具有时间和角度约束的欠驱动三维协同制导律

Underactuated Three-dimensional Cooperative Guidance Law with Time and Angle Constraints

针对多航天器协同捕获目标的问题,提出一种针对固定目标的欠驱动三维协同制导律。通过分阶段设计,该方法在不改变速度大小的条件下,满足时间一致性约束和终端角度约束。提出一种控制结构,实现对收敛时间进行设置。提出的设定时间收敛三维协同制导方法包括平面协同制导和共面构造制导两部分。平面协同制导基于共面假设,在平面内利用最优攻击角度控制算法和设计的偏置项,保证时间一致性和终端角度趋于期望值;共面构造制导通过矢量几何运算,实现预定时间内速度矢量、视线矢量和期望速度矢量共面。通过严格的理论推导证明了所提出的协同制导律的稳定性,数值仿真结果验证了该方法的有效性。

Aiming at the issue of multi-spacecraft cooperatively capturing one target,a three-dimensional underactuated cooperative guidance law is put forward.Through the progressive design strategy,this approach can concurrently fulfill the time consistency constraint and the terminal angle constraint without altering the speed value.A control structure is devised to achieve the setting of the convergence time.The designed three-dimensional cooperative guidance with predefined-time convergence encompasses two components,the planar cooperative guidance and the coplanar construction guidance.Based on the coplanar assumption,the planar cooperative guidance employs the optimal impact angle control algorithm and the designed offset term to guarantee time consistency and terminal angle constraint.The coplanar construction guidance steers the vectors of velocity,line of sight,and desired impact onto one engagement plane by means of geometric operations of vectors.The stability of the proposed cooperative guidance law is demonstrated by rigorous theoretical derivation.The efficacy of this method is verified by numerical simulation results.