Construction method, device and equipment of hypersonic speed target capture area and medium

Abstract

The invention relates to the technical field of missile guidance, and discloses a construction method, device and equipment of a hypersonic speed target capture area and a medium. The method comprises the steps that a finite time convergence guidance law is designed according to a relative motion equation between an interceptor and a hypersonic speed target, so that the interception time is shortest when the interceptor intercepts the hypersonic speed target with the finite time convergence guidance law as the acceleration in the terminal guidance section; acquiring a zero-control interception line formed by a plurality of speed preposed angles when the interceptor meets the zero-control interception flow pattern at the terminal guidance section; combining a finite time convergence guidance law and a zero control interception line to construct an initial capture area of the hypersonic speed target; and according to the control parameters of the hypersonic target pulse engine, the field angle and the constraint condition of the intersection angle, the initial capture area is optimized, and the target capture area of the hypersonic target is obtained. According to the method, capture area construction under complex constraints can be realized, and rapid convergence can be realized.

Description

Technical Field

[0001] The present invention relates to the field of missile guidance technology, and in particular to a method, device, equipment and medium for constructing a hypersonic target capture zone. Background Art

[0002] The flight Mach number of hypersonic aircraft is greater than 5. It has the advantages of high flight speed, wide flight airspace, wide strike coverage, no need for complex launch platforms, and strong maneuverability. Therefore, hypersonic aircraft has broad military application prospects and has received widespread attention. However, its extremely strong strike and penetration capabilities have brought great threats and challenges to the aerospace defense system.

[0003] The interceptor targets the hypersonic vehicle and intercepts it. Compared with the hypersonic target, the interceptor is at a disadvantage in speed and its maneuverability is not absolutely superior. In order to effectively kill the hypersonic target, a kinetic interceptor is generally used to collide and damage the hypersonic target in the terminal guidance phase. If the hypersonic target is to be intercepted, a high-precision and fast-response terminal guidance method and a good mid-terminal guidance handover are indispensable.

[0004] Among them, the initial state of terminal guidance is determined by the terminal state of mid-range guidance. All initial states that can hit hypersonic targets together constitute the terminal guidance interception window. Only when the interceptor starts from this window can it effectively intercept the target. The terminal guidance interception window is also called the attack zone, capture zone or launch zone (hereinafter referred to as the "capture zone"). Most existing studies are based on the maximum maneuverability of the interceptor, without considering the impact of the guidance law on the actual interceptor maneuver; some studies combine the capture zone with the guidance law.

[0005] Based on proportional guidance and its derived capture zone construction method, due to factors such as poor robustness and slow convergence of line of sight angular rate, the guidance effect is very good for attacking fixed or low-speed moving targets, but it is difficult to adapt to increasingly complex interception scenarios and higher-speed targets. Therefore, this method is difficult to construct its capture zone for hypersonic targets with speed advantages. At this time, advanced control theory is widely used in guidance law design, and this capture zone construction method based on advanced guidance law can be used to construct the capture zone of hypersonic targets.

[0006] However, on the one hand, the capture zone construction method based on advanced guidance laws lacks rapid convergence capability; on the other hand, hypersonic target interception faces complex control constraints, field of view constraints, and rendezvous situation constraints that exist simultaneously at the input, process, and terminal. The capture zone construction method based on advanced guidance laws lacks research on the capture zone construction method under such complex constraints. Summary of the invention

[0007] The purpose of the present invention is to provide a method, device, equipment and medium for constructing a hypersonic target capture zone, which can solve the technical problems that the capture zone construction method based on advanced guidance laws lacks rapid convergence capability and cannot realize capture zone construction under complex constraints.

[0008] In order to solve the above technical problems, an embodiment of the present invention provides a method for constructing a hypersonic target capture zone, comprising the following steps: According to the relative motion equation between the interceptor and the hypersonic target, a finite time convergence guidance law is designed so that the interceptor can intercept the hypersonic target in the shortest time when the finite time convergence guidance law is used as the acceleration in the terminal guidance phase. Obtain a zero-control interception line composed of multiple velocity lead angles when the interceptor satisfies the zero-control interception flow pattern in the terminal guidance phase; wherein the zero-control interception flow pattern is the optimal interception geometry of the interceptor in the terminal state of the mid-guidance phase. When the interceptor satisfies the zero-control interception flow pattern in the terminal guidance phase, the interceptor intercepts the hypersonic target; The initial capture zone of the hypersonic target is constructed by combining the finite time convergence guidance law and the zero control intercept line; According to the control parameters of the hypersonic target pulse engine, the field of view angle and the intersection angle constraints, the initial capture area is optimized to obtain the target capture area of ​​the hypersonic target.

[0009] Optionally, the relative motion equation between the interceptor and the hypersonic target is: ; In the formula, represents the relative distance between the interceptor and the hypersonic target, for The derivative of It represents the angle between the target line and the reference line. for The target line is the line connecting the instantaneous center of mass of the interceptor and the hypersonic target, and the baseline is the horizontal line in the attack plane when the interceptor intercepts the hypersonic target; and denote the speeds of the interceptor and the hypersonic target, respectively; and They represent the ballistic angle of the interceptor and the target heading angle when intercepting a hypersonic target; and denote the velocity lead angle of the interceptor and the velocity lead angle of the hypersonic target respectively; The method of designing a finite time convergence guidance law based on the relative motion equation between the interceptor and the hypersonic target includes: Design sliding variables as follows: ; In the formula, when When it is equal to 0, the interceptor intercepts the hypersonic target; Based on the super-twisted algorithm, a finite-time convergence law is designed to make The time taken to converge to 0 is the shortest, and the finite time convergence law is as follows: ; In the formula, for The derivative of Represents the preset convergence speed adjustment variable, for The derivative of represents a symbolic function; is a preset constant, and ; Substituting the sliding variable into the finite time convergence approach law, the finite time convergence guidance law is obtained as follows: .

[0010] Optionally, the geometric relationship between the interceptor and the hypersonic target when the interceptor satisfies the zero control interception flow pattern in the terminal guidance phase is as follows: ; In the formula, represents the speed ratio of the hypersonic target to the interceptor, and ; when or When the interceptor is unable to intercept the hypersonic target; when and When the interceptor meets the zero control interception flow pattern in the terminal guidance phase, the zero control interception line is as follows: ; In the formula, , , .

[0011] Optionally, the zero control interception line is composed of the velocity lead angle of the corresponding interceptor and the velocity lead angle of the hypersonic target. Plane is divided into and Two areas; The method combines the finite time convergence guidance law and the zero control interception line to construct the initial capture zone of the hypersonic target, including: S31, transform the finite time convergent sliding mode guidance law into plane, we get: ; In the formula, For the The velocity lead angle of the hypersonic target at the sampling moment is: , , is a positive integer, for The derivative of For the The velocity lead angle of the interceptor at the sampling moment is, , for The derivative of For the The distance between the interceptor and the hypersonic target at the sampling moment, for The derivative of Indicates that the interceptor is from Exercise to the time required; S32, select any point on the zero control interception line as the terminal state when the interceptor intercepts the hypersonic target; S33, determine the current point Located in the area or , to determine the motion trend of the current point, and according to the motion trend of the current point, determine the speed lead angle of the interceptor at the next sampling moment by the following formula : ; In the formula, Is a preset constant, indicating that the interceptor is Sampling step size for planar motion; S34. Substitute the position, velocity and velocity lead angle of the interceptor and the hypersonic target into the relative motion equation between the interceptor and the hypersonic target to obtain: and ; S35, , , , and Substituting into the formula of S1, we get as follows: ; S36, select points on the zero control intercept line one by one, The longest time taken to converge to 0 is taken as the benchmark, and S32 to S35 are repeated to determine the control of the sliding mode guidance law with finite time convergence. and exist The trajectory of motion on a plane; S37, Combination When taking different values and exist Plane motion trajectory to construct the initial capture area of ​​the hypersonic target.

[0012] Optionally, the control parameters of the hypersonic target pulse engine include thrust and total impulse; The constraints of impulse engine thrust and total impulse are: ; In the formula, , represents the maximum thrust of the pulse engine, represents the quality of the interceptor, Indicates the pulse engine working cycle, Indicates the maximum total impulse of the pulse engine; The constraints of the hypersonic target field of view angle are: ; In the formula, and They represent the maximum and minimum field of view angles of a hypersonic target, respectively; The constraints of the hypersonic target intersection angle are: ; In the formula, Indicates the maximum intersection angle of a hypersonic target.

[0013] Optionally, the initial capture area is optimized according to the control parameters of the hypersonic target pulse engine, the field of view angle, and the intersection angle constraints to obtain the target capture area of ​​the hypersonic target, including: According to the control parameters, field of view angle and intersection angle constraints of the hypersonic target pulse engine, the initial capture area is optimized respectively, and the initial capture area under the control parameter constraint, the initial capture area under the field of view angle constraint and the initial capture area under the intersection angle constraint are obtained; The intersection of the initial capture area under the control parameter constraint, the initial capture area under the field of view angle constraint, and the initial capture area under the intersection angle constraint is obtained to obtain the target capture area of ​​the hypersonic target.

[0014] Optionally, the initial capture area is optimized according to the control parameters of the hypersonic target pulse engine, the field of view angle, and the intersection angle constraints to obtain the target capture area of ​​the hypersonic target, including: S41, through Indicates that the interceptor is in The first movement trajectory The velocity lead angle at the sampling moment is , , , select a positive number that is less than the preset threshold , as an interceptor in Sampling step size for planar motion; S42, interceptor-based zero control interception line and , calculate the corresponding ; when When All interceptors in the plane can successfully intercept the motion trajectory of the hypersonic target; S43, if , then enter S44, otherwise, let , , , and returns to S42; S44, according to , , calculate the corresponding ; when season , and enter S45, otherwise, let , , , and returns to S42; S45, if , then enter S46, otherwise, let , , , and returns to S42; S46, Connection Point in a plane and Point , and order , , , return to S42; S47. Construct a target capture zone for the hypersonic target based on the motion trajectory of all interceptors that can successfully intercept the hypersonic target.

[0015] An embodiment of the present invention further provides a device for constructing a hypersonic target capture zone, comprising: The guidance law design module is used to design a finite-time convergence guidance law based on the relative motion equation between the interceptor and the hypersonic target, so that when the interceptor intercepts the hypersonic target with the finite-time convergence guidance law as the acceleration in the terminal guidance phase, the interception time is the shortest; The interception line acquisition module is used to obtain the zero-control interception line composed of multiple velocity lead angles when the interceptor satisfies the zero-control interception flow pattern in the terminal guidance phase; wherein the zero-control interception flow pattern is the optimal interception geometry of the interceptor in the terminal state of the mid-guidance phase. When the interceptor satisfies the zero-control interception flow pattern in the terminal guidance phase, the interceptor intercepts the hypersonic target; The capture area construction module is used to combine the finite time convergence guidance law and the zero control intercept line to construct the initial capture area of ​​the hypersonic target, and to optimize the initial capture area according to the control parameters, field of view angle and intersection angle constraints of the hypersonic target pulse engine to obtain the target capture area of ​​the hypersonic target.

[0016] An embodiment of the present invention also provides a computer device, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the above-mentioned method for constructing a hypersonic target capture zone.

[0017] An embodiment of the present invention further provides a computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the above-mentioned method for constructing a hypersonic target capture zone.

[0018] The method for constructing a hypersonic target capture zone provided by the present invention has at least the following beneficial effects: Firstly, a guidance law, the finite-time convergent guidance law, is designed through the relative motion equation between the interceptor and the hypersonic target. When the interceptor intercepts the hypersonic target with the finite-time convergent guidance law as the acceleration in the terminal guidance segment, the interception time is the shortest. Then, the zero-control interception line composed of multiple velocity lead angles is obtained when the interceptor satisfies the zero-control interception flow pattern in the terminal guidance segment. The zero-control interception flow pattern is the optimal interception geometry of the interceptor in the terminal state of the mid-guidance segment. When the interceptor satisfies the zero-control interception flow pattern in the terminal guidance segment, the interceptor intercepts the hypersonic target.

[0019] Therefore, the initial capture zone of the hypersonic target is constructed by combining the finite time convergence guidance law and the zero control interception line, which not only ensures that the interceptor can accurately intercept the hypersonic target (using the zero control interception line), but also takes into account the rapid convergence of the interceptor when intercepting the hypersonic target (using the finite time convergence guidance law). At the same time, the complex constraints faced by the hypersonic target - the control parameters of the pulse engine, the field of view angle and the intersection angle are taken into account. Based on this, the initial capture zone constructed previously is optimized to adapt to the construction of the hypersonic target capture zone under this complex constraint. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] One or more embodiments are exemplarily described by the pictures in the corresponding drawings, and these exemplary descriptions do not constitute limitations on the embodiments.

[0021] Figure 1 is a flow chart of a method for constructing a hypersonic target capture zone provided according to an embodiment of the present invention; Figure 2 is a schematic diagram of a relative motion of a projectile and a target in a longitudinal plane provided according to an embodiment of the present invention; Figure 3 According to an embodiment of the present invention, a and Schematic diagram of time-zero control interception geometry; Figure 4 It is a schematic diagram of a zero control interception line of an interceptor-hypersonic target velocity lead angle plane provided according to an embodiment of the present invention; Figure 5 is a schematic diagram of a capture region based on a finite time convergent sliding mode guidance law provided according to an embodiment of the present invention; Figure 6 is a schematic diagram of a capture area based on a finite time convergence sliding mode guidance law under multiple constraints provided according to an embodiment of the present invention; Figure 7 is a schematic diagram of partitioning of an ideal capture area provided according to an embodiment of the present invention; Figure 8 According to an embodiment of the present invention, a Schematic diagram of the comparison of the trajectory of the initial points inside and outside the capture area; Fig. 9 is a schematic diagram of a miss distance and intersection angle Monte Carlo shooting result provided according to an embodiment of the present invention; Fig.10 It is a schematic diagram of a stereoscopic view angle variation Monte Carlo shooting result provided according to an embodiment of the present invention. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical scheme and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. However, it will be appreciated by those skilled in the art that in the embodiments of the present invention, many technical details are proposed in order to enable the reader to better understand the present invention. However, even without these technical details and various changes and modifications based on the following embodiments, the technical scheme claimed in the present invention can be implemented. The division of the following embodiments is for the convenience of description and should not constitute any limitation on the specific implementation of the present invention. The various embodiments can be combined and referenced with each other without contradiction.

[0023] At present, there are the following challenges in the terminal guidance of hypersonic target interception: (1) The field of view of the kinetic energy interceptor in the terminal guidance phase is limited by the physical structure of the seeker.

[0024] (2) The target can only be intercepted by means of a head-on attack. The relative speed of the missile and the target is fast, resulting in a small interception window for the defender, and the interception opportunity is fleeting. At this time, the terminal guidance stage adjustment time is short, and the mid-range guidance stage needs to ensure that the interceptor is in a good interception posture when the mid-range and terminal guidance are handed over, so as to reduce the terminal guidance stage maneuvering pressure caused by the mid-range guidance error.

[0025] (3) Collision damage requires the interceptor to hit the target with a very small miss, and has high requirements for the response speed and guidance accuracy of the terminal guidance stage.

[0026] Considering the terminal guidance challenge of the interceptor, it can be seen that in order to intercept high-speed targets, a terminal guidance method with high accuracy and fast response and a good mid-terminal guidance handover situation are indispensable.

[0027] In order to ensure that the interceptor can both "see" and "hit" the target, based on this principle and existing research, in order to ensure the smooth interception of the terminal guidance phase, the following conditions need to be met during the handover between the mid-terminal guidance phase and the terminal guidance phase:

[0028] (1) Specific angle of attack and attitude angle to ensure that the seeker can successfully capture the target.

[0029] (2) Ensure that the interceptor's position, speed, and direction at the time of shift change meet the terminal guidance capture condition constraints, so that the interceptor is in a favorable initial terminal guidance interception posture, forms a better interception flow pattern after entering the terminal guidance, and minimizes the required overload for the terminal guidance stage.

[0030] (3) A relatively large relative velocity between the projectile and the target to ensure the kinetic impact lethality on the target.

[0031] Therefore, the capture zone gives the ideal terminal state of mid-range guidance, which is suitable for giving the expected terminal state of mid-range guidance and the ideal initial value of terminal guidance in engineering applications. However, the existing research on the handover window of mid-range and terminal guidance lacks the combination with advanced guidance laws and the attention to the problems in practical engineering applications. It is necessary to analyze the capture zone in the follow-up research under the premise of considering the field of view limitation of the seeker, special collision requirements and the actuator with severe control restrictions.

[0032] For example, there are several solutions for constructing capture zones based on proportional guidance and its derivatives: The capture area based on the proportional guidance method and the reverse track zero control interception curve and the capture area based on the inverse proportional guidance method and the along track zero control interception curve; based on the three-dimensional generalized ideal proportional guidance method, the capture area is determined for the target maneuvering conditions under the most ideal / worst, known / unknown conditions respectively; the true proportional guidance static / dynamic capture area is given for high-speed non-maneuvering / maneuvering targets respectively; under the premise of knowing the upper limit of the target acceleration, a suitable navigation ratio is given based on the three-dimensional realistic true proportional guidance law, on this basis, it is ensured that the interceptor can successfully capture the target within the saturated maneuvering overload range; under the conditions of considering / not considering the maneuvering saturation of the interceptor respectively, the capture area is determined based on the three-dimensional generalized ideal proportional guidance method; the capture area is determined based on the three-dimensional real true proportional guidance law; under the conditions of considering / not considering the maneuvering saturation of the interceptor respectively, ... The capture area for any maneuvering target is derived based on the realistic true proportional guidance law; a pure proportional guidance method is designed considering the field of view constraint of the strapdown seeker and its capture area is analyzed. The capture area of ​​the interceptor is significantly reduced due to the field of view constraint, but the capture area can be effectively expanded by introducing the field of view constraint in the guidance law; based on the pure proportional guidance method, a Gaussian process regression model is used to perform data-driven capture analysis of maneuvering targets; an inverse proportional guidance method is proposed, and the capture area is constructed in the plane of trajectory inclination and target velocity lead angle for this method and the classical proportional guidance method, and it is finally concluded that the capture area of ​​the inverse proportional guidance method is larger than that of the classical proportional guidance method.

[0033] Disadvantages: Due to factors such as poor robustness and slow convergence of the line of sight angular rate, the traditional proportional guidance has a good effect on attacking fixed or slow-moving targets, but it is difficult to adapt to increasingly complex interception scenarios and higher-speed targets. In fact, advanced control theory has been widely used in guidance law design, but the research on capture zones based on proportional guidance and its derivatives lags behind the development of guidance laws, and it is difficult to construct a capture zone for targets with speed advantages.

[0034] The capture zone construction method based on the advanced guidance law adopts the following scheme: the capture zone with limited lateral overload is constructed based on sliding mode control and H∞ control respectively.

[0035] Disadvantages: At present, there are few studies on the capture zone construction methods based on advanced guidance laws, especially the capture zone construction methods based on guidance laws with fast convergence capabilities. On the other hand, high-speed target interception faces complex control constraints, field of view constraints, and rendezvous situation constraints that exist at the input, process, and terminal, but only the input saturation constraints are considered, and there is a lack of research on the capture zone construction methods under complex constraints.

[0036] The method for constructing a hypersonic target capture zone of the present invention can overcome the above defects.

[0037] One embodiment of the present invention relates to a method for constructing a hypersonic target capture zone. The implementation details of the method for constructing a hypersonic target capture zone of this embodiment are specifically described below. The following content is only the implementation details provided for ease of understanding and is not necessary for implementing this solution.

[0038] The specific process of the method for constructing the hypersonic target capture zone of this embodiment can be as follows: Figure 1 As shown, including: Step 101, designing a finite time convergence guidance law according to the relative motion equation between the interceptor and the hypersonic target, so that when the interceptor intercepts the hypersonic target with the finite time convergence guidance law as the acceleration in the terminal guidance phase, the interception time is the shortest.

[0039] In this embodiment, the relative motion / line of sight geometric relationship between the interceptor and the hypersonic target (i.e., the projectile target) is as follows: Figure 2 As shown, , Represent the instantaneous center of mass of the interceptor and the hypersonic target respectively, and the connecting line The target line is the horizontal line in the attack plane when the interceptor intercepts the hypersonic target as the reference line. , using polar coordinate parameters , The relative motion between the interceptor and the hypersonic target is described in the longitudinal plane, and the line of sight between the missile and the target is described based on the longitudinal axis of the missile.

[0040] In addition, Figure 2 middle Indicates the relative distance between the interceptor and the hypersonic target. When the interceptor intercepts the hypersonic target ; The angle between the target line and the reference line is called the sight angle, which is positive when rotating counterclockwise from the reference line to the target line; , denote the velocity vectors of the interceptor and the hypersonic target, respectively; , denote the acceleration vectors of the interceptor and the hypersonic target, respectively; , They represent the ballistic angle of the interceptor and the target heading angle when intercepting a hypersonic target, respectively. The positions of the mass centers of the interceptor and the hypersonic target are taken as the origins, and the positive value is counterclockwise from the baseline to their respective velocity vectors. Indicates the direction of the interceptor's body axis, with the positive direction being from the tail to the nose; It represents the pitch angle of the interceptor, with positive being counterclockwise from the reference line to the missile body axis; It represents the stereo line of sight angle, with positive value being counterclockwise from the projectile axis to the target line.

[0041] The relative motion equation between the interceptor and the hypersonic target is: ; In the formula, for The derivative of for The derivative of and represent the velocity lead angle of the interceptor and the velocity lead angle of the hypersonic target respectively.

[0042] Then the finite-time convergent guidance law is designed in the following way: First, design the sliding variable as follows: ; In the formula, when When it is equal to 0, the interceptor intercepts the hypersonic target.

[0043] Then, a finite-time convergence law is designed based on the super-twist algorithm to make The time taken to converge to 0 is the shortest, and the finite time convergence law is as follows: ; In the formula, for The derivative of Represents the preset convergence speed adjustment variable, for The derivative of represents the symbolic function, ; is a preset constant, and .

[0044] Substituting the sliding variable into the finite time convergence approach law, the finite time convergence guidance law is obtained as follows: .

[0045] Step 102, obtaining a zero-control interception line composed of multiple velocity lead angles when the interceptor satisfies the zero-control interception flow pattern in the terminal guidance segment; wherein the zero-control interception flow pattern is the optimal interception geometry of the interceptor in the terminal state of the mid-guidance segment, and when the interceptor satisfies the zero-control interception flow pattern in the terminal guidance segment, the interceptor intercepts the hypersonic target.

[0046] Specifically, the zero-control interception flow pattern is the optimal interception geometry of the interceptor in the terminal state of the mid-stage guidance phase. The interceptor can intercept the target in a limited time without control. Considering the speed advantage of the target and the limited fuel and overload carried by the interceptor itself, the interceptor needs to enter or approach this optimal interception geometry at the mid-stage guidance terminal. Therefore, when the interceptor meets the zero-control interception flow pattern in the terminal guidance phase, the interceptor intercepts the hypersonic target.

[0047] The geometric relationship between the interceptor and the hypersonic target when the interceptor satisfies the zero-control interception flow pattern in the terminal guidance phase is as follows: ; In the formula, represents the speed ratio of the hypersonic target to the interceptor, and .

[0048] If the hypersonic target speed is more advantageous, that is, when or When , the interceptor cannot intercept the hypersonic target; when and When the interceptor satisfies the zero-control interception flow pattern in the terminal guidance phase, the geometric relationship between the interceptor and the hypersonic target (i.e., the zero-control interception geometry) is as follows: Figure 3 As shown in the figure, the zero control interception line when the interceptor satisfies the zero control interception flow pattern in the terminal guidance phase is as follows: ; In the formula, , , .

[0049] Step 103, combining the finite time convergence guidance law and the zero control intercept line to construct the initial capture area of ​​the hypersonic target.

[0050] like Figure 4 As shown in the figure, the zero control intercept line (i.e., the curve in the figure) is composed of the corresponding velocity lead angle of the interceptor and the velocity lead angle of the hypersonic target. Plane is divided into and The two regions, combined with the geometric relationship between the interceptor and the hypersonic target when the interceptor satisfies the zero control interception flow pattern in the terminal guidance phase, and the zero control interception line when the interceptor satisfies the zero control interception flow pattern in the terminal guidance phase, can be seen that the arrow indicates that when the initial point is located at or Area Movement trend on a plane.

[0051] Convert the finite-time convergent sliding mode guidance law to plane, we get: ; In the formula, For the The velocity lead angle of the hypersonic target at the sampling moment is: , , is a positive integer, for The derivative of For the The velocity lead angle of the interceptor at the sampling moment is, , for The derivative of For the The distance between the interceptor and the hypersonic target at the sampling moment, for The derivative of Indicates that the interceptor is from Exercise to The time required.

[0052] It can be seen that the need , , , and These values ​​can be solved , therefore, based on Figure 3 And this formula, the construction of the initial capture zone of the hypersonic target can be carried out by the following steps: Step 1: Select any point on the zero-control intercept line as the terminal state when the interceptor intercepts the hypersonic target.

[0053] Step 2: Determine the current point Located in the area or , to determine the motion trend of the current point, and according to the motion trend of the current point, determine the speed lead angle of the interceptor at the next sampling moment by the following formula : ; In the formula, Is a preset constant, indicating that the interceptor is Sampling step size for planar motion.

[0054] Step 3: Substitute the known states (i.e., the position, velocity, and velocity lead angle of the interceptor and the hypersonic target) into the relative motion equation between the interceptor and the hypersonic target to obtain and .

[0055] Step 4: , , , and Substituting into the formula of S1, we get as follows: .

[0056] Through the above steps, we can get , and ,and and It is known that based on this calculation, .

[0057] Therefore, select the points on the zero control intercept line one by one to Taking the longest time to converge to 0 as the benchmark, repeat steps 1 to 4 to uniquely determine the control of the sliding mode guidance law with finite time convergence. and exist The trajectory of the plane.

[0058] based on and hour and exist The motion trajectory of the plane is used to construct the initial capture area of ​​the hypersonic target. The initial capture area can be as follows Figure 5 shown.

[0059] Step 104, based on the control parameters of the hypersonic target pulse engine, the field of view angle, and the constraints of the intersection angle, the initial capture area is optimized to obtain the target capture area of ​​the hypersonic target.

[0060] Specifically, according to the control parameters, field of view angle and intersection angle constraints of the hypersonic target pulse engine, the initial capture area is optimized respectively to obtain the initial capture area under the control parameter constraints, the initial capture area under the field of view angle constraints and the initial capture area under the intersection angle constraints; the intersection of the initial capture area under the control parameter constraints, the initial capture area under the field of view angle constraints and the initial capture area under the intersection angle constraints is obtained to obtain the target capture area of ​​the hypersonic target.

[0061] In specific implementation, the interception of hypersonic targets faces limitations on pulse engine control input (i.e., control parameters), field of view constraints, and intersection angle constraints.

[0062] Among them, the control input limitation includes the maximum thrust limitation and the total impulse limitation. The constraints of the thrust and total impulse of the pulse engine can be expressed by the following inequality: ; In the formula, , represents the maximum thrust of the pulse engine, represents the quality of the interceptor, Indicates the pulse engine working cycle, Indicates the maximum total impulse of the pulse engine.

[0063] The field of view constraint under the full strapdown seeker, that is, the constraint condition of the field of view angle of the hypersonic target, can be expressed as the following inequality: ; In the formula, and They represent the maximum and minimum field of view angles of hypersonic targets respectively.

[0064] In order to ensure kinetic damage to the hypersonic target, the interceptor needs to collide with the target at a very small intersection angle. The constraint condition of the hypersonic target intersection angle can be expressed as the following inequality: ; In the formula, Indicates the maximum intersection angle of a hypersonic target.

[0065] At this time, according to the control parameters of the hypersonic target pulse engine, the field of view angle and the constraints of the intersection angle, the initial capture area is optimized to obtain the target capture area of ​​the hypersonic target, which is specifically achieved by the following steps: Step 1: Pass Indicates that the interceptor is in The first movement trajectory The velocity lead angle at the sampling moment is , , , select a positive number that is less than the preset threshold , as an interceptor in Sampling step size for planar motion; Step 2: Zero control interception line based on interceptor and , calculate the corresponding ; when When All interceptors in the plane can successfully intercept the motion trajectory of the hypersonic target; Step 3: If , then enter S44, otherwise, let , , , and returns to S42; Step 4: According to , , calculate the corresponding ; when season , and enter S45, otherwise, let , , , and returns to S42; Step 5: If , then enter S46, otherwise, let , , , and returns to S42; Step 6. Connect Point in a plane and Point , and order , , , return to S42; Step 7: Based on the motion trajectory of all interceptors that can successfully intercept the hypersonic target, the target capture area of ​​the hypersonic target is constructed. Its essence is the intersection of the capture area under the control input constraint, field of view constraint and intersection angle constraint, such as Figure 6 shown.

[0066] In this embodiment, firstly, a guidance law, namely, a finite-time convergent guidance law, is designed through the relative motion equation between the interceptor and the hypersonic target. When the interceptor intercepts the hypersonic target with the finite-time convergent guidance law as the acceleration in the terminal guidance segment, the interception time is the shortest. Then, a zero-control interception line composed of multiple velocity lead angles is obtained when the interceptor satisfies the zero-control interception flow pattern in the terminal guidance segment. The zero-control interception flow pattern is the optimal interception geometry of the interceptor in the terminal state of the mid-guidance segment. When the interceptor satisfies the zero-control interception flow pattern in the terminal guidance segment, the interceptor intercepts the hypersonic target.

[0067] Therefore, the initial capture zone of the hypersonic target is constructed by combining the finite time convergence guidance law and the zero control interception line, which not only ensures that the interceptor can accurately intercept the hypersonic target (using the zero control interception line), but also takes into account the rapid convergence of the interceptor when intercepting the hypersonic target (using the finite time convergence guidance law). At the same time, the complex constraints faced by the hypersonic target - the control parameters of the pulse engine, the field of view angle and the intersection angle are taken into account. Based on this, the initial capture zone constructed previously is optimized to adapt to the construction of the hypersonic target capture zone under this complex constraint.

[0068] It can be seen that the method for constructing the hypersonic target capture zone of the present invention actually includes three parts: (1) the design of the finite time convergent sliding mode guidance law; (2) the construction of the capture zone (i.e., the ideal capture zone) based on the finite time convergent sliding mode guidance law; (3) the construction of the capture zone under complex constraints. Based on this, the initial range of terminal guidance that can successfully intercept hypersonic targets is given.

[0069] In one embodiment, the present invention verifies the reliability of the constructed hypersonic target capture zone through the following simulation comparison: (1) Verification of ideal capture zone: like Figure 7 As shown, the middle part represents the ideal capture area, and The points inside and outside the area are used as the initial values ​​of the terminal guidance phase, and the interceptor is compared with The motion trajectory of the plane is shown in Figure 8. It can be seen that when the initial value of the terminal guidance segment is outside the capture area, the hypersonic target cannot be successfully intercepted. Otherwise, the hypersonic target can be successfully intercepted.

[0070] (2) Verification of capture area under complex constraints: Any Figure 6 The points in the capture area under multiple constraints are used as the initial points of the terminal guidance stage for 500 Monte Carlo target shooting simulation tests. The test results are as follows: Fig. 9 and 10 As shown, it can be seen that if the initial value of the terminal guidance stage is within the capture area under multiple constraints, the interceptor can successfully intercept the hypersonic target while satisfying the constraints.

[0071] That is, the present invention firstly constructs a capture zone based on the finite time convergence sliding mode guidance law in combination with the zero control interception condition when the interceptor speed is lower than the target; secondly, by integrating the influence of limited pulse engine control, full strapdown seeker field of view constraint and kinetic kill rendezvous angle constraint on the capture zone, a capture zone construction method under multiple constraints is proposed.

[0072] Compared with the prior art, the present invention has the following beneficial effects: (1) The high-speed target interception mission places extremely high demands on the rapid response capability of the interceptor. Existing research lacks the combination of the finite-time convergent guidance law with rapid response capability and the capture zone construction, resulting in the capture zone research lagging behind the development of the guidance law. This paper proposes a capture zone construction method based on the finite-time convergent sliding mode guidance law, which fills this research gap.

[0073] (2) High-speed target interceptors face multiple constraints from input, process, and terminal. However, existing capture zone research is limited to a single constraint and is difficult to adapt to the complex constraints that appear in practical applications. The present invention simultaneously introduces typical input, process, and terminal constraints in the capture zone construction, namely, engine control restrictions, field of view constraints, and intersection angle constraints, covering the common constraint forms in applications, forming a capture zone under multiple constraints, and providing support for optimizing the interception situation and ensuring accurate intersection of missiles and targets.

[0074] The step division of the various methods above is only for clear description. When implemented, they can be combined into one step or some steps can be split and decomposed into multiple steps. As long as they include the same logical relationship, they are all within the protection scope of the present invention. Adding insignificant modifications or introducing insignificant designs to the algorithm or process without changing the core design of the algorithm and process are all within the protection scope of the invention.

[0075] Another embodiment of the present invention relates to a device for constructing a hypersonic target capture zone. The implementation details of the device for constructing a hypersonic target capture zone of this embodiment are described in detail below. The following content is only for the convenience of understanding the implementation details provided, and is not necessary for implementing this solution. The device for constructing a hypersonic target capture zone of this embodiment includes: The guidance law design module is used to design a finite-time convergent guidance law based on the relative motion equation between the interceptor and the hypersonic target, so that when the interceptor intercepts the hypersonic target with the finite-time convergent guidance law as the acceleration in the terminal guidance phase, the interception time is minimized.

[0076] The interception line acquisition module is used to obtain the zero-control interception line composed of multiple velocity lead angles when the interceptor satisfies the zero-control interception flow pattern in the terminal guidance segment; wherein the zero-control interception flow pattern is the optimal interception geometry of the interceptor in the terminal state of the mid-guidance segment. When the interceptor satisfies the zero-control interception flow pattern in the terminal guidance segment, the interceptor intercepts the hypersonic target.

[0077] The capture area construction module is used to combine the finite time convergence guidance law and the zero control intercept line to construct the initial capture area of ​​the hypersonic target, and to optimize the initial capture area according to the control parameters, field of view angle and intersection angle constraints of the hypersonic target pulse engine to obtain the target capture area of ​​the hypersonic target.

[0078] It is not difficult to find that this embodiment is a device embodiment corresponding to the above method embodiment, and this embodiment can be implemented in conjunction with the above method embodiment. The relevant technical details and technical effects mentioned in the above embodiment are still valid in this embodiment, and in order to reduce repetition, they are not repeated here. Accordingly, the relevant technical details mentioned in this embodiment can also be applied in the above embodiment.

[0079] It is worth mentioning that all modules involved in this embodiment are logic modules. In practical applications, a logic unit can be a physical unit, a part of a physical unit, or a combination of multiple physical units. In addition, in order to highlight the innovative part of the present invention, this embodiment does not introduce units that are not closely related to solving the technical problem proposed by the present invention, but this does not mean that there are no other units in this embodiment.

[0080] Another embodiment of the present invention relates to a computer device, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method for constructing a hypersonic target capture zone in the above-mentioned embodiments.

[0081] Among them, the memory and the processor are connected in a bus manner, and the bus may include any number of interconnected buses and bridges, and the bus connects various circuits of one or more processors and memories together. The bus can also connect various other circuits such as peripherals, voltage regulators, and power management circuits, which are well known in the art and are therefore not further described herein. The bus interface provides an interface between the bus and the transceiver. The transceiver can be one element or multiple elements, such as multiple receivers and transmitters, providing a unit for communicating with various other devices on a transmission medium. The data processed by the processor is transmitted on a wireless medium via an antenna, and further, the antenna also receives data and transmits the data to the processor.

[0082] The processor is responsible for managing the bus and general processing, and can also provide various functions, including timing, peripheral interfaces, voltage regulation, power management, and other control functions. Memory can be used to store data used by the processor when performing operations.

[0083] Another embodiment of the present invention relates to a computer-readable storage medium storing a computer program, which implements the above method embodiment when executed by a processor.

[0084] That is, those skilled in the art can understand that all or part of the steps in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a program, and the program is stored in a storage medium, including a number of instructions to enable a device (which can be a single-chip microcomputer, chip, etc.) or a processor to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, referred to as: ROM), random access memory (Random Access Memory, referred to as: RAM), disk or optical disk and other media that can store program codes.

[0085] Those skilled in the art will appreciate that the above embodiments are specific embodiments for implementing the present invention, and in actual applications, various changes may be made thereto in form and detail without departing from the spirit and scope of the present invention.

Claims

1. A method for constructing a hypersonic target capture zone, characterized in that: The method comprises: According to the relative motion equation between the interceptor and the hypersonic target, a finite time convergence guidance law is designed so that the interceptor can intercept the hypersonic target in the shortest time when the finite time convergence guidance law is used as the acceleration in the terminal guidance phase. Obtain a zero-control interception line composed of multiple velocity lead angles when the interceptor satisfies the zero-control interception flow pattern in the terminal guidance phase; wherein the zero-control interception flow pattern is the optimal interception geometry of the interceptor in the terminal state of the mid-guidance phase. When the interceptor satisfies the zero-control interception flow pattern in the terminal guidance phase, the interceptor intercepts the hypersonic target; The initial capture zone of the hypersonic target is constructed by combining the finite time convergence guidance law and the zero control intercept line; According to the control parameters of the hypersonic target pulse engine, the field of view angle and the intersection angle constraints, the initial capture area is optimized to obtain the target capture area of ​​the hypersonic target.

2. The method for constructing a hypersonic target capture zone according to claim 1, characterized in that: The relative motion equation between the interceptor and the hypersonic target is: ； In the formula, represents the relative distance between the interceptor and the hypersonic target, for The derivative of It represents the angle between the target line and the reference line. for The target line is the line connecting the instantaneous center of mass of the interceptor and the hypersonic target, and the baseline is the horizontal line in the attack plane when the interceptor intercepts the hypersonic target; and denote the speeds of the interceptor and the hypersonic target, respectively; and They represent the ballistic angle of the interceptor and the target heading angle when intercepting a hypersonic target; and denote the velocity lead angle of the interceptor and the velocity lead angle of the hypersonic target respectively; The method of designing a finite time convergence guidance law based on the relative motion equation between the interceptor and the hypersonic target includes: Design sliding variables as follows: ； In the formula, when When it is equal to 0, the interceptor intercepts the hypersonic target; Based on the super-twisted algorithm, a finite-time convergence law is designed to make The time taken to converge to 0 is the shortest, and the finite time convergence law is as follows: ； In the formula, for The derivative of Represents the preset convergence speed adjustment variable, for The derivative of represents a symbolic function; is a preset constant, and ; Substituting the sliding variable into the finite time convergence approach law, the finite time convergence guidance law is obtained as follows: 。 3. The method for constructing a hypersonic target capture zone according to claim 2, characterized in that: The geometric relationship between the interceptor and the hypersonic target when the interceptor satisfies the zero control interception flow pattern in the terminal guidance phase is as follows: ； In the formula, represents the speed ratio of the hypersonic target to the interceptor, and ; when or When the interceptor is unable to intercept the hypersonic target; when and When the interceptor meets the zero control interception flow pattern in the terminal guidance phase, the zero control interception line is as follows: ； In the formula, , , .

4. The method for constructing a hypersonic target capture zone according to claim 3, characterized in that: The zero control interception line is composed of the velocity lead angle of the interceptor and the velocity lead angle of the hypersonic target corresponding to each other. Plane is divided into and Two regions; The method combines the finite time convergence guidance law and the zero control interception line to construct the initial capture zone of the hypersonic target, including: S31, transform the finite time convergent sliding mode guidance law into plane, we get: ； In the formula, For the The velocity lead angle of the hypersonic target at the sampling moment is: , , is a positive integer, for The derivative of For the The velocity lead angle of the interceptor at the sampling moment is, , for The derivative of For the The distance between the interceptor and the hypersonic target at the sampling moment, for The derivative of Indicates that the interceptor is from Exercise to the time required; S32, select any point on the zero control interception line; S33, determine the current point Located in the area or , to determine the motion trend of the current point, and according to the motion trend of the current point, determine the speed lead angle of the interceptor at the next sampling moment by the following formula : ； In the formula, Is a preset constant, indicating that the interceptor is Sampling step size for planar motion; S34. Substitute the position, velocity and velocity lead angle of the interceptor and the hypersonic target into the relative motion equation between the interceptor and the hypersonic target to obtain: and ; S35, , , , and Substituting into the formula of S1, we get as follows: ； S36, select points on the zero control intercept line one by one, The longest time taken to converge to 0 is taken as the benchmark, and S32 to S35 are repeated to determine the control of the sliding mode guidance law with finite time convergence. and exist The trajectory of motion on a plane; S37, Combination When taking different values and exist Plane motion trajectory to construct the initial capture area of ​​the hypersonic target.

5. The method for constructing a hypersonic target capture zone according to claim 4, characterized in that: The control parameters of the hypersonic target pulse engine include thrust and total impulse; The constraints of impulse engine thrust and total impulse are: ； In the formula, , represents the maximum thrust of the pulse engine, represents the quality of the interceptor, Indicates the pulse engine working cycle, Indicates the maximum total impulse of the pulse engine; The constraints of the hypersonic target field of view angle are: ； In the formula, and They represent the maximum and minimum field of view angles of a hypersonic target, respectively; The constraints of the hypersonic target intersection angle are: ； In the formula, Indicates the maximum intersection angle of a hypersonic target.

6. The method for constructing a hypersonic target capture zone according to claim 5, characterized in that: The method optimizes the initial capture area according to the control parameters, field of view angle and intersection angle constraints of the hypersonic target pulse engine to obtain the target capture area of ​​the hypersonic target, including: According to the control parameters, field of view angle and intersection angle constraints of the hypersonic target pulse engine, the initial capture area is optimized respectively, and the initial capture area under the control parameter constraint, the initial capture area under the field of view angle constraint and the initial capture area under the intersection angle constraint are obtained; The intersection of the initial capture area under the control parameter constraint, the initial capture area under the field of view angle constraint, and the initial capture area under the intersection angle constraint is obtained to obtain the target capture area of ​​the hypersonic target.

7. The method for constructing a hypersonic target capture zone according to claim 6, characterized in that: The method optimizes the initial capture area according to the control parameters, field of view angle and intersection angle constraints of the hypersonic target pulse engine to obtain the target capture area of ​​the hypersonic target, including: S41, through Indicates that the interceptor is in The first movement trajectory The velocity lead angle at the sampling moment is , , , select a positive number that is less than the preset threshold , as an interceptor in Sampling step size for planar motion; S42, interceptor-based zero control interception line and , calculate the corresponding ; when When All interceptors in the plane can successfully intercept the motion trajectory of the hypersonic target; S43, if , then enter S44, otherwise, let , , , and returns to S42; S44, according to , , calculate the corresponding ; when season , and enter S45, otherwise, let , , , and returns to S42; S45, if , then enter S46, otherwise, let , , , and returns to S42; S46, Connection Point in a plane and Point , and order , , , return to S42; S47. Construct a target capture zone for the hypersonic target based on the motion trajectory of all interceptors that can successfully intercept the hypersonic target.

8. A device for constructing a hypersonic target capture zone, characterized in that: The device comprises: The guidance law design module is used to design a finite-time convergence guidance law based on the relative motion equation between the interceptor and the hypersonic target, so that when the interceptor intercepts the hypersonic target with the finite-time convergence guidance law as the acceleration in the terminal guidance phase, the interception time is the shortest; The interception line acquisition module is used to obtain the zero-control interception line composed of multiple velocity lead angles when the interceptor satisfies the zero-control interception flow pattern in the terminal guidance phase; wherein the zero-control interception flow pattern is the optimal interception geometry of the interceptor in the terminal state of the mid-guidance phase. When the interceptor satisfies the zero-control interception flow pattern in the terminal guidance phase, the interceptor intercepts the hypersonic target; The capture area construction module is used to combine the finite time convergence guidance law and the zero control intercept line to construct the initial capture area of ​​the hypersonic target, and to optimize the initial capture area according to the control parameters, field of view angle and intersection angle constraints of the hypersonic target pulse engine to obtain the target capture area of ​​the hypersonic target.

9. A computer device, characterized in that: include: at least one processor; And, a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method for constructing a hypersonic target capture zone as described in any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method for constructing a hypersonic target capture zone according to any one of claims 1 to 7 is implemented.

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