带多约束的多弹分布式自适应协同导引律

doi:10.3969/j.issn.1001-506X.2021.01.22

摘要/Abstract

摘要：

针对网络化制导弹药打击近岸机动目标的末制导段,基于协同一致性理论与Lyapunov稳定性理论,提出了一种分布式模糊自适应协同导引律。考虑攻击角约束和视线角速率测量受限,构建协同导引系统的状态空间。设计扩张状态观测器(extended state observer, ESO)迅速准确地观测出在视线切向、法向与侧向上的不确定干扰。在视线切向,运用积分滑模设计分布式协同控制量,保证命中时刻在有限时间内趋于一致。在视线法向与侧向,设计了具有自适应指数趋近律的非奇异终端滑模,运用了弹目相对距离与接近速率信息,使终端视线角跟踪误差与视线角速率在有限时间内收敛至零。引入具有万能逼近性的模糊自适应系统(fuzzy adaptive system, FAS),既消除了由滑模切换项诱发的控制量高频抖振,又确保了系统一致最终有界(uniformly ultimately bounded, UUB)。仿真实验表明:与非奇异终端滑模方法相比,该导引律使组网弹药能够以更好的导引性能攻击机动目标。

关键词: 多约束, 分布式协同, 模糊自适应, 扩张状态观测器

Abstract:

Aiming at the terminal guidance section of networked guided projectile, while striking near shore maneuvering target, the distributed fuzzy adaptive cooperative guidance law is proposed based on synergetic consistency and Lyapunov stability theory. Considering impact angle constraint and the limited line of sight (LOS) angle rate measurement, the state space of cooperative guidance system is constructed. The extended state observer (ESO) is designed to observe the uncertain disturbances in the tangent, normal and lateral direction of LOS rapidly and accurately. In the tangent direction of LOS, the distributed cooperative control is designed by using integral sliding mode to ensure that the impact time tends to be same in finite time. In the normal and lateral direction of the LOS, a nonsingular terminal sliding mode with adaptive exponential reaching law is designed. The information of relative distance between missile and target and approach rate are used to make the LOS angle tracking error and LOS angle rate converge to zero in finite time. The fuzzy adaptive system (FAS) with universal approximation is introduced, which not only eliminates the high-frequency chattering induced by the sliding mode switching term, but ensures that the system is uniformly ultimately bounded (UUB). Simulation experiment shows that the guidance law enables the networking ammunition to attack maneuvering targets with better guidance performance compared with nonsingular terminal sliding mode method.

Key words: multiple constraints, distributed cooperation, fuzzy adaptive, extended state observer (ESO)

中图分类号:

TJ413.+6

孙世岩, 姜尚, 田福庆, 梁伟阁. 带多约束的多弹分布式自适应协同导引律[J]. 系统工程与电子技术, 2021, 43(1): 181-190.

Shiyan SUN, Shang JIANG, Fuqing TIAN, Weige LIANG. Distributed adaptive cooperative guidance law of multiple projectiles with multiple constraints[J]. Systems Engineering and Electronics, 2021, 43(1): 181-190.

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弹药节点	(x_P₀i, y_P₀i, z_P₀i) m	v_{P_i} m/s	θ_{P_i} (°)	Ψ_{P_i} (°)	θ_{Qf_i} (°)	Ψ_{Qf_i} (°)
P₁	(0, 4 000, 0)	330	-7	0	-70	0
P₂	(200, 3 800, 200)	350	-5	-5	-65	-10
P₃	(100, 4 200, -200)	370	-10	5	-75	10

(x_T₇, y_T₇, z_T₇)/m	v_T/(m/s)	θ_T/(°)	Ψ_T/(°)
(5 000, 0, 50)	30	0	0

参数	值
β_γ1	5
β_γ2	60
β_γ3	450
σ_γ1	0.025
σ_γ2	0.01
η_γ1	0.03
η_γ2	0.06
c_γ3	1.5
k_γ	5
β_θ1	8
β_θ2	80
β_θ3	700
σ_θ1	0.025
σ_θ2	0.01
η_θ1	0.03
η_θ2	0.06
c_θ	2
k_θ	7
β_Ψ1	6
βΨ₂	60
β_Ψ3	600
σ_Ψ1	0.025
σ_Ψ2	0.01
η_Ψ1	0.03
η_Ψ2	0.06
c_Ψ	1
k_Ψ	5
λ_γ	80
λ_θ	100
λ_Ψ	87
c_γ1	2
c_γ2	4
ρ_θ	15
ρ_Ψ	13
φ_θ	1.5
φ_Ψ	1.5

导引律	弹药节点	脱靶量/m	命中时间/s	θ_{Qf_i}误差/(°)	Ψ_{Qf_i}误差/(°)
DFACGL	P₁	0.27	28.18	0.19	0.11
	P₂	0.30	28.18	0.24	0.13
	P₃	0.28	28.18	0.22	0.12
SMCGL	P₁	0.94	28.85	0.83	0.41
	P₂	1.01	28.85	0.89	0.44
	P₃	0.96	28.85	0.86	0.42

导引律	弹药节点	脱靶量/m	命中时间/s	θ_{Qf_i}误差/(°)	Ψ_{Qf_i}误差/(°)
DFACGL	P₁	0.31	28.37	0.24	0.12
	P₂	0.34	28.37	0.28	0.15
	P₃	0.33	28.37	0.25	0.13
SMCGL	P₁	0.99	29.04	0.91	0.45
	P₂	1.12	29.04	0.96	0.51
	P₃	1.05	29.04	0.93	0.48