为完成水下弱通信条件下多UUV从不同方向对目标的协同导引，提出一种基于可切换导引律的终端角度约束与时间协同制导方法。首先，以法向加速度为控制量，设计基于最优控制理论的角度约束导引律和基于双层协同导引架构的时间协同导引律，并针对法向加速度波动过大的问题，提出一种导引律双参数柔性切换思想，使UUV根据剩余航行时间误差在2种导引律间进行合理切换。其次，设计一种协同信息处理机制，减少一致性协同导引方法对通信的依赖。最后，通过仿真实验验证本文协同导引方法在弱通信条件下的有效性。
In order to accomplish the cooperative guidance on the target by multi-UUVs from different directions under limited communication conditions, a terminal angle constraint and time cooperative guidance method based on switchable guidance law is proposed. Firstly, using the normal acceleration as the control parameter, the angle-constrained guidance law based on the optimal control theory and the time-coordinated guidance law based on the two-layer cooperative guidance architecture are designed, and a two-parameter switching idea of the guidance law is put forward to enable the UUV to switch reasonably between two types of guidance laws according to the remaining sailing time error to reasonably switch between the two guidance laws. Secondly, a cooperative information processing mechanism is designed to reduce the dependence of the cooperative guidance method on communication. Finally, the effectiveness of the cooperative guidance method in this paper under weak communication conditions is verified by simulation experiments.
2025,47(12): 48-54 收稿日期：2024-10-13
DOI：10.3404/j.issn.1672-7649.2025.12.010
分类号：U675.91
作者简介：张凌豪(1999-),男,硕士研究生,研究方向为水下航行器控制和协同控制
参考文献：
[1] JEON I, LEE J, TAHK M. Impact-time-control guidance law for anti-ship missiles[J]. IEEE Transactions on Control Systems Technology, 2006, 14(2): 260-266.
[2] 赵世钰, 周锐. 基于协调变量的多导弹协同制导[J]. 航空学报, 2008, 29(6): 1605-1611.
[3] 毛昱天, 杨明, 张锐, 等. 领航跟随多导弹系统分布式协同制导[J]. 导航定位与授时, 2016, 3(2): 20-24.
[4] 吕腾, 吕跃勇, 李传江, 等. 带视线角约束的多导弹有限时间协同制导律[J]. 兵工学报, 2018, 39(2): 305-314.
[5] 赵久奋, 史绍琨, 崇阳, 等. 带落角约束的多导弹分布式协同制导律[J]. 中国惯性技术学报, 2018, 26(4): 546-553.
[6] SONG J, SONG S, XU S. Three-dimensional cooperative guidance law for multiple missiles with finite-time convergence[J]. Aerospace Science and Technology, 2017, 67(8): 193-205.
[7] SUN X, ZHOU R, HOU D, et al. Consensus of leader-followers system of multi-missile with time-delays and switching topologies[J]. Optik, 2014, 125(3): 1202-1208.
[8] 叶鹏鹏, 盛安冬, 张蛟, 等. 非持续连通通信拓扑下的多导弹协同制导[J]. 兵工学报, 2018, 39(3): 474-484.
[9] 岳玲, 樊书宏, 冯西安. 鱼雷协同制导对水声通信能力的需求分析[J]. 水下无人系统学报, 2018, 26(5): 427-432.
[10] 张壹, 张赫, 刘浩, 等. 考虑通信延迟与周期的AUV协同制导方法[J]. 舰船科学技术, 2024, 46(1): 94-101.
ZHANG Y, ZHANG H, LIU H, et al. AUV cooperative guidance method considering communication delay and period[J]. Ship Science and Technology, 2024, 46(1): 94-101.
[11] IN-SOO, JEON, JIN-IK, et al. Homing guidance law for cooperative attack of multiple missiles[J]. Journal of Guidance Control & Dynamics, 2010, 3(6): 14-17
[12] 张保峰, 宋俊红, 宋申民. 具有角度约束的多导弹协同制导研究[J]. 弹箭与制导学报, 2014, 34(1): 13-15+20.
