结合奇异摄动和动态逆方法,以飞行时间和末端能量的线性组合为性能指标,推导了一种近最优中制导律.导弹状态方程根据状态变量时间常数写成三时间尺度系统.降阶系统包括纵程、横程和比能动力学方程.用最优控制理论求解出降阶系统最优解,即原系统的外解.动态逆应用于边界层修正,得到一个闭环控制器,其性能可根据爬升、高空等高飞行和下滑阶段或其他情况的不同要求进行调整.仿真结果表明:该制导律满足了对弹道平滑度、飞行时间和末端能量的要求.中段末端航向误差小,为中、末制导的平稳交接班提供了保障. Combining the singular perturbation and the dynamic inverse method, a near-optimal medium guidance law is deduced by taking the linear combination of flight time and end energy as the performance index. The missile state equation is written into a three-time scale system according to the time constant of the state variables. Including the longitudinal, transverse and specific kinetic equations.Using the optimal control theory to solve the optimal solution of the reduced order system, that is, the original solution of the system.Dynamic inverse is applied to the boundary layer correction to get a closed-loop controller whose performance It can be adjusted according to different requirements of climb, altitude contour flight and decline phase or other conditions.The simulation results show that the guidance law satisfies the requirements of trajectory smoothness, flight time and end energy.The mid-course end heading error is small, , The end of the guidance of a smooth shift to provide protection.