【作者】 庞瑞丰；

【导师】 张晓宇；

【作者基本信息】 哈尔滨工程大学 ， 控制科学与工程， 2019， 硕士

【摘要】 随着机动式战术弹道导弹的发展,对此类目标进行有效的跟踪和末制导拦截已成为世界各国防空系统的研究重点。考虑到末制导拦截时间有限的特点,以及特殊拦截任务的要求,本文以高速机动目标为研究对象,针对如何快速稳定地跟踪目标,如何在终端存在多约束条件的情形下完成末制导拦截的问题进行研究。本文介绍了导弹拦截目标过程中涉及的空间坐标系及它们之间的转换关系。在不考虑推进剂流失的情下,表述了目标和拦截导弹的质点运动方程组,并且模拟了一条高速机动目标的末段运动轨迹。将二维平面内导弹和目标的相对运动质点模型扩展到了三维空间下,并且简单介绍了滑模变结构控制和有限时间收敛控制的基本概念。根据高速机动目标的强机动特性,结合“当前”统计运动模型和加加速度运动模型,构造出一种新型的机动目标组合运动模型。同时,考虑到高速机动的目标在末制导拦截的过程中存在多种运动模式切换的情形,本文比较了标准交互式多模型算法和提出的组合运动模型各自的特性。最终分析表明在末制导拦截时间有限的前提下,所提出的新组合模型能够更好地对高速机动目标进行跟踪滤波,且结合该模型和经典卡尔曼滤波算法进行了数值仿真验证。在末制导拦截时间有限的约束下,提出了一种末制导时间约束比例导引律。但是,在该导引律下,多弹协同制导的视线角速率不能迅速趋于零,剩余飞行时间也不能迅速趋于一致。因此,本文引入有限时间收敛控制方法,设计了一种能使各个拦截导弹的视线角速率和剩余飞行时间快速收敛的末制导有限时间一致性导引律。在末制导终端角度的约束下,结合滑模变结构控制方法,设计了一种末制导角度约束约束滑模导引律。同时,通过李雅普诺夫方法,此导引律被证明有使视线角速率在有限时间内收敛为零的特性。在同样条件下,将此导引律与另一种带有终端角度约束的微分对策导引律作对比仿真,结果体现了在满足终端角度约束和脱靶量精度上此导引律的优越性。在满足终端脱靶量精度的条件下,有效结合末制导多弹拦截过程中的剩余飞行时间一致性约束和终端角度约束,采用径向导引与纵向导引通道独立进行解算的方案设计了一种末制导多约束导引律。在仿真验证中,该导引律不仅能够同时满足时间一致性和终端角度两个约束条件,而且在打靶仿真试验中脱靶量的统计数据也在可接受的制导精度范围内。更多还原

【Abstract】 With the development of mobile tactical ballistic missiles,the effective tracking and terminal guidance interception of such targets have become the research focus of the air defense systems for every country in the world.Considering the limited interception time of terminal guidance and the requirements of special interception missions,this paper takes the high-speed maneuvering target as the research object and the problem of how to track the target quickly and stably and how to complete terminal guidance interception under the condition of multiple constraints are studied.This paper introduces the three-axis coordinate system involved in the process of intercepting target and the transformation relations between them.Without regard to loss of propellant,the equations of particle motion of target and interceptor missiles are presented,and a trajectory of the terminal stage of a high-speed maneuvering target is simulated.And the relative moving particle model of missile and target in two-dimensional plane is extended to three-dimensional space and the basic concepts of sliding mode variable structure control and finite time convergence control are briefly introduced.According to the strong maneuvering characteristic of high-speed maneuvering target,a new combined maneuvering target motion model is constructed by combining "current" statistical motion model and jerk motion model.Meanwhile,considering that the high-speed maneuvering target has a variety of motion mode switching in the process of terminal guidance interception,this paper compares the characteristics of the standard interactive multi-model algorithm and the proposed combined motion model.The final analysis shows that under the premise of limited interception time of terminal guidance,the new combined model can better track and filter the high-speed maneuvering target,and this model is combined with the classical kalman filter algorithm for numerical simulation verification.Under the constraint of limited interception time of terminal guidance,a kind of proportional guidance law with terminal guidance time constraint is proposed.However,under the guidance law,the line-of-sight rate of multiple missiles cooperative guidance cannot quickly approach zero,and the remaining flight time cannot quickly approach a same value.Therefore,this paper introduces the finite time convergence control method,and designs a finite-time consistency terminal guidance law which can make the line-of-sight rate and the remaining flight time of each interceptor missile converge rapidly.Under the constraint of final angle of terminal guidance,combined with sliding mode variable structure control method,a sliding mode terminal guidance law with angle constrained is designed.At the same time,through the lyapunov method,this guidance law is proved that it has the property that the line-of-sight rate can converge to zero in finite time.Under the same condition,the guidance law is compared with another differential game guidance law with terminal angle constraint,and the result shows that the superiority of this guidance law in satisfying the terminal angle constraint and the miss distance precision.Under the condition of satisfying the accuracy of terminal miss distance,combined with the time consistency constraint and angle constraint in the multiple missiles interception process of terminal guidance,a multi-constraint terminal guidance law is designed with radial guidance and longitudinal guidance channel adopted to solve the problem independently.In the simulation verification,the guidance law can not only satisfy the time consistency and terminal angle constraints,but also the statistics of the miss distance in the shooting test are within the acceptable range of guidance precision.更多还原