具有拦截区与落角约束的高超声速飞行器俯冲段鲁棒制导方法

doi:10.12305/j.issn.1001-506X.2026.08.29

系统工程与电子技术 ›› 2026, Vol. 48 ›› Issue (8): 2841-2849.doi: 10.12305/j.issn.1001-506X.2026.08.29

• 制导、导航与控制 • 上一篇

具有拦截区与落角约束的高超声速飞行器俯冲段鲁棒制导方法

王和¹, 雷刚¹, 李少朋¹^,², 茅琦杰³, 刘振宇¹

1. 火箭军工程大学导弹工程学院，陕西西安 710025
2. 清华大学自动化系，北京 100083
3. 中国航空无线电电子研究所，上海 200241

收稿日期:2025-05-12 修回日期:2025-12-16 出版日期:2026-05-14 发布日期:2026-05-14
通讯作者: 王和
作者简介:雷刚（1978—），男，副教授，博士，主要研究方向为高超声速飞行器航迹规划
李少朋（1992—），男，副教授，博士，主要研究方向为飞行器导航与制导
茅琦杰（1991—），男，工程师，硕士，主要研究方向为无人机控制与任务指挥
刘振宇（1999—），男，博士研究生，主要研究方向为高超声速飞行器导航、制导与航迹规划
基金资助:
国家自然科学基金（62103432）资助课题

Robust dive-phase guidance of hypersonic vehicles with interception zone and fall angle constraints

He WANG¹, Gang LEI¹, Shaopeng LI¹^,², Qijie MAO³, Zhenyu LIU¹

1. Department of Missile Engineering，Rocket Force University，Xi’an 710025，China
2. Department of Automation，Tsinghua University，Beijing 100083，China
3. China National Aeronautical Radio Electronics Research Institute，Shanghai 200241，China

Received:2025-05-12 Revised:2025-12-16 Online:2026-05-14 Published:2026-05-14
Contact: He WANG

摘要/Abstract

摘要：

针对高超声速飞行器俯冲段拦截区规避与终端落角约束问题，提出一种基于滑模控制的跟踪制导方法。通过参数化设计纵向俯冲弹道与横向机动弹道，将复杂的过程约束转化为路径点约束，并利用序列二次规划求解落速最优弹道参数，生成满足终端落角约束与拦截区规避的参考轨迹；基于飞行器非线性运动模型，设计滑模跟踪制导律，对参考轨迹进行跟踪。仿真结果表明：扰动条件下，该制导方法产生的控制量连续平滑，具有较高的终端落角与落点控制精度，其中落角偏差不超过0.5 °，脱靶量控制在1.3 m以内。所提方法不依赖导引头对目标的探测信息，能够一定程度降低制导系统的复杂程度。

关键词: 高超声速飞行器, 拦截区约束, 落角约束, 俯冲制导, 滑模控制

Abstract:

A sliding mode control-based tracking guidance method is developed to address the challenges of interception zone evasion and terminal fall angle constraints during the hypersonic vehicle’s dive phase. Through parametric design of longitudinal dive trajectory and lateral maneuver trajectory, complex process constraints are transformed into way-point constraints. The sequential quadratic programming method is employed to solve optimal trajectory parameters with maximum terminal velocity, generating reference trajectories that satisfy both terminal impact angle requirements and interception zone avoidance. Based on the nonlinear motion model of the aircraft, a sliding mode tracking guidance law is designed to track the reference trajectory. Simulation results show that the control quantity generated by the guidance method is continuous and smooth under the disturbance condition, achieving high precision in both terminal impact angle and position control, where the impact angle deviation is less than 0.5°, and the miss distance is controlled within 1.3 m. The proposed method eliminates reliance on target detection information from seekers, thereby reducing the complexity of the guidance system to some extent.

Key words: hypersonic vehicle, interception zone constraint, impact angle constraint, dive-phase, sliding mode control

中图分类号:

V 488.2

王和, 雷刚, 李少朋, 茅琦杰, 刘振宇. 具有拦截区与落角约束的高超声速飞行器俯冲段鲁棒制导方法[J]. 系统工程与电子技术, 2026, 48(8): 2841-2849.

He WANG, Gang LEI, Shaopeng LI, Qijie MAO, Zhenyu LIU. Robust dive-phase guidance of hypersonic vehicles with interception zone and fall angle constraints[J]. Systems Engineering and Electronics, 2026, 48(8): 2841-2849.

图/表 13

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$ {\theta }_{d} $/（°）	落角/（°）	脱靶量/m	a	n
−50	−49.92	2.42	0.11	9.37
−60	−59.93	1.62	0.90	10.26
−70	−69.95	1.30	0.87	10.97
−80	−79.97	0.67	0.92	16.37

算例	（H_Lmin, H_Lmax）	（R_Lmin, R_Lmax）
算例1	（5, 15）	（20, 50）
算例2	（15, 25）	（20, 50）

算例	落角/（°）	脱靶量/m	a	n
算例1	−69.95	1.28	0.85	8.99
算例2	−69.95	0.78	0.50	1.83

参数	3σ	参数	3σ
高度/m	500	飞行器质量/kg	30
速度/（m/s）	100	升力系数/%	20
大气密度/%	20	阻力系数/%	20

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具有拦截区与落角约束的高超声速飞行器俯冲段鲁棒制导方法

Robust dive-phase guidance of hypersonic vehicles with interception zone and fall angle constraints

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