为实现多弹协同饱和攻击同一目标,根据弹目相对运动关系,建立了弹目相对运动非线性模型,并基于领弹-从弹协同制导模式,提出了一种多弹时间协同三维制导律。在制导律中,领弹采用三维纯比例导引,从弹采用三维纯比例导引与动态逆控制。为实现同时打击,利用时标分离原则将从弹相对运动非线性模型分为快系统与慢系统,进而通过动态逆系统理论反馈线性化两个子系统,完成对从弹的协同控制。仿真结果表明,采用此协同制导律能使弹群同时命中目标,有效实现攻击时间的协同。

In order to achieve cooperative saturation attack of multi-missiles on the same target, the nonlinear relative motion model is designed based on the relative motion relationship between the missile and the target, and a multi-missile time coordination three-dimensional guidance law is proposed based on the leader-follower cooperative guidance model. In the guidance law, the leader missile adopts three-dimensional pure proportional navigation guidance, and follower missiles use three-dimensional pure proportional navigation guidance and dynamic inverse control. To achieve the consistent impact time, the follower nonlinear model is divided into a fast subsystem and a slow subsystem according to the time-scale separation method, and then feedback linearization of two subsystems is achieved based on dynamic inverse system theory to complete the cooperative control of the follower. Simulation results show that the use of this cooperative guidance rate can enable the missiles to hit the target at the same time, effectively achieving the coordination of attack time.