Three-dimensional multi-missile cooperative guidance method and system with finite time convergence

A limited-time, multi-missile technology, applied in the field of guidance, can solve problems such as protocol discontinuity, chattering, and affecting guidance performance

Active Publication Date: 2017-06-13
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, the above protocol is discontinuous, and chattering phenomenon will

Method used

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  • Three-dimensional multi-missile cooperative guidance method and system with finite time convergence
  • Three-dimensional multi-missile cooperative guidance method and system with finite time convergence
  • Three-dimensional multi-missile cooperative guidance method and system with finite time convergence

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Embodiment 1

[0051] figure 1 shows the 3D multi-missile cooperative guidance method of the present invention with finite time convergence, such as figure 1 As shown, the guidance method is specifically executed as follows:

[0052] Step S1, aiming at the unknown target, establish a multi-missile cooperative guidance model in three-dimensional space with attack angle constraints.

[0053] In practical applications, the multi-missile cooperative guidance model is expressed as follows:

[0054]

[0055] The meaning of the parameters will be introduced in detail later.

[0056] Preferably, when designing the guidance law, the remaining time information of each missile is interacted among the missiles to realize real cooperative guidance and improve the guidance performance. Introducing the remaining time information of missiles into the above-mentioned multi-missile cooperative guidance model, the guidance model expressed by the following formula can be obtained:

[0057]

[0058] Th...

Embodiment 2

[0074] figure 2 The three-dimensional multi-missile cooperative guidance system showing the finite time convergence of the present invention, see figure 2 , the multi-missile cooperative guidance system includes a model establishment unit 201 , a first guidance law establishment unit 202 , and a second guidance law establishment unit 203 .

[0075] Specifically, the model building unit 201 is used for building a multi-missile cooperative guidance model in three-dimensional space with attack angle constraints for an unknown target. The first guidance law establishment unit 202 is used to establish the acceleration guidance law in the line of sight direction by using adaptive control, integral sliding mode control and finite time consistency protocol, so that all missiles can hit the target at the same time. The second guidance law establishment unit 203 is used to design the acceleration guidance law in the line-of-sight direction through adaptive control and non-singular fa...

Embodiment 3

[0078] The above-mentioned guidance model and guidance law will be deduced and demonstrated in detail below.

[0079] We first introduce finite-time consistency and finite-time stability.

[0080] In order to ensure that multiple missiles reach the target at the same time, the cooperative interception problem is based on finite time consistency, so some lemmas about finite time consistency are given below.

[0081] Consider the following multi-agent system, where each agent is dynamically described as

[0082]

[0083] where x i is the state of agent i, u i Represents the consensus protocol, which is the state x i and its neighboring agent states.

[0084] The communication network between multi-agents can be described by graph theory. The undirected graph G=(v,ζ,C) represents the communication topological relationship between multi-agents, where v describes the set of nodes in the graph, ζ represents the connection between nodes, and the matrix C=[c ij ]∈R n ×n Rep...

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Abstract

The invention discloses a three-dimensional multi-missile cooperative guidance method with finite time convergence. The method comprises the steps that for an unknown target, a multi-missile cooperative guidance model with attacking angle constraint in three-dimensional space is established; by adaptive control, integral sliding model control and a finite time consistency protocol, an acceleration guidance law in the sight direction is established to make all missiles hit the target at the same time; through the adaptive control and non-singular fast terminal sliding model control, and the acceleration guidance law in the sight direction is designed to make the finite time convergence of a sight angular velocity rate and a sight angle of each missile achieved. According to the three-dimensional multi-missile cooperative guidance method with the finite time convergence, all the missiles can hit the target at a desired angle at the same time on condition that no maneuvering information of the target is known, and at the same time the occurrence of buffeting is avoided.

Description

technical field [0001] The invention relates to the field of guidance technology, in particular to a three-dimensional multi-missile cooperative guidance method and system with limited time convergence. Background technique [0002] Multi-missile coordinated operations are realized through the mutual cooperation, coordination and joint execution of combat tasks by multiple missiles. With the rapid development of anti-missile technology, a comprehensive and integrated modern defense system has been gradually formed. It is becoming more and more difficult for a single missile to penetrate the defense. However, through information sharing and functional complementarity, multiple missiles not only greatly improve the lethality and Therefore, it is of great practical significance to study the multi-missile cooperative guidance law. [0003] The existing cooperative guidance methods are aimed at static or low-speed targets, and the attack time needs to be artificially designated ...

Claims

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Application Information

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IPC IPC(8): G05D1/10F41G3/00
CPCF41G3/00G05D1/107
Inventor 宋申民宋俊红王岩
Owner HARBIN INST OF TECH
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