针对末制导段多无动力导弹在速度时变情况下协同打击高价值时敏目标的问题,推导了基于动态逆的时间协同三维制导方法。首先,根据弹目相对运动关系,建立了三维弹目相对运动非线性模型。然后,领弹在俯仰通道与偏航通道均采用比例导引,从弹采取比例导引与机动控制结合的方式。最后,为实现多弹同时命中动目标,以领从弹剩余时间误差为协调变量,利用时标分离原则将从弹相对运动非线性模型分解为快系统与慢系统,并通过动态逆系统理论反馈线性化两个子系统,在满足一定过载约束下,解算出从弹偏航通道过载指令,实现多无动力导弹对动目标的协同打击,仿真结果验证了所提制导方法的有效性。

A time-cooperative three-dimensional guidance method based on dynamic inversion is proposed for the simultaneous attack on high-value time-sensitive targets by multiple unpowered aircrafts in the terminal guidance stage. First, a three-dimensional nonlinear model of the relative movement of the missile and the target is established. Then, the lead missile adopts proportional guidance in both the pitch channel and the yaw channel, and the follow missiles adopt a combination of proportional guidance and maneuver control. Finally, in order to achieve multiple missiles attacking the moving target at the same time, the remaining time error of the leader missile and the follow missiles is selected as the coordination variable, and the time-scale decomposition method is used to decompose the relative motion nonlinear model of follow missiles into a fast subsystem and a slow subsystem, then dynamic inversion is used to feedback linearization of two subsystems and the yaw channel overload command is solved under certain overload constraints. The simulation results verify the effectiveness of the proposed guidance method.