【摘要】 本文从微分对策的观点出发,利用极大极小值原理研究了导引对象的动特性为一阶滞后环节,控制力受到法向约束时带有不确定因素的最优导引问题,得到了解析形式的闭环最优导引律。更多还原

【Abstract】 The problem of optimal intercept guidance law with uncertainty factors(such as maneuvering of the target) have been studied by a number of authorsat home and abroad [2][3][4][5][6], but the normal constraint on the forcecontrolling the guided object (such as missiles) was not considered in thesepapers. In a recent paper of the author [7], although the normal constraint ofthe force controlling the guided object was considered, but the uncertainty fac-tors were not taken into account. As is well known, for the problem of interception in air or underwaterwhere the force controlling the guided object comes from aerodynamic orhydrodynamic force, if the induced drag of the guided object can be ignored,the force controlling the guided object will be along the normal of the trajectory. In this case, the force controlling the guided object must satisfy the normalconstraint condition. In this paper, from the point of view of differential game, an optimal in-tercept guidance law with uncertainty factors and normal constraint is discussedusing minimum-maximum principle. It is assumed that the kinetic charac-teristics of the guided object is a first order lag loop; the minimum controlenergy consumption is taken as the performance index; the terminal states be-long to an intercept curved surface with out off control and the terminalacceleration of the guided object equals zero; the force controlling the guidedobject satisfies the normal constraint and the maneuver of the target is consi-dered as the uncertainty factor. Considering the above conditions, the author has deduced an optimal inter-cept guidance law in a closed loop analytical form for the case where thechange of direction of motion of the guided object is not large. The author’sprevious experience indicates that a change of direction of 30° is perhapsallowable. When the terminal time t_f or the time of lead T is determined in a certainfashion, explained in detail in the paper, the optimal intercept guidance lawconsists of two parts: the first part is a variable coefficient proportion naviga-tion, the other is the correction term related to the velocity and accelerationof the guided object. There is an adjustable parameter σ=T/t_f which is includ-ed in the navigation coefficient. By appropriate selection of the parameter σ,it is possible to make the normal overload of the trajectory satisfactory andto ensure that a sufficient amount of remaining time (f_f-T) be available for"microadjustment", thus improving the guiding accuracy.更多还原