多约束条件下多飞行器鲁棒协同制导与控制方法研究

The precision guided missile is a very important member of precision guided aircraft family, and cooperative penetration and attack of multiple precision guided missiles is an inevitable trend for future development, while cooperative guidance and control theory is the key theory of multiple missiles’ cooperative flight. In this project, the decentralized communication mode is adopted by multiple missiles, and a cooperative guidance and control law is investigated, which consists of multiple-aircrafts-level cooperative consensus algorithm and local-aircraft-level guidance and control law. The effect on the robust cooperative stability of multiple-aircrafts-level consensus algorithm of the time delay and noise of the data transmission between multiple missiles is discussed. Cooperative strategy considering the constraint of missile’s flight position and the command of impact time from multiple-aircrafts-level consensus algorithm is designed. Taking such constraints into account as missile’s dynamic characteristics, limited available overload and limited actuator deflection angle, an integrated guidance and control model with nonlinear uncertainty is built. The local-aircraft-level robust guidance and control law is designed based on modern control theory and uncertainty estimation theory to trace the cooperative strategy with good precision. With the consideration of missile’s performance like available thrust and maneuverability, the matching principle between multiple-aircrafts-level algorithm and local-aircraft-level algorithm is proposed, and the cooperative guidance and control law made of two algorithms is optimized on the basis of the matching principle. The research results can provide theoretical reserves for the cooperative flight of multiple precision guided aircrafts in the future.

精确制导导弹是精确制导飞行器中的重要成员，多枚精确制导导弹对目标进行协同突防和攻击是未来发展的必然趋势，协同制导与控制方法则是其核心的理论与方法。本项目研究多精确制导导弹采用分散式通讯模式时，由多飞行器间协同一致性算法与飞行器级制导控制算法相结合的协同制导控制方法。深入分析导弹间数据传输的时滞和噪声对多飞行器间一致性算法的鲁棒协同稳定性的影响；针对多飞行器间算法输出的理想攻击时间指令和飞行位置协同的要求，设计多弹飞行的协同策略；在考虑导弹的动力学特性、可用过载、舵偏角等多种约束的前提下，建立含有非线性不确定项的制导控制一体化模型，研究基于现代控制理论和不确定性预估理论的飞行器级鲁棒制导控制算法，实现对协同策略的精确跟踪；研究多飞行器间算法与飞行器级算法的匹配性原则，并对由两层算法组成的协同制导控制方法进行综合优化设计。本项目的研究成果可为未来多精确制导飞行器的协同制导与控制提供理论储备。

随着导弹防御系统的飞速发展，单枚导弹的突防能力和攻击能力大大下降，多导弹协同作战成为未来战争的必然。本项目在考虑多导弹间的通讯约束、导弹自身的动力学约束、导弹的输入饱和特性的基础上，对飞行器间的协同一致算法、飞行器级的制导控制一体化方法以及飞行器间和飞行器级算法之间的匹配性进行了研究。. 考虑飞行器间的通讯时滞约束，将飞行器看作二阶智能体系统，设计了能保证飞行器达到编队协同的一致性策略，并给出了保证系统稳定的最大时滞时间；考虑飞行器间的通讯噪声约束，设计了协同一致性算法，并给出了同时满足收敛速度和收敛精度要求的一致性算法关键参数设计方法。考虑飞行器的协同攻击时间和飞行位置协同的要求，设计协同策略。综合考虑飞行器的制导和控制问题，建立导弹的制导控制一体化数学模型。针对控制输入受限的问题，引入辅助系统进行处理。设计扰动观测器对建模误差和外部扰动进行有效观测。基于动态面控制理论设计了控制器，实现对协同策略的良好跟踪，并基于李雅普诺夫稳定性原理证明了系统的稳定性。考虑飞行器自身的过载、速度约束，设计了通讯拓扑参数，实现了飞行器间算法和飞行器级算法的良好匹配。. 本项目的研究成果可为未来多飞行器编队飞行、饱和攻击目标提供深厚的技术储备。