落角约束的高超声速飞行器俯冲机动制导方法

doi:10.16182/j.issn1004731x.joss.25-0668

系统仿真学报 ›› 2026, Vol. 38 ›› Issue (6): 1699-1710.doi: 10.16182/j.issn1004731x.joss.25-0668

• 论文 • 上一篇

落角约束的高超声速飞行器俯冲机动制导方法

王和¹, 雷刚¹, 李少朋¹^,²

^1.火箭军工程大学导弹工程学院，陕西西安 710025
^2.清华大学自动化学院，北京 100083

收稿日期:2025-07-14 修回日期:2025-08-21 出版日期:2026-06-25 发布日期:2026-06-25
通讯作者: 雷刚
第一作者简介:王和(2001-)，男，硕士生，研究方向为高超声速飞行器导航、制导与控制。
基金资助:
国家自然科学基金(62103432)

Impact Angle-constrained Dive Maneuver Guidance Method for Hypersonic Vehicles

Wang He¹, Lei Gang¹, Li Shaopeng¹^,²

^1.School of Missile Engineering, Rocket Force University of Engineering, Xi'an 710025, China
^2.School of Automation, Tsinghua University, Beijing 100083, China

Received:2025-07-14 Revised:2025-08-21 Online:2026-06-25 Published:2026-06-25
Contact: Lei Gang

摘要/Abstract

摘要：

为解决高超声速飞行器俯冲段落角控制与机动飞行问题，提出一种融合最优贝塞尔曲线和超螺旋滑模控制的跟踪制导方法。设计了一条满足落角约束的三维贝塞尔曲线轨迹，并通过添加动态控制点实现了俯冲段机动飞行；为实现落速最优，推导得到了飞行器沿曲线飞行时落速的快速求解方法，通过序列二次规划对控制点参数寻优得到最优的参考弹道；为确保对弹道的准确跟踪，设计了基于超螺旋滑模控制的跟踪制导律。仿真结果表明：该制导方法具有较高的落点、落角控制精度；扰动条件下，仍具有较好的鲁棒性和较高的终端控制精度。

关键词: 高超声速飞行器, 俯冲制导, 落角控制, 贝塞尔曲线, 鲁棒跟踪

Abstract:

To address the impact angle control and maneuvering flight problem of hypersonic vehicles in the dive phase, this paper proposed a tracking guidance method integrating optimal Bézier curves and super-twisting sliding mode control. A three-dimensional Bézier curve trajectory satisfying the impact angle constraint was designed, and the maneuvering flight in dive phase was achieved by adding dynamic control points; to optimize impact velocity, a rapid calculation method for the impact velocity of the vehicle flying along the curve was derived, and the optimal reference trajectory was obtained by optimizing the control point parameters through sequential quadratic programming; to ensure precise tracking of the trajectory, a tracking guidance law based on super-twisting sliding mode control was designed. Simulation results demonstrate that this guidance method achieves high control accuracy of impact point and impact angle; under disturbance conditions, it still maintains good robustness and high terminal control precision.

Key words: hypersonic vehicle, dive guidance, impact angle control, Bézier curve, robust tracking

中图分类号:

TP391

王和,雷刚,李少朋 . 落角约束的高超声速飞行器俯冲机动制导方法[J]. 系统仿真学报, 2026, 38(6): 1699-1710.

Wang He,Lei Gang,Li Shaopeng . Impact Angle-constrained Dive Maneuver Guidance Method for Hypersonic Vehicles[J]. Journal of System Simulation, 2026, 38(6): 1699-1710.

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参考文献 20

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参数	取值	参数	取值
高度/km	25	航迹角/(°)	0
速度/(m/s)	2 000	航向角/(°)	45
倾侧角/(°)	0	初始点经纬度/(°)	(0, 0)
攻角/(°)	5	目标点经纬度/(°)	(1, 1)

制导方法	落速/(m/s)	落角/(°)	脱靶量/m
参考弹道	1 107.340	-80.000	0
本文方法	1 106.065	-79.892	0.743
文献[11]	925.113	-79.864	1.273

制导方法	落角/(°)	脱靶量/m
本文方法	-79.902	1.086
传统滑模	-79.855	1.567
PID控制	-79.638	5.423

算例	起始点/(°)	期望落角/(°)
I	(0.2, 0)	-70
II	(0.1, 0)	-75
III	(0, 0.1)	-80
IV	(0, 0.2)	-85

算例	x₁/km	x₂/km	实际落角/(°)	脱靶量/m
Ⅰ	81.394	133.219	-69.965	2.473
Ⅱ	87.037	142.838	-74.953	2.024
Ⅲ	84.050	145.146	-79.944	1.513
Ⅳ	72.915	140.187	-84.930	0.637

落角约束的高超声速飞行器俯冲机动制导方法

Impact Angle-constrained Dive Maneuver Guidance Method for Hypersonic Vehicles

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参考文献 20

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参数	3σ	参数	3σ
高度/m	200	航迹角/(°)	0.1
速度/(m/s)	50	飞行器质量/kg	30
大气密度	20%	升力系数	20%
航向角/(°)	5	阻力系数	20%

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