Method and device for constructing global sliding mode guidance law with intersection angle constraint, equipment, medium and product
By constructing the relative kinematic equations of the missile and the target and a global sliding mode control method, and combining reinforcement learning to optimize the sliding mode control function, the problems of high acceleration and large angle error in the rendezvous angle constraint guidance law are solved, and the missile can hit the target at the desired rendezvous angle while reducing acceleration and error.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- BEIHANG UNIV
- Filing Date
- 2024-09-09
- Publication Date
- 2026-07-24
AI Technical Summary
The rendezvous angle constraint guidance law requires high acceleration and has a large angle error when the missile hits the target, which is difficult to solve effectively with existing technology.
The relative kinematic equations of the missile and the target are constructed, the sliding mode control function is optimized by the global sliding mode control method, and reinforcement learning is combined to minimize the missile's angle error and acceleration. A global sliding mode guidance law with rendezvous angle constraint is designed.
While aiming to hit the target at the desired rendezvous angle, the missile's acceleration requirements were reduced and the angle error was minimized, resulting in strong anti-jamming capabilities.
Smart Images
Figure CN119165765B_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of guidance laws, and in particular to a method, apparatus, equipment, medium, and product for constructing a global sliding mode guidance law with intersection angle constraints. Background Technology
[0002] With the development of aerospace technology, the speed and maneuverability of aircraft have greatly improved. In order to improve destructive effectiveness, missiles need to hit targets under specific angular constraints, such as head-on hits and vertical hits. Therefore, guidance laws under angular constraints are of great significance.
[0003] Angle-constrained guidance includes line-of-sight angle constraints, heading angle constraints, and rendezvous angle constraints.
[0004] Both line-of-sight angle constraints and heading angle constraints are angular constraints under a fixed coordinate system. When the target is maneuvering, the damage effect will be reduced when the target is hit at the desired line-of-sight angle or desired heading angle.
[0005] The rendezvous angle constraint is an angle constraint in the target heading coordinate system. When the target is hit at the desired rendezvous angle, the damage effect is not affected by the target's maneuvering. However, the rendezvous angle constraint has high requirements for the missile's acceleration and large angle error. This is a problem that needs to be solved in the construction of the rendezvous angle constraint guidance law. Summary of the Invention
[0006] The purpose of this application is to provide a method, device, equipment, medium, and product for constructing a global sliding mode guidance law with intersection angle constraints, which can reduce the acceleration requirements of the missile while achieving the desired intersection angle and minimizing the angle error.
[0007] To achieve the above objectives, this application provides the following solution:
[0008] Firstly, this application provides a method for constructing a global sliding mode guidance law with intersection angle constraints, including:
[0009] Construct the relative kinematic equations of the projectile and the target;
[0010] The expression for the desired line-of-sight angle is obtained based on the relative kinematic equations of the projectile and the definition of the projectile-projectile intersection angle.
[0011] Construct the nonlinear term of the sliding mode in the global sliding mode control method;
[0012] Based on the global sliding mode control method, the sliding mode expression and the angle constraint guidance law based on global sliding mode control are obtained according to the relative kinematic equations of the projectile and the nonlinear terms of the sliding mode.
[0013] With the goal of minimizing the missile's angle error and acceleration in the reward function, reinforcement learning is used to optimize the sliding mode control function in the global sliding mode control method, resulting in an optimized sliding mode control function; the angle error is the difference between the missile's line-of-sight angle and its desired line-of-sight angle.
[0014] The desired line-of-sight angle expression, the optimized sliding mode control function, the nonlinear term of the sliding mode, the sliding mode expression, and the angle constraint guidance law based on global sliding mode control are determined to be a global sliding mode guidance law with intersection angle constraints.
[0015] Secondly, this application provides a global sliding mode guidance law construction device with intersection angle constraints, comprising:
[0016] The projectile-target relative kinematics equation construction module is used to construct the projectile-target relative kinematics equations;
[0017] The module for determining the desired line-of-sight angle expression is used to obtain the expression for the desired line-of-sight angle based on the relative kinematic equations of the projectile and the definition of the projectile-projectile intersection angle.
[0018] The nonlinear term construction module is used to construct the nonlinear terms of the sliding mode in the global sliding mode control method;
[0019] The global sliding mode module is used to obtain the sliding mode expression and the angle constraint guidance law based on the global sliding mode control method, according to the relative kinematic equations of the projectile and the nonlinear terms of the sliding mode.
[0020] The reinforcement learning module is used to optimize the sliding mode control function in the global sliding mode control method with the goal of minimizing the missile's angle error and acceleration in the reward function, thereby obtaining the optimized sliding mode control function; the angle error is the difference between the missile's line-of-sight angle and the missile's desired line-of-sight angle.
[0021] The module for determining the global sliding mode guidance law with intersection angle constraints is used to determine the expression of the desired line-of-sight angle, the optimized sliding mode control function, the nonlinear term of the sliding mode, the expression of the sliding mode, and the angle-constrained guidance law based on global sliding mode control as a global sliding mode guidance law with intersection angle constraints.
[0022] Thirdly, this application provides a computer device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the global sliding mode guidance law construction method with intersection angle constraints as described above.
[0023] Fourthly, this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the global sliding mode guidance law construction method with intersection angle constraints described above.
[0024] Fifthly, this application provides a computer program product, including a computer program that, when executed by a processor, implements the global sliding mode guidance law construction method with intersection angle constraints described above.
[0025] According to the specific embodiments provided in this application, the following technical effects are disclosed:
[0026] This application provides a method, apparatus, device, medium, and product for constructing a global sliding mode guidance law with rendezvous angle constraints. This application optimizes the sliding mode control function in the global sliding mode control method by using reinforcement learning, with the goal of minimizing the missile's angle error and acceleration in the reward function. The optimized sliding mode control function achieves the minimum angle error and acceleration, enabling the global sliding mode guidance law with rendezvous angle constraints to reduce the acceleration requirement of the missile and minimize the angle error while hitting the target at the desired rendezvous angle. Attached Figure Description
[0027] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0028] Figure 1 This is a flowchart of a method for constructing a global sliding mode guidance law with intersection angle constraints in one embodiment of this application;
[0029] Figure 2 This is a diagram illustrating the relative relationship between projectiles and targets;
[0030] Figure 3 This is a schematic diagram illustrating the construction principle of a global sliding mode guidance law with intersection angle constraints in one embodiment of this application.
[0031] Figure 4 The image shows the results of the ballistic simulation.
[0032] Figure 5 This is a simulation diagram of missile acceleration.
[0033] Figure 6 The graph shows the sliding mode control function of the global sliding mode guidance law during the simulation process.
[0034] Figure 7This is a schematic diagram of the structure of a computer device provided in an embodiment of this application. Detailed Implementation
[0035] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.
[0036] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments.
[0037] The method for constructing a global sliding mode guidance law with intersection angle constraints provided in this application embodiment is as follows: Figure 1 and Figure 3 As shown, the process includes steps 201 to 206. Wherein:
[0038] Step 201: Construct the relative kinematic equations of the projectile and the target.
[0039] Step 202: Obtain the expression for the desired line-of-sight angle based on the relative kinematic equations of the projectile and the definition of the projectile-projectile intersection angle.
[0040] Step 203: Construct the nonlinear term of the sliding mode in the global sliding mode control method.
[0041] Step 204: Based on the global sliding mode control method, the sliding mode expression and the angle constraint guidance law based on global sliding mode control are obtained according to the relative kinematic equations of the projectile and the nonlinear terms of the sliding mode.
[0042] Step 205: With the goal of minimizing the missile's angle error and acceleration in the reward function, reinforcement learning is used to optimize the sliding mode control function in the global sliding mode control method to obtain the optimized sliding mode control function; the angle error is the difference between the missile's line-of-sight angle and the missile's desired line-of-sight angle.
[0043] Step 206: Determine the desired line-of-sight angle expression, the optimized sliding mode control function, the nonlinear term of the sliding mode, the sliding mode expression, and the angle constraint guidance law based on global sliding mode control as a global sliding mode guidance law with intersection angle constraints.
[0044] In another exemplary embodiment of this application, step 201 above specifically includes:
[0045] The motion of a missile in three-dimensional space can be decomposed into two planes, horizontal and vertical, so the problem is studied in the horizontal plane.
[0046] The relative relationship between projectiles and targets in two-dimensional space is as follows: Figure 2 As shown. Figure 2 In this system, Oxy is an absolute coordinate system in the horizontal plane, M represents the missile, T represents the target, the straight line passing through the missile and the target is called the line of sight (LOS), r represents the distance from the missile M to the target T, q represents the missile's line of sight angle, i.e., the angle between LOS and the Ox axis, and v... M Indicates the speed of the missile, a M The acceleration of the missile, v T a represents the velocity of the target. T The acceleration of the target is represented by the angle between the velocity direction and the Ox axis, called the ballistic deflection angle, σ. M σ represents the missile's trajectory deflection angle. T This represents the target's trajectory deviation angle. The angle between the velocity direction and the LOS is called the lead angle, η. M η represents the missile's lead angle. T Indicates the leading angle of the target. Indicates the angle of intersection between the projectile and the target.
[0047] The relative kinematic equations of the projectile and the target are established as follows.
[0048]
[0049] in, This represents the first derivative of r with respect to time t. This represents the first derivative of q with respect to time t. σ M The first derivative with respect to time t, σ T The first derivative with respect to time t.
[0050] In another exemplary embodiment of this application, step 202 described above is replaced by the following steps:
[0051] According to the definition of the angle of intersection of projectile and target (angle of intersection of projectile and target) (Defined as the angle between the target and missile velocity directions) Construct the missile-target encounter angle expression
[0052] The missile line-of-sight angle expression is determined based on the relative kinematic equations of the missile and the missile-target intersection angle expression.
[0053] The desired line-of-sight angle expression is obtained from the missile line-of-sight angle expression.
[0054] In practical applications, the missile's line-of-sight angle expression is determined based on the missile-target relative kinematic equations and the missile-target rendezvous angle expression, specifically:
[0055] Based on the relative kinematic equations of the missile and the target, and the definition of the missile-target intersection angle, the missile's line-of-sight angle q and the target intersection angle can be obtained. Relationship:
[0056]
[0057] Therefore, the formula for calculating the missile's line-of-sight angle q can be obtained:
[0058]
[0059] The binary function atan2(·,·) is defined as follows.
[0060]
[0061] The function sgn(·) is defined as follows:
[0062]
[0063] In practical applications, the expression for the desired line-of-sight angle is derived from the missile's line-of-sight angle expression, specifically as follows:
[0064] The expected intersection angle is expressed as Missiles at the desired angle of rendezvous The line-of-sight angle at which a target is hit with zero miss distance is defined as q. d This refers to the missile's desired line-of-sight angle, which must satisfy two conditions: 1. Desired intersection angle condition. 2. Zero miss hit condition Right now The desired line-of-sight angle q of the missile can be obtained from the formula for q. d The formula for calculating the desired line-of-sight angle, i.e., the expression for the desired line-of-sight angle
[0065]
[0066] In another exemplary embodiment of this application, according to the concept of global sliding mode control, the nonlinear term f(t) of the sliding mode in the global sliding mode control method constructed in step 203 above needs to satisfy the following three conditions.
[0067]
[0068] Where c is the coefficient of the sliding mode, x1 represents the first component of the state variable, x2 represents the second component of the state variable, x1(0) represents the value of x1 when time t = 0, and x2(0) represents the value of x2 when time t = 0.
[0069] To satisfy these three conditions, f(t) is designed as follows:
[0070]
[0071] Among them, q0 and It is when t=0 q and initial value, This indicates when t=0 The initial value of u(t) is given. u(t) is the sliding mode control function with time t as the independent variable, and it is a bounded continuous function. When t∈[0,+∞), u(t)∈[u... min ,u max ], where u min This indicates that the lower bound of u(t) is an arbitrarily small positive number, u max This represents the upper bound of u(t).
[0072] In another exemplary embodiment of this application, the desired viewing angle q d Upon hitting the target, step 204 above is replaced by the following steps:
[0073] Constructing state equations Where x1 represents the first component of the state variable, and x2 represents the second component of the state variable. q d The first derivative with respect to time t.
[0074] Based on the state equation and the relative kinematic equation of the projectile and the target, the state equation of the relative motion of the projectile and the target is obtained. in, This represents the first derivative of x1 with respect to time t. This represents the first derivative of x² with respect to time t. σ T The second derivative with respect to time t is the angular acceleration of the target's trajectory deflection angle.
[0075] Construct the sliding mode s = cs1 + x2 - f(t).
[0076] The projectile-target motion sliding mode is obtained based on the projectile-target relative motion state equation and the sliding mode. Specifically, substituting the projectile-target relative motion state equation into the sliding mode yields the expression for the sliding mode s, i.e., the projectile-target motion sliding mode:
[0077]
[0078] Differentiating the nonlinear term of the sliding mode yields the nonlinear term f'(t) = -u(t)f(t).
[0079] Constructing the sliding mode convergence law Here, ε is a small positive number.
[0080] According to the sliding mode convergence law The nonlinear terms of the sliding mode of the missile-target motion and the differentiated sliding mode yield the missile acceleration expression.
[0081] Based on the missile acceleration expression and the target's trajectory deflection acceleration. The estimated expression yields the angle-constrained guidance law based on global sliding mode control.
[0082] In practical applications, according to the sliding mode reaching law The nonlinear terms of the target motion sliding mode and the differentiated sliding mode yield the missile acceleration expression as follows:
[0083] Based on the designed sliding mode reaching law And the expression for the sliding mode s and the derivative of f(t) are obtained.
[0084] The inverse solution yields the expression for missile acceleration:
[0085] In practical applications, the angular acceleration is determined based on the missile acceleration expression and the target's trajectory deflection angle. The estimated expression yields the angle-constrained guidance law based on global sliding mode control, specifically:
[0086] target The measurement error is too large to be considered a known quantity. Let... It is bounded. Indicates a T The first derivative with respect to time t, express The upper bound of is determined by the Lyapunov stability condition. The estimated value It can be designed as:
[0087]
[0088] Will Substituting the missile acceleration expression, we obtain the angle-constrained guidance law based on global sliding mode control as follows:
[0089]
[0090] In another exemplary embodiment of this application, the sliding mode control function u(t) can be optimized through reinforcement learning. The optimization object of reinforcement learning is an agent θ, the input variable of the agent is the state S, and the output variable is the action A, i.e., A = θ(S).
[0091] The classic DDPG algorithm is used as the reinforcement learning method, and the environment consists of the missile's motion state and the target's motion state. The DDPG algorithm only needs to determine the input variable S, the output variable A, and the reward function R to be trained.
[0092] Input variables include: missile distance to target, missile line-of-sight angle, missile desired line-of-sight angle, missile velocity, missile trajectory deflection angle, target velocity, target trajectory deflection angle, and target acceleration. That is, S = {r, q, q...} d ,v M ,σ M ,v T ,σ T ,a T The output variable is the sliding mode control function u(t) to be optimized, i.e., A = u(t). Therefore, the sliding mode control function to be optimized can be expressed as:
[0093] u(t)=θ(r,q,q d ,v M ,σ M ,v T ,σ T ,a T )
[0094] The agent's reward function is designed as follows:
[0095] R = -c q (qq d )-c a a M
[0096] Where R represents the reward function, c q qq d The cost coefficient for (angle error). a Indicates the missile acceleration a M The cost coefficient and the design purpose of the reward function are to achieve the minimum angle error and missile acceleration.
[0097] The DDPG algorithm is used for training, and the training process is essentially the process of maximizing the reward function. After training, the optimal agent can be obtained. The objective is to minimize the missile's angular error and acceleration in the reward function. The states are the distance from the missile to the target, the missile's line-of-sight angle, the missile's desired line-of-sight angle, the missile's velocity, the missile's trajectory deflection, the target's velocity, the target's trajectory deflection, and the target's acceleration. The actions are the sliding mode control function in the global sliding mode control method. The DDPG algorithm is used to optimize the agent to obtain the desired results.
[0098] The optimized sliding mode control function u can be expressed as:
[0099]
[0100] In another exemplary embodiment of this application, the global sliding mode guidance law with intersection angle constraints is:
[0101]
[0102] This application first calculates the desired line-of-sight angle using the desired rendezvous angle, then adjusts the angle constraint guidance law using a sliding mode control function based on a global sliding mode control method. Finally, the sliding mode control function is optimized through reinforcement learning, as detailed below. Figure 3 The advantage of global sliding mode control is its strong anti-interference performance. The design of the reinforcement learning reward function enables the optimized global sliding mode function to achieve the minimum angle error and acceleration. Therefore, this application has both strong anti-interference performance and small acceleration and angle error, thus achieving the final goal: to hit the maneuvering target under the intersection angle constraint.
[0103] This application also provides an embodiment of ballistic simulation using the above method, and compares it with two other guidance laws. The three guidance laws involved in the simulation are: a trained global sliding mode guidance law (the global sliding mode guidance law with intersection angle constraints provided in this embodiment), an untrained global sliding mode guidance law (the sliding mode control function u(t) takes a constant value; in the simulation, u(t) = 0.5), and a traditional sliding mode guidance law (the sliding mode does not contain nonlinear terms, i.e., f(t) = 0). At the initial moment of the simulation, the missile position is (0m, 0m), the target position is (10000m, 2000m), the missile velocity is 1000m / s, and the target velocity is 400m / s. The results are as follows: Figures 4 to 6 As shown, Figure 4 The x-axis represents the position in the x-direction of the horizontal plane, and the y-axis represents the position in the y-direction of the horizontal plane, in meters (m). Figure 5 The x-axis represents simulation time in seconds (s), and the y-axis represents missile acceleration in meters per second (m / s²). 2 , Figure 6 In the simulation, the x-axis represents the simulation time in seconds, and the y-axis represents the sliding mode control function, which is dimensionless. Figure 4 and Figure 6 It is known that the trained global sliding mode guidance law has a straighter trajectory and lower missile acceleration compared to the other two guidance laws. It can reduce the acceleration requirements of the missile while hitting the target at the expected intersection angle and has a small angle error.
[0104] This application also provides an application scenario in which the above-described method for constructing a global sliding mode guidance law with intersection angle constraints is applied. Specifically, the method for constructing a global sliding mode guidance law with intersection angle constraints provided in this embodiment can be applied in guidance scenarios. Internal distribution scenarios include guidance law construction and guidance based on the guidance law. The method for constructing a global sliding mode guidance law with intersection angle constraints provided in this embodiment belongs to the guidance law construction stage.
[0105] Based on the same inventive concept, this application also provides a device for constructing a global sliding mode guidance law with intersection angle constraints to implement the aforementioned method for constructing a global sliding mode guidance law with intersection angle constraints. The solution provided by this device is similar to the solution described in the above method. Therefore, the specific limitations of one or more embodiments of the device for constructing a global sliding mode guidance law with intersection angle constraints provided below can be found in the limitations of the method for constructing a global sliding mode guidance law with intersection angle constraints described above, and will not be repeated here.
[0106] In one exemplary embodiment, a global sliding mode guidance law construction device with intersection angle constraints is provided, comprising:
[0107] The projectile-target relative kinematics equation construction module is used to construct the projectile-target relative kinematics equation.
[0108] The desired line-of-sight angle expression determination module is used to obtain the desired line-of-sight angle expression based on the projectile-target relative kinematic equations and the definition of the projectile-target intersection angle.
[0109] The nonlinear term construction module is used to construct the nonlinear terms of the sliding mode in the global sliding mode control method.
[0110] The global sliding mode module is used to derive the sliding mode expression and the angle constraint guidance law based on the global sliding mode control method, according to the relative kinematic equations of the projectile and the nonlinear terms of the sliding mode.
[0111] The reinforcement learning module is used to optimize the sliding mode control function in the global sliding mode control method with the goal of minimizing the missile's angle error and acceleration in the reward function, thereby obtaining the optimized sliding mode control function; the angle error is the difference between the missile's line-of-sight angle and the missile's desired line-of-sight angle.
[0112] The module for determining the global sliding mode guidance law with intersection angle constraints is used to determine the expression of the desired line-of-sight angle, the optimized sliding mode control function, the nonlinear term of the sliding mode, the expression of the sliding mode, and the angle-constrained guidance law based on global sliding mode control as a global sliding mode guidance law with intersection angle constraints.
[0113] In one exemplary embodiment, a computer device is provided, which may be a server or a terminal, and its internal structure diagram may be as follows. Figure 7 As shown, this computer device includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operating system and computer programs stored in the non-volatile storage media. The database stores data for constructing global sliding mode guidance laws with intersection angle constraints. The I / O interfaces are used for exchanging information between the processor and external devices. The communication interface is used for communicating with external terminals via a network connection. When the computer program is executed by the processor, it implements a method for constructing global sliding mode guidance laws with intersection angle constraints.
[0114] Those skilled in the art will understand that Figure 7 The structures shown are merely block diagrams of some structures related to the present application and do not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than shown in the figures, or combine certain components, or have different component arrangements. In an exemplary embodiment, a computer device is provided, including a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the above-described method embodiments.
[0115] In one exemplary embodiment, a computer-readable storage medium is provided storing a computer program that, when executed by a processor, implements the above-described method embodiments.
[0116] In one exemplary embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the above-described method embodiments.
[0117] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.
[0118] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM).
[0119] The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.
[0120] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.
[0121] This document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. Furthermore, those skilled in the art will recognize that, based on the ideas of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application.
Claims
1. A method for constructing a global sliding mode guidance law with intersection angle constraints, characterized in that, The method for constructing the global sliding mode guidance law with intersection angle constraints includes: Construct the relative kinematic equations of the projectile and the target; The expression for the desired line-of-sight angle is obtained based on the relative kinematic equations of the projectile and the definition of the projectile-projectile intersection angle. Construct the nonlinear term of the sliding mode in the global sliding mode control method; Based on the global sliding mode control method, the sliding mode expression and the angle constraint guidance law based on global sliding mode control are obtained according to the relative kinematic equations of the projectile and the nonlinear terms of the sliding mode. With the goal of minimizing the missile's angle error and acceleration in the reward function, reinforcement learning is used to optimize the sliding mode control function in the global sliding mode control method, resulting in an optimized sliding mode control function. Specifically, this involves: minimizing the missile's angle error and acceleration in the reward function; using the missile-to-target distance, missile's line-of-sight angle, missile's desired line-of-sight angle, missile's velocity, missile's trajectory deflection angle, target's velocity, target's trajectory deflection angle, and target's acceleration as states; and using the sliding mode control function in the global sliding mode control method as actions. The DDPG algorithm is used to optimize the agent; the optimized sliding mode control function is obtained based on the optimized agent. The angle error is the difference between the missile's line-of-sight angle and its desired line-of-sight angle. The desired line-of-sight angle expression, the optimized sliding mode control function, the nonlinear term of the sliding mode, the sliding mode expression, and the angle-constrained guidance law based on global sliding mode control are determined to be a global sliding mode guidance law with intersection angle constraints. The global sliding mode guidance law with intersection angle constraints is... in, This indicates the missile's desired line-of-sight angle. Let atan2(,) represent the target's ballistic deflection angle, and let atan2() represent a bivariate function. Indicates the expected intersection angle. Indicates the speed of the target. Indicates the speed of the missile. This represents the optimized sliding mode control function. This represents the optimal intelligent agent. Indicates the distance from the missile to the target. Indicates the missile's line-of-sight angle. Indicates the missile's trajectory deflection angle. Indicates the target's acceleration. The nonlinear term representing the sliding mode, The coefficients representing the sliding mode. Indicates when hour initial value, Indicates when hour initial value, Indicates when hour initial value, Indicates the sliding mode. express Regarding time The first derivative, express Regarding time The first derivative, Indicates the missile's acceleration. Indicates the missile's leading angle. It is a small positive number. express The upper realm, express , , express Regarding time The first derivative, Indicates the target's leading angle.
2. The method for constructing a global sliding mode guidance law with intersection angle constraints according to claim 1, characterized in that, The expression for the desired line-of-sight angle, derived from the relative kinematic equations of the projectile and the definition of the projectile-projectile intersection angle, specifically includes: Construct an expression for the bullet-target intersection angle based on the definition of the bullet-target intersection angle; The missile line-of-sight angle expression is determined based on the relative kinematic equations of the missile and the missile-target intersection angle expression. The desired line-of-sight angle expression is obtained from the missile line-of-sight angle expression.
3. The method for constructing a global sliding mode guidance law with intersection angle constraints according to claim 1, characterized in that, Based on the global sliding mode control method, the sliding mode expression and the angle constraint guidance law based on global sliding mode control are obtained according to the projectile-target relative kinematic equations and the nonlinear terms of the sliding mode. Specifically, these include: Construct state equations; The relative motion state equation of the projectile and the target is obtained based on the state equation and the relative kinematic equation of the projectile and the target. Constructing sliding modes; The projectile-target motion sliding mode is obtained based on the projectile-target relative motion state equation and the sliding mode. Differentiating the nonlinear term of the sliding mode yields the nonlinear term of the differentiated sliding mode; Construct the sliding mode convergence law; The missile acceleration expression is obtained based on the sliding mode approach law, the missile-target motion sliding mode, and the nonlinear term of the differentiated sliding mode; Based on the missile acceleration expression and the estimated angular acceleration expression of the target's trajectory deflection angle, an angle-constrained guidance law based on global sliding mode control is obtained.
4. The method for constructing a global sliding mode guidance law with intersection angle constraints according to claim 1, characterized in that, The reward function is: ,in, Represents the reward function, Indicates the missile's line-of-sight angle. This indicates the missile's desired line-of-sight angle. express and The cost coefficient of the difference, Indicates the missile's acceleration. express The cost coefficient.
5. A global sliding mode guidance law construction device with intersection angle constraints, characterized in that, The global sliding mode guidance law construction device with intersection angle constraint includes: The projectile-target relative kinematics equation construction module is used to construct the projectile-target relative kinematics equations; The module for determining the desired line-of-sight angle expression is used to obtain the expression for the desired line-of-sight angle based on the relative kinematic equations of the projectile and the definition of the projectile-projectile intersection angle. The nonlinear term construction module is used to construct the nonlinear terms of the sliding mode in the global sliding mode control method; The global sliding mode module is used to obtain the sliding mode expression and the angle constraint guidance law based on the global sliding mode control method, according to the relative kinematic equations of the projectile and the nonlinear terms of the sliding mode. The reinforcement learning module aims to minimize the missile's angle error and acceleration in the reward function. It optimizes the sliding mode control function in the global sliding mode control method using reinforcement learning, resulting in an optimized sliding mode control function. Specifically, it optimizes the agent using the DDPG algorithm, taking the missile's distance to the target, its line-of-sight angle, its desired line-of-sight angle, its velocity, its trajectory deflection, the target's velocity, its trajectory deflection, and its acceleration as states, and the sliding mode control function in the global sliding mode control method as actions. The module then optimizes the agent using the DDPG algorithm. Based on the optimized agent, the optimized sliding mode control function is obtained. The angle error is the difference between the missile's line-of-sight angle and its desired line-of-sight angle. A global sliding mode guidance law determination module with intersection angle constraints is used to determine the desired line-of-sight angle expression, the optimized sliding mode control function, the nonlinear term of the sliding mode, the sliding mode expression, and the angle-constrained guidance law based on global sliding mode control as a global sliding mode guidance law with intersection angle constraints. in, This indicates the missile's desired line-of-sight angle. Let atan2(,) represent the target's ballistic deflection angle, and let atan2() represent a bivariate function. Indicates the expected intersection angle. Indicates the speed of the target. Indicates the speed of the missile. This represents the optimized sliding mode control function. This represents the optimal intelligent agent. Indicates the distance from the missile to the target. Indicates the missile's line-of-sight angle. Indicates the missile's trajectory deflection angle. Indicates the target's acceleration. The nonlinear term representing the sliding mode, The coefficients representing the sliding mode. Indicates when hour initial value, Indicates when hour initial value, Indicates when hour initial value, Indicates the sliding mode. express Regarding time The first derivative, express Regarding time The first derivative, Indicates the missile's acceleration. Indicates the missile's leading angle. It is a small positive number. express The upper realm, express , , express Regarding time The first derivative, Indicates the target's leading angle.
6. A computer device, comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that the processor executes the computer program to implement the global sliding mode guidance law construction method with intersection angle constraints as described in any one of claims 1-4.
7. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program implements the global sliding mode guidance law construction method with intersection angle constraint as described in any one of claims 1-4.
8. A computer program product, comprising a computer program, characterized in that, When executed by a processor, the computer program implements the global sliding mode guidance law construction method with intersection angle constraint as described in any one of claims 1-4.