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摘要: 针对三维空间中多航天器协同捕获机动目标问题, 提出一种具有终端角度约束和时间一致性约束的设定时间协同制导律, 将视线角误差和齐射攻击的收敛时间作为一个可提前设定的参数, 实现对收敛时间进行设置. 构建三维场景航天器-目标运动学模型, 在沿视线(Line-of-sight, LOS)方向将同时攻击问题转化为一致性问题, 提出一种分布式协同制导律, 设定时间内使得多个航天器剩余飞行时间相等; 在垂直视线方向利用滑模控制方法对制导律进行设计, 使得每个航天器的视线角在设定时间内达到期望值. 上述制导律中, 设计了一种设定时间扩展状态观测器对未知的目标加速度进行估计. 数值仿真结果验证了方法的有效性.Abstract: Aiming at the problem of multi-spacecraft cooperatively capturing the maneuvering target in 3D, a predefined-time cooperative guidance law with terminal angle constraint and time consistency constraint is proposed. The convergence time of line-of-sight(LOS) angle error and salvo attack can be treated as predefined parameters to achieve the setting of the convergence time. Construct a 3D scene spacecraft-target kinematics model. The simultaneous attack problem can be regarded as a consensus problem along the LOS direction, where a distributed cooperative guidance law is presented to make the time-to-go of all spacecrafts equal within the predefined time. A guidance law is also designed using sliding mode control in the normal direction of the LOS to achieve the desired LOS angles for each spacecraft within the predefined time. In the above guidance law, an predefined-time extended state observer is developed to estimate the unknown target acceleration. The effectiveness of this method is verified by numerical simulation results.
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图 10 ${T_s} = 3\,\;\mathrm{s} $沿视线方向目标加速度真值和观测值
Fig. 10 Actual values and estimations of target acceleration on the LOS direction when ${T_s} = 3\,\;\mathrm{s} $
图 12 $ {T_s} = 3\,\;\mathrm{s}$视线偏角方向目标加速度真值和观测值
Fig. 12 Actual values and estimations of target acceleration on the yaw direction when $ {T_s} = 3\,\;\mathrm{s}$
图 13 ${T_s} = 2\,\;\mathrm{s} $沿视线方向目标加速度真值和观测值
Fig. 13 Actual values and estimations of target acceleration on the LOS direction when ${T_s} = 2\,\;\mathrm{s} $
图 15 ${T_s} = 2\,\;\mathrm{s} $视线偏角方向目标加速度真值和观测值
Fig. 15 Actual values and estimations of target acceleration on the yaw direction when ${T_s} = 2\,\;\mathrm{s} $
图 11 $ {T_s} = 3\,\;\mathrm{s}$视线倾角方向目标加速度真值和观测值
Fig. 11 Actual values and estimations of target acceleration on the pitch direction when $ {T_s} = 3\,\;\mathrm{s}$
图 14 ${T_s} = 2\,\;\mathrm{s} $视线倾角方向目标加速度真值和观测值
Fig. 14 Actual values and estimations of target acceleration on the pitch direction when ${T_s} = 2\,\;\mathrm{s} $
图 16 ${T_{fr}} = 8\,\;\mathrm{s} $的航天器剩余飞行时间
Fig. 16 Time-to-go when ${T_{fr}} = 8\,\;\mathrm{s} $
图 17 $ {T_{f\lambda }} = 13\,\;\mathrm{s}$的视线倾角
Fig. 17 LOS angles on the pitch direction when $ {T_{f\lambda }} = 13\,\;\mathrm{s}$
图 18 $ {T_{f\lambda }} = 13\,\;\mathrm{s}$的视线偏角
Fig. 18 LOS angles on the yaw direction when $ {T_{f\lambda }} = 13\,\;\mathrm{s}$
表 1 航天器初始状态
Table 1 Initial state of the spacecrafts
参数名称 参数初始值 序号1 序号2 序号3 序号4 相对距离(km) 11 12 11 9 相对速率(m/s) −320 −400 −380 −350 视线倾角(°) −60 −45 −30 −20 视线偏角(°) 10 30 40 60 视线倾角速率((°)/s) 0.63 0.246 −0.355 −0.779 视线偏角速率((°)/s) 1.404 0.67 −0.521 −0.882 期望视线倾角(°) −30 −15 −60 −50 期望视线偏角(°) 30 50 20 40 
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