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针对无人机自动着舰撞网回收过程中目标舰船处于运动状态的特点,借鉴导弹导引律的比例导引法提出了基于视线角的制导律,并引入反步法的设计思想以提高制导律的自适应性。基于视线角的制导律使无人机的轨迹倾斜角变化率与视线角变化率成比例,通过控制视线角来跟踪下滑轨迹倾斜角。采用该导引律可以减小无人机运动对目标舰船参数变化的敏感性,从而获得较为稳定的下滑轨迹。仿真结果表明了该制导律的可行性,并且该制导律具有较强的鲁棒性。
Aiming at the characteristics that the target ship is in motion during the process of recovering UAV collision, this paper puts forward the guidance law based on the line of sight, and introduces the design idea of backstepping method to improve Guidance Law Adaptive. Guidance law based on line-of-sight angle makes the rate of change of the trajectory inclination of the UAV proportional to the rate of change of line-of-sight, and tracks the angle of decline of the glide path by controlling the line-of-sight angle. The guidance law can reduce the sensitivity of the UAV to the changes of the target ship parameters, so as to obtain a relatively stable decline trajectory. The simulation results show the feasibility of the guidance law, and the guidance law has strong robustness.