基于轨迹成型的攻击角度与时间控制

假定所成型的导弹飞行轨迹由圆弧段和直线段构成，直线段经过目标点且满足导弹末端攻击角度的要求，圆弧段起始于导弹初始位置且与直线段相切于待定的点，该点由指定的导弹攻击时间通过迭代算法得到。给出了可行的攻击时间范围。在轨迹成型的基础上，提出一种新的虚拟目标轨迹跟踪控制方法：在圆弧段提出一种前馈加反馈的复合控制方案，在直线段提出一种带角度控制的比例导引方案。该方法是一种几何方法，易于工程实施。仿真结果表明，该方法可以有效地同时对攻击角度与攻击时间进行控制。

Trajectory reshaping based impact angle and time control

The reshaped trajectory of the missile is supposed to be consisted of a circular arc and a straight line. The straight line goes through the target and satisfies the final impact angle constraint. The circular arc starts from the initial position of the missile, and is tangent to the straight line at a point to be determined. This point is obtained by the given impact time through an iterative algorithm. The feasible range of the impact time is given. On the basis of the reshaped trajectory, a new trajectory tracking control approach is presented based on the concept of virtual target, i.e., a compound control law composed of a feed-forward term and a feedback term is proposed for tracking the circular arc, and a proportional navigation guidance law with impact angle control is proposed for the straight line part. The proposed method is a geometry approach, and is thus easy to implement. The simulation results show that the proposed method is effective in controlling the impact angle and impact time simultaneously.