Research On Distributed Cooperative Guidance Technology Based On Double Constraints

With the increasingly complex naval environment and the continuous development of underwater defense technology,torpedoes must be highly intelligent.Guidance performance is the core content of the tactical and technical performance of torpedoes.For underwater precision guided torpedoes,relying on a single working mode and technical means can no longer meet the operational needs of systematization,networking and informationization in a complex confrontation environment.Therefore,this paper conducts research on distributed cooperative guidance technology based on double constraints.The thesis firstly studies the commonly used definitions of space coordinate systems and the transformation relationship between them,and establishes a torpedo-target relative motion model.The tracking method,the three-point method and the proportional guidance method are studied,and the performance of these three algorithms is compared and analyzed through simulation,and the proportional guidance method is selected as the research basis of the subsequent guidance law.In order to realize the distributed information coordination of multiple torpedoes,the distributed network topology is designed,the distributed coordination and consensus algorithm and the intelligent cooperative control theory are studied,and the performance of the algorithm is verified by simulation,which lays a theoretical foundation for the subsequent guidance technology.Secondly,in order to meet the angle constraints of multiple torpedoes in the guidance process,research on cooperative guidance technology based on distributed angles is carried out.The proportional guidance algorithm based on angle control and the offset proportional guidance algorithm with falling angle constraints are studied,and the simulation and comparison of stationary targets and moving targets are carried out respectively.In order to further improve the torpedo guidance accuracy,a distributed line-of-sight cooperative guidance model is established based on the distributed network topology.Using the distributed coordination consensus algorithm,the second-order line-of-sight angle cooperative guidance law is studied,so that multiple torpedoes hit the target from the expected relative line-of-sight angle,and the performance of the algorithm is verified by simulation.Then,in order to meet the time constraints of multiple torpedoes in the guidance process,the research on distributed time cooperative guidance technology is carried out.The remaining time cooperative guidance law is studied,and the performance of the algorithm is verified by simulation analysis.By establishing a time-coordinated guidance model,the first-order distributed time-coordinated guidance law for switching network topology in the case of communication interruption is studied.In order to further improve the torpedo guidance accuracy,a distributed second-order time cooperative guidance algorithm is studied,and the effectiveness of the algorithm is verified by simulation.Finally,in view of the instability of the torpedo guidance overload command under a single constraint,the research on the distributed cooperative guidance technology based on time and space constraints is carried out on the basis of the time and angle distributed cooperative guidance technology.The control guidance law based on time-space switching is studied,and the performance of the algorithm is verified by simulation analysis.In order to further enhance the stability of the guidance system,based on the distributed network topology,distributed time and space cooperative guidance strategies are designed in the line of sight of acceleration and the normal direction of the line of sight,respectively.The guidance law can successfully hit the target under the dual constraints of time and angle,and the engineering practicability of the algorithm is verified by simulation analysis.