基于终端角度约束的鱼雷滑模制导律

Torpedo sliding mode guidance law based on terminal angle constraint

为实现鱼雷以一定终端角度约束命中水面舰船等目标,提高鱼雷的毁伤效果,以二维平面内鱼雷与目标相对运动模型为基础,提出一种基于终端角度约束的鱼雷偏置比例滑模制导律。所提方法将滑模控制与偏置比例导引结合,并基于Lyapunov函数稳定性理论证明制导律的稳定性。最后进行仿真实验,仿真结果表明,与其他类型制导律比较,设计的滑模制导律能按照预定的终端角度约束精确命中目标,脱靶量小于1 m,在噪声干扰数值下落角约束误差小于0.4°,制导指令在合理范围内快速收敛且具有较高的命中精度,验证了所提制导律的有效性和可行性。

In order to make the torpedo attack the surface ships and other targets with a certain terminal angle constraint,and improve the destructive effect of the torpedo,based on the relative motion model of the torpedo and the target in a two-dimensional plane,a torpedo bias proportional sliding mode guidance law with the terminal angle constraint is proposed.The proposed method combines the sliding mode control with the bias-proportional guidance,and proves the stability of the guidance law by using the Lyapunov function stability theory.Finally,simulation experiments are carried out,and the simulation results show that,compared with other types of guidance laws,the designed sliding mode guidance law can attack the target accurately according to the predetermined terminal angle constraint,the off-target amount is less than 1 m,and the impact angle constraint error is less than 0.4°in the noise interference value.The guidance command converges quickly within a reasonable range and has a high hitting accuracy,which verifies the validity and feasibility of the proposed guidance law.