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Distributed cooperative guidance for multiple missiles with fixed and switching communication topologies

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Chinese Journal of Aeronautics 2017年第4期30卷 1570-1581页

作者： Qilun ZHAO Xiwang DONG zixuan liang Chen BAI Jian CHEN Zhang REN Science and Technology on Aircraft Control Laboratory School of Automation Science and Electronic EngineeringBeihang University Beijing 100083 China School of Astronautics Beihang University Beijing 100083 China China Academy of Launch Vehcle Technology Beijing 100076 China College of Engineering China Agricultural University Beijing 100083 China

This study investigates cooperative guidance problems for multiple missiles with fixed and switching directed communication topologies. A two-step guidance strategy is proposed to realize the simultaneous attack. In the first step, a distributed cooperative guidance law is designed using local neighboring information for multiple missiles to achieve consensus on range-to-go and leading angle. The second step begins when the consensus of multiple missiles is realized. During the second step, multiple missiles disconnect from each other and hit the target using the proportional navigation guidance law. First, based on the local neighboring communications, a sufficient condition for multiple missiles to realize simultaneous attack with a fixed communication topology is presented, where the topology is only required to have a directed spanning tree. Then,the results are extended to the case of switching communication topologies. Finally, numerical simulations are provided to validate the theoretical results.

关键词： Consensus Cooperative guidance Directed topology Missile guidance Multiple missiles Switching communication topologies

Distributed group cooperative guidance for multiple missiles with switching directed communication topologies 36

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Distributed group cooperative guidance for multiple missiles...

第36届中国控制会议

作者： Qilun Zhao Xiwang Dong zixuan liang Zhang Ren School of Automation Science and Electronic Engineering Science and Technology on Aircraft Control LaboratoryBeihang University

ISBN: (纸本)9781538629185

Distributed group cooperative guidance(DGCG) problems for multiple missiles with switching directed communication topologies are dealt *** contrast to traditional cooperative guidance utilized to intercept one single target,the group cooperative guidance is applicable to multiple *** the group cooperative attack,multi-missile system are classified into multiple subgroups,and each subgroup attacks its respective *** in the same subgroup are required to reach the target simultaneously,while different subgroups may cooperate successively in terms of the impact *** realize the group cooperative attack,a two-step guidance strategy is *** first step adopts a DGCG law based on local neighboring information for multiple missiles to realize group consensus on range-to-go and leading *** second step begins when the group consensus of missiles is *** this step,each missile attacks the target under the proportional navigation(PN) guidance *** from a feedback linearization approach and convergence analysis,sufficient conditions for multiple missiles to realize the group cooperative attack with switching directed communication topologies are proposed,***,numerical examples are given to show the effectiveness of the two-step guidance strategy.

关键词： Missile guidance multiple missiles cooperative guidance group consensus switching communication topologies

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鼠尾草酸影响线粒体功能抑制破骨细胞分化

中国组织工程研究 2025年第2期29卷 245-253页

作者：李海山吴宇桁梁梓炫张诗茵张朕麦彬邓威李永贤唐永超张顺聪袁凯广州中医药大学第一附属医院广东省广州市510405 广东省中医临床研究院广东省广州市510405 广州中医药大学岭南医学研究中心广东省广州市510405 广州中医药大学第七临床医学院广东省深圳市518100

背景:鼠尾草酸是在迷迭香中发现的一种生物活性化合物,已被证明可减少炎症和活性氧,但在破骨细胞分化进程中的作用机制尚不明确。目的:探讨鼠尾草酸对破骨细胞活化、活性氧产生及线粒体功能的影响。方法:体外提取培养小鼠来源的原代骨... 详细信息

背景:鼠尾草酸是在迷迭香中发现的一种生物活性化合物,已被证明可减少炎症和活性氧,但在破骨细胞分化进程中的作用机制尚不明确。目的:探讨鼠尾草酸对破骨细胞活化、活性氧产生及线粒体功能的影响。方法:体外提取培养小鼠来源的原代骨髓源巨噬细胞,使用CCK-8细胞活力实验检测不同浓度(0,10,15,20,25和30μmol/L)鼠尾草酸对骨髓源巨噬细胞的增殖和毒性作用,筛选出安全作用浓度。将骨髓源巨噬细胞按照浓度梯度分组培养,核因子κB受体活化因子配体诱导破骨细胞5-7 d后,分别进行抗酒石酸酸性磷酸酶染色、F-actin染色、H2DCFDA探针和线粒体活性氧、Mito-Tracker荧光检测,观察鼠尾草酸对破骨细胞分化和功能的影响;通过Western Blot及RT-PCR实验检测鼠尾草酸对核因子κB受体活化因子配体诱导的丝裂原激活蛋白激酶信号通路上下游基因和蛋白的影响。结果与结论:①抗酒石酸酸性磷酸酶和F-actin染色显示:鼠尾草酸以浓度依赖性地抑制体外破骨细胞分化及细胞骨架肌动蛋白环形成,其中鼠尾草酸30μmol/L组的抑制作用最显著;与其他干预时期相比,鼠尾草酸在破骨分化的早期(第1-3天)抑制作用最显著;②H2DCFDA探针和线粒体活性氧、Mito-Tracker荧光显示:鼠尾草酸抑制细胞活性氧和线粒体内活性氧的产生,同时减少线粒体膜电位,影响线粒体的功能;③Western Blot及RT-PCR结果显示:鼠尾草酸可抑制与破骨分化相关的NFATc1、CTSK、MMP9、C-fos蛋白的表达,下调与破骨分化相关的NFATc1、Atp6vod2、ACP5、CTSK和C-fos基因的表达;鼠尾草酸还可以增强抗氧化酶蛋白的表达,减少破骨分化过程中活性氧的产生;④鼠尾草酸抑制P38/ERK/JNK蛋白的磷酸化修饰,通过激活MAPK信号通路抑制骨髓源巨噬细胞破骨细胞分化。

关键词：鼠尾草酸活性氧线粒体活性 RANKL 破骨细胞

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基于在线气动参数修正的预测制导方法

北京航空航天大学学报 2013年第7期39卷 853-857页

作者：梁子璇任章北京航空航天大学飞行器控制一体化技术重点实验室北京100191

针对高超声速滑翔飞行器,提出了一种基于在线气动参数修正的预测制导方法.研究了再入过程中受到的各种飞行约束,给出了多约束下控制量设计的基本方案.分析了传统预测制导法在落点预测过程中存在的气动参数偏差影响,引入综合升力系数与... 详细信息

针对高超声速滑翔飞行器,提出了一种基于在线气动参数修正的预测制导方法.研究了再入过程中受到的各种飞行约束,给出了多约束下控制量设计的基本方案.分析了传统预测制导法在落点预测过程中存在的气动参数偏差影响,引入综合升力系数与综合阻力系数,并对其进行在线参数估计以及参数修正,以提高制导方法的适应性.基于气动参数修正方法,完成了纵向与横侧向制导律设计.设定较大的轴向力、法向力系数组合偏差对该方法进行了验证,并考虑再入初始条件和再入气动参数的不确定性,进行了蒙特卡洛仿真.结果表明:预测制导法中引入气动参数的在线估计与修正环节,可保证其制导精度,尤其对再入过程的气动扰动具有较强的适应能力.

关键词：高超声速飞行器再入制导预测制导参数估计在线修正

Three-dimensional guidance method for air to ground missile with impact time constraint

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Three-dimensional guidance method for air to ground missile ...

Multi-Agent Planning Under Complex Constraints for Deep-Space Probes Group

第37届中国控制会议

作者： Dong Guo Peng Jiang zixuan liang Zhang Ren School of Automation Science and Electrical Engineering Beijing University of Aeronautics and Astronautics China Academy of Launch Vehicle Technology School of Astronautics Beijing University of Aeronautics and Astronautics

This paper presents a three-dimensional guidance method based on sliding mode control（SMC） theory for attacking fixed target with time constraint. Assuming the configuration is axisymmetric, the missile movement is decomposed to the lateral plane and longitudinal plane. In the lateral plane, a guidance law is proposed based on the SMC theory, which controls the impact time and the miss-distance simultaneously. In the longitudinal plane, another SMC-based guidance law is implemented to converge the line-of-sight（LOS） rate rapidly. The convergence for both the lateral and longitudinal guidance law is proved by the Lyapunov theory. Simulation results indicate that the proposed three-dimensional guidance method has high control precision for both the impact time and miss-distance. The proposed guidance method is also demonstrated to have the ability to salvo attack.

关键词： air-to-ground missile guidance law time constraint sliding mode control salvo attack

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Multi-Agent Planning Under Complex Constraints for Deep-Spac...

带落速落角约束的高超声速飞行器俯冲轨迹规划方法

第32届中国控制与决策会议

作者： Yuting Zhao Zhaoyu Li Shenying Zhu zixuan liang Rui Xu Beijing Institute of Technology Key Laboratory of Autonomous Navigation and Control for Deep Space Exploration Ministry of Industry and Information Technology

With the development of launch technology and the miniaturization of probes,multi-probe systems can be used in space missions,and the demand for on-board planning is ***-probe planning needs tasks to be allocated properly to increase the total task profit and satisfy the complex time and resource constraints of *** propose to solve this problem using a multi-agent system,taking advantage of its negotiation strategy in task allocation to increase the global task *** we add complex constraint handling ability to agents,to deal with the more realistic and detailed constraints models in practical *** planning starts,a dynamic distributed multi-probe group formation pattern is designed to cope with the unstable communication condition between *** the multi-agent system,two types of agents are designed:execution agents represent task accomplish abilities of probes and target agents represent target requirements in the task.A novel three-phase multi-agent negotiation planning method is proposed,target agents ask for high-profit actions and execution agents respond depend on constraints and optimal *** last phase of planning satisfies resource constraints through an action-bind strategy,which can handle constraints between overlapped resource consumption and resource generation *** experimental results show that the proposed multi-agent planning method can obtain rational plans satisfying complex constraints and increases the task profit compared to the traditional greedy search method.

关键词： Multi-agent planning Complex constraints Deep-space probes

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宇航学报 2022年第8期43卷 1052-1060页

作者：梁子璇黄美伊冉宇寰朱圣英北京理工大学深空探测技术研究所北京100081 深空自主导航与控制工信部重点实验室北京100081

针对高超声速飞行器俯冲段精确打击任务需求,提出了一种能够同时满足落速与落角约束的轨迹规划方法。建立了两段式轨迹规划策略,第一段采用参数化控制剖面调节飞行速度,第二段采用传统偏置比例导引律实现落角控制。将控制剖面的参数设... 详细信息

针对高超声速飞行器俯冲段精确打击任务需求,提出了一种能够同时满足落速与落角约束的轨迹规划方法。建立了两段式轨迹规划策略,第一段采用参数化控制剖面调节飞行速度,第二段采用传统偏置比例导引律实现落角控制。将控制剖面的参数设计分解为多参数优化与单参数搜索两个问题:通过离线求解可行初始位置范围最大的多参数优化问题,提高控制剖面对初始偏差的适应性;通过在线求解带罚函数的单参数搜索问题,得到落速偏差最小的俯冲轨迹。结合高超声速飞行器模型,对所提出的俯冲轨迹规划方法进行了仿真。结果表明,该方法能够得到满足落速与落角约束的俯冲轨迹,具有较好的求解效率,且对初始状态偏差具有较强的鲁棒性。

关键词：高超声速飞行器俯冲段落速约束落角约束轨迹规划

小天体柔性着陆任务规划的动态时间约束推理方法

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宇航学报 2024年第2期45卷 212-221页

作者：王棒徐瑞李朝玉朱圣英梁子璇北京理工大学宇航学院北京100081 深空自主导航与控制工信部重点实验室(北京理工大学) 北京100081

针对小天体柔性着陆任务规划中的复杂耦合时间约束一致性推理效率问题,建立任务规划时间约束网络,通过划分时间约束类型,设计约束动态添加策略,提出动态弧一致时间约束推理方法,限制新添加约束的传播范围,局部求解时间网络一致性,实现... 详细信息

针对小天体柔性着陆任务规划中的复杂耦合时间约束一致性推理效率问题,建立任务规划时间约束网络,通过划分时间约束类型,设计约束动态添加策略,提出动态弧一致时间约束推理方法,限制新添加约束的传播范围,局部求解时间网络一致性,实现规划过程中时间约束网络一致性的高效维护。最后,构建小天体着陆规划场景,生成着陆任务规划活动及时间约束。仿真结果表明,与现有时间约束推理方法相比,所提出方法提高了时间约束推理效率,进而可为小天体柔性着陆任务规划提供支撑。

关键词：小天体探测柔性着陆器着陆任务规划动态弧一致时间约束推理

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半捷联位标器稳定跟踪与弹体姿态一体化控制

航空学报 2016年第12期37卷 3752-3763页

作者：易科陈建梁子璇任章李清东北京航空航天大学自动化科学与电气工程学院北京100083 中国农业大学工学院北京100083

半捷联位标器安装在弹体上,由于寄生回路的存在,使得位标器稳定跟踪控制回路和弹体姿态控制回路产生严重耦合,影响了位标器的稳定与跟踪。针对半捷联导引头稳定平台的稳定与跟踪问题,提出了一种半捷联位标器稳定跟踪控制与弹体姿态控制... 详细信息

半捷联位标器安装在弹体上,由于寄生回路的存在,使得位标器稳定跟踪控制回路和弹体姿态控制回路产生严重耦合,影响了位标器的稳定与跟踪。针对半捷联导引头稳定平台的稳定与跟踪问题,提出了一种半捷联位标器稳定跟踪控制与弹体姿态控制的一体化方法。基于反步控制原理设计了控制律,通过合理选择反馈增益可保证系统的稳定性与动态性能。最后对一体化设计与传统分离设计进行了仿真对比。仿真结果表明:考虑位标器稳定跟踪回路与导弹姿态回路耦合的一体化控制器,不仅能够保证弹体姿态控制系统快速响应,还可以提高位标器的稳定跟踪性能,并降低位标器跟踪不上高速目标的可能性。

关键词：半捷联位标器稳定跟踪姿态控制一体化控制反步控制