基于有向网络的一致性跟踪算法

研究了leader有控制输入且followers未知该输入条件下的线性多智能 体一致性跟踪问题.提出两种一致性跟踪算法,证明两种算法在leader到followers存在一棵 有向生成树且follower间拓扑是有向条件下,网络就能跟踪leader的状态.对于第一种算法,节点根 据相邻节点或leader的状态来求解其控制输入,并基于代数Riccati不等式给出 连续情形下算法稳定性条件.第二种算法直接利用相邻节点或leader的状态,使followers在上述网络条件下跟踪leader的状态,同样基于代数Riccati不等式给出算法稳定性条件. 仿真结果验证了算法的有效性.     

二维弹道修正引信总体方案和关键技术分析

本文在广泛分析国内外二维弹道修正技术的研究现状基础上，提出了一种基于鸭舵技术的二维弹道修正引信方案，确定了其工作原理，并对其中的关键技术进行了分析。主要包括弹道辨识技术，鸭舵修正控制技术，微机电系统技术等，进而探讨了弹道修正引信的发展方向．对二维弹道修正引信技术的进一步研究具有一定的参考价值．     

降低集束子弹药未爆弹率的技术路线

为了探索降低集束子弹药未爆弹率的方法,分析了可采用的技术改进方式,提出了依据自毁作用逻辑时序区分引信,对集束子弹药引信结构简化后建立了四种典型的可靠性模型,应用蒙特卡洛法对四种模型进行了打靶仿真,并与试验数据进行了对比。结果说明基本型很难达到未爆弹率不超过1%的要求,共用保险型能在一定程度上提高子弹药的综合发火率,但提高程度有限,独立保险型、抛撒启动型大幅提高子弹药的发火率,较容易达到未爆弹率不超过1%的要求。     

带有避碰机制的2阶非线性多智能体系统包围编队研究

当前关于包围编队的研究没有考虑一定条件下跟随者之间可能出现的碰撞问题。基于图论、矩阵分析、非线性分析,研究带有避碰机制的2阶非线性多智能体系统包围编队问题,分别设计了带有避碰机制的静态和自适应包围编队协议,并结合李雅普诺夫分析方法得到包围协议稳定的充分条件。通过仿真实验验证包围编队协议的有效性。研究结果表明：协议可使跟随者的运动轨迹最终趋向以所有领导者运动轨迹张成凸包的有限半径范围内,同时所有跟随者之间距离均始终大于安全距离。当前关于包围编队的研究没有考虑一定条件下跟随者之间可能出现的碰撞问题。基于图论、矩阵分析、非线性分析,研究带有避碰机制的2阶非线性多智能体系统包围编队问题,分别设计了带有避碰机制的静态和自适应包围编队协议,并结合李雅普诺夫分析方法得到包围协议稳定的充分条件。通过仿真实验验证包围编队协议的有效性。研究结果表明：协议可使跟随者的运动轨迹最终趋向以所有领导者运动轨迹张成凸包的有限半径范围内,同时所有跟随者之间距离均始终大于安全距离。     

Resilience approach for heterogeneous distributed networked unmanned weapon systems

Disconnection in the distributed heterogeneous networked unmanned weapon systems is caused by multiple weapon units' failure. The technical routes were analyzed to achieve resilience in the disconnection situation. A heterogeneous distributed network model of networked unmanned weapon systems was established. And an approach of adding relay weapon units was proposed to achieve fault tolerance after weapon units' failure due to attack or energy exhaustion. An improved genetic algorithm was proposed to determine and optimize the position of the relay weapon units. Simulation results in the MATLAB show that the improved resilience-based genetic algorithm can restore the network connection maximally when the number of relay units is limited, the network can keep on working after failure, and the implementation cost is controlled in a reasonable range.     

十字舵型二维弹道修正引信的修正

根据旋转弹体自身的特性。针对十字舵型二维弹道修正引信，提出了一种基于周期平均控制力的准双通道控制方案。首先在对其控制原理进行分析的基础上，提出一种控制方案。进而通过对此种方案修正实现过程的阐释，表明了该方案具有旋转双通道控制精度和效率较高的优点，论证了其可行性。     

Design and analysis of mechanical self-destruction and self-neutralization mechanism for submunition fuze

In order to decrease the unexploded submunition rate and reduce the harmfulness of unexploded submunition, a mechanical self-destruction and self-neutralization mechanism for submunition fuze is proposed in this paper. The definitions of the self-destruction and self-neutralization for submunition fuze are elaborated, and the action principle of the mechanical self-destruction and self-neutralization mechanism is also analyzed. A dynamic model is established with an analysis on centrifugal plate parts, and the feasibility of mechanism motion is also discussed. A virtual prototype of mechanism is formed, and the motion process simulation of the mechanism is performed through a dynamic analysis software ADAMS. The centrifugal experiment results validate that the mechanical self-destruction and self-neutralization mechanism can act reliably.     

一种分布式多无人机协同定距盘旋跟踪制导律

多无人机协同跟踪运动目标既可以全方位探测目标信息,又可以应对外界视线干扰,降低丢失目标的概率,因而具有重要研究意义。基于Unicycle模型提出了一种仅需目标和邻近无人机信息的分布式协同定距跟踪制导律,解决了传统Leader-Follower方法中编队过于依赖Leader的问题,提高了编队网络的鲁棒性。针对静止目标设计了基于相对距离与视线角的分布式多无人机协同制导律,并证明了系统稳定性;该制导律推广至对匀速及变速目标的跟踪制导;利用飞行控制器、模拟飞行软件X-Plane和仿真软件MATLAB/Simulink对上述静止、匀速和变速3种运动模式的目标分别进行协同跟踪半实物仿真,结果验证了所提制导律的有效性。     

Three-dimensional suboptimal guidance law for fly-over and shoot-down smart ammunition via virtual target

An optimal burst height is required for the fly-over and shoot-down smart ammunition with an EFP warhead at the instant of explosion which brings a special requirement to the miss distance of the terminal guidance law.In this paper,aguidance law based on the virtual target scheme is proposed.First,the practical pursuit-evasion issue between the ammunition and the target with specific miss distance is transformed into a virtual pursuit-evasion problem with zero miss distance.Secondly,a complete three-dimensional pursuit-evasion kinematics model is established without any simplifications.And then,a suboptimal guidance law is designed based on theθ-D method which has constraints of the elevation and azimuth angular velocity of the virtual line of sight(LOS).Finally,in order to verify the performance of the proposed guidance law,three test cases are conducted.Numerical results show that under the proposed terminal guidance law,the smart ammunition not only can fly above the target with an optimal burst height but also have a smaller normal acceleration on the terminal trajectory.     

基于相对旋转的子弹药引信基座式发电机

针对子弹药引信“三自”和电源小体积的要求,提出了一种基座式发电机。该发电机利用引信体和弹体的相对旋转产生电能,为子弹药引信供电。通过理论分析探讨了发电机的基本电磁关系,确定了基座式发电机的主要设计参数。运用电磁分析软件 Magnet进行仿真,得到了感应电动势波形。加工了基座式发电机主要构件并装配成原理样机进行测试。理论分析和实验结果表明,基座式发电机输出比较理想,能够满足子弹药引信的电能需求。