【作者】 王凯；

【导师】 王博；

【作者基本信息】 华中科技大学 ， 电子信息（专业学位）， 2022， 硕士

【摘要】 多飞行器协同作战是全球信息化的发展趋势,一经提出便受到各军事大国的重点关注。多飞行器协同作战中目标分配可以规划合理方案,实现作战效益最大化,协同制导可以提高飞行器突防率,增强整体作战能力。然而,协同作战目标分配及再入制导方面仍存在难点,因此本文对这些问题展开分析和研究,完成的具体内容如下:研究了基于改进生物地理学算法的目标分配方法。首先分析作战任务和特性,以层析分析法为基础,引入三角模糊数限制不确定性因素,量化目标重要性;然后以最大打击效果为作战原则建立了目标分配模型;为克服基本生物地理学算法搜索动力不足问题,融合差分进化思想、精英策略和捕食者-被捕食者模型,得到了一种改进生物地理学算法,使用改进后的算法求解目标分配问题。仿真结果验证了改进生物地理学算法在目标分配问题上的稳定性和有效性。研究了基于拟平衡滑翔条件的近似解析再入制导方法。针对终端时间不确定问题,建立了以能量为自变量的运动方程。再入飞行过程中纵向平面采用高斯牛顿法修正倾侧角大小,在线消除预测航程与实际航程偏差,满足终端约束。针对飞行器在滑翔段初期航迹角变化较大问题设计了剖面形式的攻角指令,滑翔段后期基本满足拟平衡滑翔条件,利用基于航迹角反馈控制策略设计了攻角指令。采用一种航向角偏差走廊方法进行横向平面制导,以限制横向平面的运动。设计了基于时标分离原则控制航迹角的方法处理飞行中过程约束,可以抑制大气环境扰动带来的影响。仿真结果表明该制导方法可以达到较高的终端精度,有较好的鲁棒性。研究了基于扩张状态观测器的多飞行器再入协同制导方法。考虑滑翔段无推力、飞行距离长等特点,将飞行器滑翔飞行分为编队控制和时间协调两个阶段。编队阶段以法向位置为协调变量设计控制指令,实现速度方向一致和保持合理的间距;时间协调阶段根据目标方向匀减速运动特性,推导剩余飞行时间解析表达式,以该时间为协调变量设计制导指令,实现末端时间一致。各阶段均基于一致性协议设计控制器和制导方法,为降低通信延迟等扰动影响,设计了扩张状态观测器对干扰信号进行补偿。仿真结果表明该协同制导方法在标准和有气动偏差情况都能达到较好的协同效果。更多还原

【Abstract】 Multi-vehicle cooperative operation is the development trend of global information,and it became the focus of various military powers once proposed.The target assignment can design the reasonable scheme to maximize the operational benefits,the cooperative guidance can improve the penetration rate of vehicle,enhance the overall combat ability.However,there are still difficulties in target assignment and reentry guidance in multivehicle cooperative operation,so this thesis analyzes and studies these problems,the main contents are as follows:In order to solve the target assignment problem,a method based on the improved biogeography-based optimization algorithm is studied.First,the combat mission and characteristic are analyzed.The analytic hierarchy process(AHP)is used to quantify the target importance while introducing the triangular fuzzy number to describe the uncertainty.Then the target assignment model is established based on the operational principle of the maximum attack effect.An improved algorithm is obtained by combining the idea of differential evolution,elite strategy and predator-prey model in the traditional biogeography-based optimization algorithm.It is used to solve the target assignment problem.The simulation results verify the stability and effectiveness of the improved biogeography-based algorithm.For the reentry guidance problem,an approximate analytical method based on quasiequilibrium glide condition is studied.Considering the uncertainty of terminal time,the motion equation with energy as independent variable is established.The Gaussian Newton method is used to correct the bank angle for the longitudinal guidance,and the deviation between the predicted range and the actual range is eliminated online to meet the terminal constraints.The angle of attack command based on profile is designed against the large variation of the vehicle’s flight path angle in the initial gliding phase.In the late gliding phase,the quasi-equilibrium glide condition is substantially satisfied,so the angle of attack command is designed based on the strategy of the feedback control for the flight path angle.For the lateral plane guidance,a heading angle deviation corridor method is used to limit the movement of lateral plane.A flight path angle control method based on the principle of time scale separation is designed to deal with the path constraints,which can limit the influence of atmospheric environment disturbance.The simulation results show that the proposed guidance method can achieve higher terminal accuracy and better robustness.Aiming at the reentry cooperative guidance problem for multi-flight vehicle,a method based on the extended state observer is studied.In view of the characteristics of no thrust and long flight distance,the gliding flight of the vehicle is divided into the formation control phase and the time coordination phase.In the formation phase,the control commands are designed with the normal positions as the coordination variables to make the velocity direction consistent and maintain a reasonable spacing of vehicles.In the time coordination phase,based on the characteristic of uniform deceleration motion in the target direction,the analytical expression of time to go is derived.Then,the guidance commands are designed with time to go as the coordination variable to realize the terminal time consistent.The controller and guidance method are designed using the consensus protocol in each phase,in order to reduce the influence of disturbance signals such as communication delay,the extended state observer(ESO)is designed to compensate the the disturbance signals.The simulation results show that the proposed cooperative guidance method can achieve good cooperative effect under the standard condition and the condition with the presence of aerodynamic deviation.更多还原