针对二维机动目标，在考虑水声实时通信延迟与通信周期的基础上，对 AUV 中远距离巡航、近距离末端制导全流程进行分析。基于相对运动模型进行剩余时间计算，设计一种变比例系数和速度时变的多阶段协同制导律，使用李雅普诺夫有限时间收敛原理对模型进行稳定性验证，并对全流程进行仿真模拟。仿真结果证明了该协同制导方法具有较高精度。针对不同通信延迟与周期情况下的仿真结果体现的差异进行分析研究，结果表明通信延迟是导致参数调节波动的根本原因，而通信周期是影响误差收敛速度与参数波动幅值的主要因素，通信周期越大对AUV的机动性能要求越高。
This paper analyze the whole process of AUV guidance for two-dimensional maneuvering targets, which is divided into two phases, based on the consideration of hydroacoustic real-time communication delay and communication period, and carry out the residual time calculation based on the relative motion model, and design a two-phase coordinated guidance law with variable scale coefficients and time-varying speeds, and validate the stability of the model by using the Lyapunov finite time convergence principle, and simulate the whole process. The simulation results prove that the cooperative guidance method has high accuracy, and the differences in the simulation results under different communication delays and periods are analyzed and studied, which show that the communication delay is the root cause of the fluctuation of parameter regulation, while the communication period is the main factor affecting the speed of error convergence and the amplitude of parameter fluctuation, and the larger the communication period is, the higher the mobility requirements for AUVs are.
2024,46(1): 94-101 收稿日期：2023-09-11
DOI：10.3404/j.issn.1672-7649.2024.01.016
分类号：U674.76
基金项目：国防科技创新特区项目（23-TQ02-01-ZT-01-003）
作者简介：张壹(1999-),男,硕士研究生,研究方向为船舶与海洋结构物设计制造
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