为提高对未知目标的拦截能力，基于博弈理论，研究了一种由水下拦截器和我方舰艇协同防卫来袭目标的微分制导策略。该策略在三方对策关系基础上，结合视线指令构造协同约束，建立三方自导约束模型，以终端脱靶量和最小能量为性能指标进行协同对策制导律设计。利用伴随原理解决终端问题方法导出具有反馈控制的“零效脱靶量”，并以滚动时域法对制导参数进行实时预测。通过对可捕获条件下不同制导方式来袭目标的拦截仿真表明：在相同条件下，该制导策略弹道性能良好，不受目标机动形式的限制，具有较强的鲁棒性和稳定性。
Abstract
A differential game guidance law based on game theory is developed for the underwater interceptor in order to improve the ability to intercept an unknown target in collaborative defense. A tripartite maneuvering game model is established, in which the homing constraint information can be obtained using the line-of-sight command. The method of solving the terminal problem by the adjoint mathematics is used to get the zero effort miss distance of the differential strategy by taking terminal miss distance and control energy as the performance indexes, which can be applied to arbitrary order control situation for tripartite strategies. The receding horizon control is used to predict the guidance law parameters in real time. The differential game strategy is simple to implement in practical applications under the conditions of homing. The performance of the guidance law is analyzed, and the effects of intercepting the targets by using different guidance laws are compared. The simulated results show that the differential game guidance law is robust adaptability and stability, which is not restricted by the maneuvering forms of targets under the condition of same constraints, and is of better trajectory characteristics.
关键词
兵器科学与技术 /
微分对策制导 /
水下拦截器 /
协同作战 /
零效脱靶量
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Key words
ordnance science and technology /
differential guidance law /
underwater interceptor /
cooperative engagement /
zero effort miss distance
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基金
水下信息与控制重点实验室基金项目(9140C230202150C23001)；国家自然科学基金项目（61473224）
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