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针对带有末端攻击角度约束的多导弹协同制导问题,运用模型预测扩展控制(MPSC)和协同比例制导(CPN),设计了一种满足末端攻击角度约束的多导弹协同次优制导律。阐述了MPSC制导方法的基本理论,详细给出了控制量表达式以二次形式近似时MPSC制导律的设计过程。采用CPN对MPSC制导方法的初始控制量进行猜测,并确定协同攻击时间。仿真时考虑两枚导弹对地面静止目标进行协同攻击。仿真结果表明,两枚导弹攻击时间偏差和末端攻击角度偏差均可控制在给定范围内,即本文所设计的制导律在实现多导弹协同攻击时,还可以很好地满足末端攻击角度约束。
Aiming at the multi-missile cooperative guidance problem with terminal attack angle constraints, a model-guided multi-missile cooperative suboptimal guidance law is designed by using model predictive extension control (MPSC) and cooperative proportional guidance (CPN). The basic theory of MPSC guidance method is expounded. The design process of MPSC guidance law when the control volume expression is approximated by quadratic form is given in detail. The CPN is used to guess the initial control of MPSC guidance method and to determine the coordination attack time. Simulation consider two missiles on the ground static target collaborative attack. The simulation results show that both the missile attack time deviation and the terminal attack angle deviation can be controlled within a given range, that is, the guidance law designed in this paper can well meet the terminal attack angle constraints when implementing the multi-missile coordinated attack.