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首先,假设各枚导弹的速度为相同常值,领弹采用经典比例导引(PNG),被领弹采用经典比例导引和机动控制相结合的方式,推导出采用领弹-被领弹策略的多导弹时间协同控制设计模型,该模型实际上描述的是一个非线性的弹目相对运动状态跟踪控制系统。在此系统中,领弹的弹目距离与导弹前置角作为两个参考状态量,被领弹的弹目距离与导弹前置角作为两个待控制的状态量。针对这一弹目相对运动状态跟踪控制系统,采用时标分离的方法设计了期望的慢子系统和快子系统。对这两个子系统分别进行动态逆控制设计,得到了被领弹的机动控制指令。该机动控制指令用于调整被领弹相对目标的运动状态,来逼近领弹相对目标的运动状态,这就保证了所有的导弹能够同时攻击目标。然后,通过为每枚被领弹引入一个与其速度相同的虚拟领弹,将上述方法推广到各枚导弹速度可为不同常值的情况。仿真结果验证了本文方法的有效性。
First of all, assuming that the velocity of each missile is the same as the normal value, the guided bomb uses the classical proportional guidance (PNG) and is used by the pilot to combine the classical proportional guidance and the maneuver control. Multi-missile time coordinated control design model, the model actually describes a nonlinear projectile relative motion tracking control system. In this system, the distance between the projectile and the missile’s lead angle is taken as two reference state quantities, the distance between the projectile’s projectile and the missile’s lead angle are taken as two state quantities to be controlled. In view of the tracking control system of the relative movement of the projectile, the slow subsystem and the fast subsystem are designed using the time-scale separation method. The dynamic inverse control design of these two subsystems was completed, and the command of maneuvering by the pilot was obtained. The maneuvering control instruction is used to adjust the movement of the target relative to the target to approximate the movement of the target relative to the target, which ensures that all the missiles can simultaneously attack the target. Then, the above method is generalized to the situation where the missile speeds can be different normals by introducing a virtual missile at a speed equal to that of each guided missile. Simulation results verify the effectiveness of the proposed method.