| Missile-aircraft integrated UAV has the characteristics of long-term cruise and high-speed penetration.It represents a new direction of integrated development of missile and UAV and plays an increasingly important role in modern war.Cooperative attack on targets is an effective combat style of UAV swarm,which has been confirmed in many local conflicts in recent years.In order to effectively realize saturation and omni-directional attack,the design of impact time and angle cooperative controllable guidance law becomes the key.Aiming at the problem of multiple UAVs cooperative attack guidance under spatio-temporal constraints,this paper carries out the research on single UAV precise impact time control,multiple UAVs time cooperation,multiple UAVs impact angle and time cooperation and so on.The effectiveness of the method is verified by theoretical derivation,simulation analysis and flight test.The main research results of this paper are as follows:For the scenario of single UAV operation,the impact time controllable guidance law(ITCG)is studied.In the 2-D plane,based on the tracking idea,the impact time control problem is transformed into the flight distance control problem,and the distance-to-go error equation is established.Then,based on the global fast terminal sliding mode surface and the fast reaching law,the ITCG guidance law with seeker field of view(FOV)constraint is designed.The finite time convergence of the guidance law and the controllable range of impact time are analyzed.Furthermore,the distance-to-go error equation is established in 3-D space.Combined with dynamic inverse method and equivalent sliding mode control theory,a 3-D ITCG guidance law with seeker FOV constraint is designed,and the stability of the guidance law is proved.This method has wide adjustable range of impact time,high guidance accuracy,and can meet the view constraint of seeker’s FOV.Considering the combination of independent guidance and cooperative guidance,the multiple UAVs cooperative attack guidance method based on coordinated variables is studied.In the 2-D plane,according to the unique track characteristics of proportional guidance,the guidance phase is divided into coordination phase and proportional guidance phase.Taking distance and approach velocity as coordination variables,the multi-agent model of coordination phase is established.The consistency control protocol is introduced in order to design the cooperative guidance law,and the asymptotic convergence of the guidance law is proved.Furthermore,the guidance scheme in 2-D plane is extended to 3-D space,and the corresponding coordination phase guidance law in 3-D space is designed.Then,aiming at the problem of attacking on multiple targets,the grouping consistency control protocol is introduced,and the grouping cooperative guidance law in the coordination phase is designed.The effectiveness and engineering feasibility of the cooperative guidance method are verified by flight tests.Considering the velocity controllable dynamic characteristics of UAV,taking the velocity as the input control quantity of impact time control,the multiple UAVs impact angle and impact time cooperative guidance method(ITACG)is studied.Firstly,a single UAV impact angle and impact time controllable model is established.The non-singular fast terminal sliding mode control theory and super twisting algorithm are used to design the line of sight(LOS)angle controllable guidance law and impact time control method.Then,the relative LOS angle is introduced,and the impact angle and impact time cooperative control model is proposed.Combined with integral sliding mode control,super twisting algorithm and finite time consistency theory,the LOS angle cooperative guidance law and impact time cooperative control method are designed respectively.The extended state observer(ESO)is introduced to solve the problem of accurate control of impact time under disturbance.The cooperative attack flight test shows that in the three-UAVs ring attack based on the coordination variable,the time coordination error is less than 0.7s and the miss distance of each unit is less than 0.5m;The simulation of impact time/angle cooperative guidance based on consistency theory shows that the impact time and impact angle of UAV swarm converge to the expected value in a limited time,the time and angle cooperative errors are close to 0,and the terminal miss distance is less than 0.1m;The introduction of ESO can accurately estimate and effectively compensate external disturbances,and significantly enhance the robustness of impact time cooperative control.The research results of this paper have important theoretical significance and engineering value for realizing the efficient cooperative penetration of UAV swarm and improving the combat effectiveness of the system. |
