宇航学报 ›› 2022, Vol. 43 ›› Issue (6): 751-761.doi: 10.3873/j.issn.1000-1328.2022.06.006

• 制导、导航、控制与电子 • 上一篇    下一篇

一种不依赖剩余时间估计的巡航导弹多约束制导律

王宁宇,王小刚,白瑜亮,崔乃刚,李瑜   

  1. 1. 哈尔滨工业大学航天学院,哈尔滨 150001;2. 北京空天技术研究所,北京 100074
  • 收稿日期:2021-10-16 修回日期:2021-11-19 出版日期:2022-06-15 发布日期:2022-06-15
  • 基金资助:
    国家自然科学基金项目(U20B2005)

A Multi constraint Guidance Law for Cruise Missile Independent of Time to go Prediction

WANG Ningyu, WANG Xiaogang, BAI Yuliang, CUI Naigang, LI Yu   

  1. 1. School of Astronautics, Harbin Institute of Technology, Harbin 150001, China;2. Beijing Aerospace Technology Institute, Beijing 100074, China
  • Received:2021-10-16 Revised:2021-11-19 Online:2022-06-15 Published:2022-06-15

摘要: 针对巡航导弹末段多约束精确打击问题,提出了一种不依赖剩余时间估计的攻击角度/时间制导律。推导了航向弹目相对运动关系,设计了一种基于附加航向角设计的时间约束制导律,通过对时间增益系数的设计和优化,实现附加航向角的调节,可使实际飞行时间向期望时间快速收敛;在此基础上,将角度约束制导律与时间约束制导律相结合,得到了一种角度/时间约束制导律。该制导律不依赖于剩余时间估计,进而实现多约束条件下航向轨迹自适应调整;通过求解偏置导引律闭环轨迹分析得到轨迹收敛条件,给出满足角度/时间约束制导律的显式收敛条件。最后通过数学仿真验证了本文提出的航向多约束制导律可满足时间和角度等多约束条件且具有快速收敛特性。

关键词: 巡航导弹, 最优制导律, 航向误差, 时间增益

Abstract: Aiming at the problem of multi constraint precise strike of cruise missile in its terminal flight, a new guidance law under impact angle and impact time constraints is proposed independent of time to go prediction. The relative motion relationship between the missile and the target in the heading plane is deduced, and an impact time constrained guidance law based on additional heading angle is designed. By designing and optimizing the time gain coefficient, the additional heading angle is adjusted to make the actual flight time converge to the expected time quickly. On this basis, a guidance law with the impact angle and impact time constrained is obtained by combining the angle constrained and time constrained guidance laws. The guidance law does not depend on the time to go prediction, and then realizes the adaptive trajectory adjustment under multiple constraints in the heading plane. The trajectory convergence condition is obtained by solving the closed loop trajectory analysis of the biased guidance law, and the explicit convergence condition satisfying the impact angle and time constrained guidance law is given. Finally, it is verified by the mathematical simulation that the proposed multi constraint guidance law can meet the impact time and impact angle constraints and has fast convergence.

Key words: Cruise missile, Optimal guidance law, Heading error, Time gain

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