本报告的目的在于研究一种适用于控制倾斜转弯导弹法向力和滚动角速度的实用末制导律,以便在不要求过大的法向力和滚动角速度条件下使均方脱靶距离最小。制导律的推导可应用二次性能指标下的最优控制理论,使非线性对象方程线性化,并给出严格解。和比例导航相类似,最佳法向力和滚动角速度分别与被投影的零控脱靶距离的两个分量成比例。模拟结果证实了此制导律的正确性。 The purpose of this report is to study a practical end-guidance law suitable for controlling the normal forces and roll angular velocities of tilt-turn missiles in order to minimize the mean square off-target distances without requiring excessive normal forces and roll angular velocities. Guidance Law Derivation The optimal control theory under the quadratic performance index can be applied to linearize the nonlinear object equation and give a strict solution. Similar to proportional navigation, the optimal normal force and roll angular velocity are respectively proportional to the two components of the projected zero-controlled off-target distance. Simulation results confirm the correctness of this guidance law.