are derived provide insight into the performance of the guidance laws being considered and lead to the discovery of new ones. The problem of finding a nonlinear optimal guidance law for a homing missile with controlled acceleration, applied so as to capture a maneuvering target with a predetermined trajectory while minimizing a weighted linear combination of time of capture and energy expenditures, is solved in closed form. The derived optimal control law is equal to the LOS (line of sight) rate multiplied by a trigonometric function of the aspect angle. Numerical simulation shows that the resulting guidance law appears to yield a significant advantage over true proportional navigation     

CLOS+IRTH composite guidance

A composite guidance scheme based on the command to line-of-sight (CLOS)+infrared terminal homing (IRTH) for a short-range surface-to-air missile system is proposed in an attempt to complement drawbacks of a single guidance law. Launch boundaries for a successful guidance handover are analyzed according to missile maneuverability and seeker gimbal angle limits. This paper also concentrates on developing practical guidance laws for the IRTH phase in the presence of inherent missile heading errors at the time of guidance handover and missile deceleration due to aerodynamic drag.     

Guidance law with impact time and impact angle constraints

A novel closed-form guidance law with impact time and impact angle constraints is pro- posed for salvo attack of anti-ship missiles, which employs missile’s normal acceleration (not jerk) as the control command directly. Firstly, the impact time control problem is formulated as tracking the designated time-to-go (the difference between the designated impact time and the current flight time) for the actual time-to-go of missile, and the impact angle control problem is formulated as tracking the designated heading angle for the actual heading angle of missile. Secondly, a biased proportional navigation guidance (BPNG) law with designated heading angle constraint is constructed, and the actual time-to-go estimation for this BPNG is derived analytically by solving the system differential equations. Thirdly, by adding a feedback control to this constructed BPNG to eliminate the time-to-go errorthe difference between the standard time-to-go and the actual time-to-go, a guidance law with adjustable coefficients to control the impact time and impact angle simultaneously is developed. Finally, simulation results demonstrate the performance and feasibility of the proposed approach.     

基于锥形运动的制导火箭速度控制导引律设计

针对制导火箭落点速度的约束要求,提出了一种采用锥形运动控制导弹飞行速度的导引方法。该方法首先设计了满足速度约束的虚拟目标理想运动轨迹,将导弹减速控制问题转化为对虚拟目标的追踪导引问题,通过建立制导火箭与虚拟目标的相对运动模型,分析了弹目相对位置和相对速度的关系,推导了具有速度控制的导引律一般形式,并采用动态逆控制理论设计了锥形运动控制指令和导引参数。通过数字仿真对比了不同落角约束条件下导弹锥形运动的速度控制效果,结果表明该方法设计的导引律能够满足制导火箭速度约束要求,且制导精度高、控制效果好,为导弹锥形运动速度控制技术提供了参考。     

Cooperative guidance of seeker-less missile considering localization error

To perform an accurate fire-and-forget attack of seeker-less missile with the consideration of the localization error, a new cooperative guidance strategy of multi-missiles is proposed in this work. Firstly, an estimated position of the seeker-less missile is carefully selected, based on which the slant angle of the line between the estimated and real positions of the seeker-less missile is approximately derived inspired by the localization theory of GPS(Global Position System).Then, respectively based on the guidance law considering the impact angle and time constraints, the consensus theory and the finite-time convergence approach, three cooperative guidance laws employing the previously obtained slant angle are derived for intensive attack to address either a stationary or maneuvering target. Simulation results well demonstrate the effectiveness and advantages of the proposed cooperative guidance strategy.     

多约束条件下的制导律研究综述

随着导弹等制导武器机动能力的增强,制导精度的提高,多约束条件下的制导律研究成为精确制导研究的新热点。简要介绍了多约束条件下的制导问题,重点评述了近年来多约束条件下的制导律研究情况,对目前多约束条件下的制导律设计进行了比较详细的研究,系统分析了各种方法的优缺点,并分析了其可能的研究内容动态和方向,为精确制导技术的发展提供了参考和借鉴。     

An adaptive fast fixed-time guidance law with an impact angle constraint for intercepting maneuvering targets

Sliding mode guidance laws based on a conventional terminal sliding mode guarantees only finite-time convergence, which verifies that the settling time is required to be estimated by selecting appropriate initial launched conditions. However, rapid convergence to a desired impact angle within a uniform bounded finite time is important in most practical guidance applications. A uniformly finite-time/fixed-time convergent guidance law means that the convergence (settling) time is predefined independently on initial conditions, that is, a closed-loop convergence time can be estimated a priori by guidance parameters. In this paper, a novel adaptive fast fixed-time sliding mode guidance law to intercept maneuver targets at a desired impact angle from any initial heading angle, with no problems of singularity and chattering, is designed. The proposed guidance law achieves system stabilization within bounded settling time independent on initial conditions and achieves more rapid convergence than those of fixed-time stable control methods by accelerating the convergence rate when the system is close to the origin. The achieved acceleration-magnitude constraints are rigorously enforced, and the chattering-free property is guaranteed by adaptive switching gains. Extensive numerical simulations are presented to validate the efficiency and superiority of the proposed guidance law for different initial engagement geometries and impact angles.