Research On Multi Torpedo Cooperative Guidance Law Based On Time And Attack Angle Constraints

As one of the most important precision-guided weapons in modern maritime warfare,torpedoes have become an important direction in the development of military forces of various countries.With the increasing complexity of the naval warfare environment and the continuous development of hydroacoustic countermeasures technology,the torpedoes’ surprise defense and attack targets in modern naval warfare are facing more and more challenges.In order to enhance the striking capability and destructive effect of torpedoes on targets,the research on the guidance law of attack angle and attack time constraint of torpedoes is particularly important.Therefore,the thesis carries out the research on the cooperative guidance law of multiple torpedoes based on time and attack angle constraints.The paper firstly studies the definition of common spatial coordinate systems of torpedoes and the conversion relationship between them,and establishes the torpedo-target relative motion model.The classical guidance laws such as tracking method,parallel approach method and proportional guidance method are studied,and the performance of these three guidance law algorithms is compared and analyzed through simulation,and the proportional guidance method is selected as the basis of the subsequent guidance law research,which lays the theoretical and algorithmic foundation for the subsequent research on the cooperative guidance law of torpedoes with constraints.Secondly,in order to meet the operational requirements of multiple torpedoes in the final guidance phase for the angle of attack constraint,the research on the guidance law based on the angle of attack constraint is carried out.The study analyzes the biased proportional guidance law based on the angle-of-attack constraint,and conducts simulation comparison analysis for stationary and moving targets respectively.The sliding mode variable structure control theory has strong anti-interference capability and strong robustness when dealing with tracking control in complex systems.A guidance law with effective resistance to interference and strong robustness is derived and analyzed to ensure that this guidance law can meet the hitting accuracy under the angle of attack constraint and also have a small off-target amount.Then,in order to achieve multiple torpedoes to attack the target cooperatively,the study of the torpedo time-constrained guidance law based on residual time estimation is carried out.The commonly used theoretical algorithms for torpedo residual time estimation are studied.The sliding mode surface of the time-constrained guidance law is designed according to the guidance system model,and the time-constrained torpedo sliding mode guidance law is derived based on the stability theory of Lyapunov function;then the singular values of the guidance law are analyzed,and the hyperbolic tangent function is used instead of the sign function to effectively solve the singular value problem.Through the analysis of simulation results,the effectiveness and feasibility of the torpedo time-constrained sliding mode guidance law based on residual time estimation are verified.Finally,in order to realize the demand of multi-torpedo cooperative saturation attack,the study of the double-constrained guidance law of torpedo attack angle and time is carried out.Based on the multi-torpedo cooperative guidance model,the guidance laws are designed to satisfy the angle and time constraints in the line of sight direction and the line of sight normal direction of the torpedo guidance command,respectively.In the line-of-sight direction,the guidance laws are designed to satisfy the constraints on the attack time to achieve simultaneous torpedo hits on the target.Then,in the line of sight normal direction,the guidance law is designed to satisfy the constraints on the angle of attack,so that the line of sight angles of all torpedoes converge to the desired line of sight angle within a predetermined time and the line of sight angular rate converges within the desired time,so that the guidance law can successfully hit the target under the dual constraints of time and angle at the same time,and the feasibility and effectiveness of the algorithm are verified by simulation analysis.