Research Of Path Planning Based On Mikado Network And Multi-constraint Cooperative Guidance

Anti-ship missiles have become an important weapon in maritime operations with their long cruise time and great lethality.However,in the current combat environment,the missile defense system is becoming more and more perfect,and it is becoming more and more difficult for a single missile to penetrate the defense.The coordination of multiple missiles and the saturation attack on the target is conducive to improving the ability to damage high-value targets.In addition,through space coordination among multiple missiles,multiple missiles can hit the target from their respective desired directions,which is conducive to improving coordinated detection accuracy,dispersing enemy firepower and saving control energy.Therefore,the multiball coordination technology has received extensive attention from researchers.This dissertation takes cruise missile clusters as the research object,with the ultimate goal of completing coordinated attacks on ship targets.According to actual engineering needs,the route planning,path tracking and multi-constraint terminal guidance laws of anti-ship missile clusters are studied.Usually,large and medium-sized ships will adopt multi-level defensive interception measures and have the ability to resist a certain number of intensive missile attacks.This requires missile clusters to carry out reasonable route planning and achieve combat strategies such as avoiding enemy radar detection.Aiming at the route planning technology,this paper designed a new network integration method based on the Mikado network based on the characteristics of anti-ship missiles,and combined with the generality of the route planning algorithm,combined with the concept of network versatility to construct a network The process is stripped separately to obtain an equal-length route planning algorithm that can adapt to multiple situations.In the automatic control section,guidance commands cannot be generated only based on the preset route.In response to the guidance command requirements of the automatic control section,the missile’s movement model in the two-dimensional plane and the path tracking control model are established.The vector field(VF)-based path tracking algorithm uses the Lyapunov function to supplement the design of a new control strategy.On the basis of planning the route,several classic path tracking algorithms are compared,which can realize the planning path in the automatic control section.Stable tracking.Secondly,in response to the guidance command requirements of the automatic control section,the anti-ship missile’s motion model and path following control model in a two-dimensional plane are established.The VF-based path following algorithm uses the Lyapunov function to supplement and design a new control strategy.Based on the path planning,several classic path following algorithms are introduced and compared which can realize the stable tracking of the planned path in the automatic control section.After the missiles have reached the edge of the predetermined combat zone and entered the self-guided section,the end-of-line synergy effect of the cluster missiles will directly determine the final saturation strike effect.This paper proposes a guidance law that can achieve the collision time and terminal collision angle constraints for intercepting maneuvering targets.The guidance law sets the line-of-sight error as a parameter that changes with the relative distance between the missile and the target,and designs an integral sliding mode surface based on integral sliding mode control.Compared with other collision time and collision angle constraint guidance laws,considering the impact of the remaining strike time change on the line of sight constraint,the constraint accuracy can be effectively improved during the interception process,so that the proposed guidance law can ensure that the collision is specified at the specified time.Angle hits the target.Finally,the stability of the guidance law is proved based on the Lyapunov function,and the design experiment verifies that the designed guidance law can effectively eliminate the impact of the collision time constraint algorithm on the collision angle constraint.A simulation combat system for middle guidance and terminal guidance of the missile cluster is established.Through comprehensive experiments,it is verified that the designed coordinated guidance algorithm can effectively meet the performance requirements of coordinated strikes.