针对多弹协同打击敌方空中目标问题,推导了基于滑模控制理论与人工视场法的多弹多约束三维协同制导方法。首先,根据弹目相对运动关系,在视线坐标系下建立了三维弹目相对运动非线性模型。然后,以多弹剩余飞行时间为协调变量,基于有限时间一致性理论设计了多弹视线方向制导律,实现了多弹对目标的协同打击。在此基础上,通过滑模控制理论设计了多弹视线法向制导律,使多弹能够以既定视线角命中敌方目标,并根据滑模面收敛特性,自适应更新滑模参数,降低了滑模参数选取复杂度。此外,考虑目标机动信息难以获取问题,设计了扩张状态观测器实现对目标加速度信息的高效预估。最后,结合人工势场法思想,设计了多弹规避控制指令,实现多弹飞行过程中对规避区等约束的有效规避,仿真结果验证了所提制导方法的有效性。

Aiming at the problem of multi-missile cooperative attack on enemy air targets, a multi-missile and multi-constraint three-dimensional cooperative guidance method based on sliding mode control theory and artificial potential field method is deduced. Firstly, according to the relative motion of the missile and the target, a three-dimensional non-linear model of the relative motion between the missile and the target was established in the line-of-sight coordinate system. Then, taking the remaining flight time of multiple bombs as the coordination variable, based on the finite time consistency theory, the guidance law of the direction of sight of multiple bombs is designed, which realizes the coordinated attack on the target. On this basis, the normal direction of sight guidance law of multi-missile is designed through the sliding mode control theory, so that the multi-projectile can hit the enemy target at a given line of sight angle, and according to the convergence characteristics of the sliding mode surface, the parameters are adaptively updated to reduce the sliding mode parameter selection complexity. In addition, considering the difficulty in obtaining target maneuver information, an expanded state observer is designed to efficiently predict target acceleration information. Finally, combined with the idea of artificial potential field method, a multi-missile obstacle avoidance control command is designed to effectively avoid constraints such as avoidance zones during multi-missile flight. The simulation results verify the effectiveness of the proposed guidance method.