Adaptive allotropic game guidance method for variable-sweep hypersonic glide vehicle

Abstract

The present invention proposes an adaptive variable configuration game guidance method for a variable-sweep hypersonic glide vehicle, which belongs to the field of aircraft guidance and control, including: conducting aerodynamic analysis of a variable-sweep hypersonic glide vehicle to obtain aerodynamic parameter data related to the sweep angle, flight angle of attack, and flight speed; deriving the three-dimensional relative motion equation between the variable-sweep hypersonic glide vehicle and the target aircraft based on the flight kinematic equation; using the sweep angle, flight angle of attack, and roll angle amplitude as longitudinal guidance variables, solving them in combination with an adaptive dynamic programming method under a differential game guidance framework; using the roll angle as a lateral guidance variable, designing the roll angle sign in combination with a heading angle corridor method under a parallel approach guidance framework; combining longitudinal and lateral guidance variables to complete the design of an adaptive variable configuration game guidance law for a variable-sweep hypersonic glide vehicle. The present invention can realize rapid strike guidance of a variable-sweep hypersonic glide vehicle under dynamic target maneuvering evasion.

Description

Technical Field

[0001] The present invention belongs to the field of aircraft guidance and control, and in particular relates to an adaptive variable configuration game guidance method for a variable-sweep hypersonic gliding aircraft. Background Art

[0002] Hypersonic glide vehicles have become an important development direction of aerospace technology with their advantages of fast response, strong penetration and high damage. Facing the dynamic target pursuit mission that is very representative in complex confrontation scenarios, the fixed aerodynamic configuration design makes the hypersonic glide vehicle have certain limitations in terms of mission environment adaptation and threat maneuver avoidance. Under the variable aerodynamic configuration design, the aircraft can use the changes in its head, wings and other parts to effectively improve the aerodynamic characteristics and enhance the control ability, thereby improving the adaptability and maneuverability in confrontation scenarios. Therefore, variable configuration has become one of the development trends of hypersonic glide vehicles in various countries, and variable sweep is one of the typical variable configuration methods. For variable sweep hypersonic glide vehicles in dynamic target pursuit missions, high-precision rapid guidance technology is one of the key technologies to ensure its completion of the mission. However, variable sweep introduces new aerodynamic characteristics influencing factors to hypersonic glide vehicles, and its guidance problem faces challenges.

[0003] Certain research has been conducted at home and abroad on the guidance problems of fixed-configuration and variable-configuration aircraft. The existing guidance methods for fixed-configuration aircraft usually use the roll angle as the guidance law design variable under the assumption of a fixed angle of attack, and do not take into account the factors of the aircraft's configuration changes. However, there are relatively few studies on the guidance problems of variable-configuration aircraft, and they generally focus on mid-course guidance problems under static target tasks in a two-dimensional plane, such as the aircraft's re-entry process. It is difficult to directly generalize and solve the guidance problems of variable-sweep hypersonic gliding vehicles under dynamic target pursuit tasks.

[0004] In summary, the existing methods do not fully consider factors such as dynamic target pursuit and three-dimensional guidance, and it is difficult to use the aerodynamic characteristics or maneuverability improved by configuration changes for auxiliary guidance. In order to improve the accuracy and rapidity of three-dimensional guidance of variable-sweep hypersonic glider vehicles under dynamic target pursuit missions, it is urgent to propose a new adaptive variable-configuration game guidance method for variable-sweep hypersonic glider vehicles. Summary of the invention

[0005] Aiming at the three-dimensional guidance problem of variable-sweep hypersonic glide vehicle under dynamic target pursuit mission, in order to overcome the limitations of existing methods that the dynamic target, three-dimensional guidance and other factors are not fully considered, and it is difficult to use the aerodynamic characteristics or maneuverability improved by the configuration change, the present invention proposes an adaptive variable configuration game guidance method for variable-sweep hypersonic glide vehicle. From the perspective of rapid pursuit of dynamic targets, the sweep angle, flight angle of attack and roll angle are selected as guidance variables for joint design. The present invention can realize the rapid pursuit guidance of variable-sweep hypersonic glide vehicle under dynamic target maneuvering avoidance.

[0006] In order to achieve the above object, the present invention adopts the following technical scheme:

[0007] An adaptive variable-configuration game guidance method for a variable-sweep hypersonic gliding vehicle comprises the following steps:

[0008] The first step is to conduct aerodynamic analysis of variable-sweep hypersonic glider vehicles and use spline interpolation methods to obtain aerodynamic parameter data related to sweep angle, flight angle of attack, and flight speed.

[0009] The second step is to derive the three-dimensional relative motion equation between the variable-sweep hypersonic glide vehicle and the target aircraft based on the aircraft kinematic equation, taking the sweep angle, flight attack angle, and roll angle as the design variables of the variable-sweep hypersonic glide vehicle guidance law;

[0010] The third step is to design the game cost function of both parties based on the game guidance model in the longitudinal guidance. The adaptive dynamic programming method is used to solve the virtual guidance variables of the variable-sweep hypersonic glider vehicle under the differential game guidance framework. After interpolating the sweep angle and flight angle of attack corresponding to the current optimal aerodynamic performance, the amplitude of the roll angle is solved based on the virtual guidance variables.

[0011] Step 4: In terms of lateral guidance, the bank angle is used as the lateral guidance variable of the variable-sweep hypersonic glide vehicle, the reference heading angle is solved in the parallel approach guidance framework, and the bank angle symbol is designed based on the heading angle corridor method;

[0012] The fifth step is to combine the sweep angle, flight attack angle obtained from the longitudinal guidance and the sign of the roll angle obtained from the lateral guidance to complete the design of the adaptive variable configuration game guidance law for the variable sweep hypersonic gliding vehicle.

[0013] The present invention comprehensively utilizes technical strategies such as differential game theory and adaptive dynamic programming to solve the three-dimensional guidance problem of a variable-swept hypersonic glider vehicle in a dynamic target pursuit mission from two aspects: longitudinal guidance and lateral guidance.

[0014] The beneficial effects of the present invention compared with the prior art are:

[0015] With regard to the guidance problem of variable-sweep hypersonic gliding vehicles under dynamic target pursuit missions, the existing methods do not fully consider the dynamic target pursuit and three-dimensional guidance problems, and it is difficult to use the aerodynamic characteristics or maneuverability improved by the configuration change for auxiliary guidance. The present invention proposes an adaptive variable configuration game guidance method for variable-sweep hypersonic gliding vehicles, which selects the sweep angle, flight angle of attack, and roll angle as guidance variables. In terms of longitudinal guidance, the adaptive dynamic programming method is used to solve the virtual guidance variables under the differential game guidance framework, and the spline interpolation method is used to obtain the sweep angle and flight angle of attack corresponding to the minimum aerodynamic drag at the current flight speed, thereby obtaining the roll angle amplitude of the variable-sweep hypersonic gliding vehicle; in terms of lateral guidance, the roll angle symbolic logic is designed based on the heading angle corridor method under the parallel approach guidance framework. The present invention comprehensively utilizes technical strategies such as differential game and adaptive dynamic programming from the two aspects of longitudinal guidance and lateral guidance, and can realize the pursuit guidance of variable-sweep hypersonic gliding vehicle under dynamic target maneuvering evasion, and can utilize the aerodynamic performance improvement introduced by variable sweep to improve the pursuit speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 The present invention is a flow chart of the adaptive variable configuration game guidance method for a variable-sweep hypersonic gliding vehicle.

[0017] Figure 2 A relative distance diagram between a variable-sweep hypersonic glide vehicle and a dynamic target provided in an embodiment of the present invention.

[0018] Figure 3 A relative distance diagram between a fixed-swept hypersonic glide vehicle and a dynamic target provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0020] like Figure 1 As shown, the present invention proposes an adaptive variable configuration game guidance method for a variable-sweep hypersonic gliding vehicle, comprising the following steps:

[0021] The first step is to conduct aerodynamic analysis of variable-sweep hypersonic glider vehicles and use spline interpolation methods to obtain aerodynamic parameter data related to sweep angle, flight angle of attack, and flight speed.

[0022] The second step is to derive the three-dimensional relative motion equation between the variable-sweep hypersonic glide vehicle and the target aircraft based on the aircraft kinematic equation, taking the sweep angle, flight attack angle, and roll angle as the design variables of the variable-sweep hypersonic glide vehicle guidance law;

[0023] The third step is to design the game cost function of both parties based on the game guidance model. In the framework of differential game guidance, the adaptive dynamic programming method is used to solve the virtual guidance variables of the variable-sweep hypersonic glider. After interpolating the sweep angle and flight angle of attack corresponding to the current optimal aerodynamic performance, the amplitude of the roll angle is solved based on the virtual guidance variables.

[0024] The fourth step is to use the roll angle as the lateral guidance variable of the variable-sweep hypersonic glide vehicle, solve the reference heading angle in the parallel approach guidance framework, and design the roll angle symbol based on the heading angle corridor method.

[0025] The fifth step is to solve the sweep angle, flight angle of attack, and bank angle in combination with the longitudinal guidance and lateral guidance to complete the design of the adaptive variable configuration game guidance law for the variable-sweep hypersonic gliding vehicle.

[0026] Specifically, a certain type of variable swept hypersonic glider aircraft with a variable swept angle is used as an application object, and its maximum swept angle is 90 degrees and the minimum swept angle is 10 degrees. The specific steps of the present invention are explained as follows:

[0027] Specifically, the first step includes:

[0028] Conduct aerodynamic analysis of variable-sweep hypersonic gliders, perform discrete sampling of the sweep angle, flight angle of attack, and flight speed of variable-sweep hypersonic gliders within the flight profile, and analyze the lift coefficient of the aircraft at different sweep angles, different flight angles of attack, and different flight speeds. and drag coefficient , lift coefficient and drag coefficient All are three-dimensional data, Indicates the variable sweep aircraft at the sweep angle , flight angle of attack , Flight speed The lift coefficient under Indicates the variable-sweep hypersonic glide vehicle at the sweep angle , flight angle of attack , Flight speed The drag coefficient under the variable sweep hypersonic gliding vehicle is discretely sampled for the sweep angle, flight angle of attack, and flight speed, and the sweep angle Sampling was performed in the range of 10 to 90 degrees, with a sampling interval of 1 degree; Sampling is performed in the range of 0 to 25 degrees, with a sampling interval of 1 degree; flight speed Sampling was performed in the range of Mach 6 to Mach 16, with a sampling interval of 1 Mach;

[0029] The aerodynamic parameter data related to the sweep angle, flight angle of attack, and flight speed are obtained by using the spline interpolation method, that is, the sampling interval is reduced, the number of discrete samples of the sweep angle, flight angle of attack, and flight speed in the flight profile is increased, and the lift coefficient with more fine sampling is obtained by the spline interpolation method. and drag coefficient database.

[0030] Specifically, the second step includes:

[0031] Based on the aircraft kinematic equation, the swept angle, flight attack angle and roll angle are used as the design variables of the guidance law of the variable swept hypersonic glide vehicle, and the three-dimensional relative motion equation between the variable swept hypersonic glide vehicle and the target aircraft is derived; the three-dimensional relative motion equation between the variable swept hypersonic glide vehicle and the target aircraft is established, which is expressed in the line of sight coordinate system as follows:

[0032] (1)

[0033] in, Indicates the relative distance between the variable-sweep hypersonic glide vehicle and the target aircraft. represents the vertical line of sight angle between the two. represents the lateral sight angle, “.” represents the first-order derivative; represents the velocity variable of the variable-sweep hypersonic glide vehicle in the line-of-sight coordinate system, , , is the corresponding three-dimensional component, the superscript represents the transpose operator; represents the velocity variable of the target aircraft in the line-of-sight coordinate system, , , is the corresponding three-dimensional component; the velocity variables of the variable-sweep hypersonic glider and the target aircraft in the line-of-sight coordinate system and The solution can be obtained by converting the velocity variable in the northeast sky coordinate system. The expression is:

[0034] ;

[0035] in, , , They represent the three-dimensional position coordinate components of the variable-sweep hypersonic glider in the northeastern sky coordinate system. is the velocity variable in the corresponding northeastern celestial coordinate system; , , They represent the three-dimensional position coordinate components of the target aircraft in the northeast sky coordinate system. After differentiation is the velocity variable in the corresponding northeastern celestial coordinate system; Represents the coordinate transformation matrix between the northeast sky coordinate system and the sight line coordinate system. The expression is:

[0036] .

[0037] Velocity variables of variable-sweep hypersonic glide vehicle in the northeastern sky coordinate system and the target vehicle's velocity variable The flight dynamics equations are as follows:

[0038] ; ;

[0039] Among them, the variable subscript represents the relevant variables of the variable-sweep hypersonic glide vehicle, Indicates the flight speed, represents the track angle, represents the heading angle, represents the mass of the aircraft, represents the acceleration due to gravity, represents the reference aerodynamic area, Indicates the air density during flight. Indicates the roll angle; variable subscript Represents the relevant variables of the target aircraft, Indicates the flight speed, represents the track angle, represents the heading angle, represents the mass of the aircraft, represents the acceleration due to gravity, represents the reference aerodynamic area, Indicates the air density during flight. represents the tilt angle, Indicates the target aircraft is flying at an angle of attack , Flight speed The lift coefficient under Indicates the target aircraft is flying at an angle of attack , Flight speed The drag coefficient below.

[0040] Equation (1) represents the three-dimensional relative motion equation between the variable-sweep hypersonic glide vehicle and the target aircraft. Select the roll angle As the guidance variable, the guidance law design variable of the variable-sweep hypersonic glide vehicle is selected as the sweep angle , flight angle of attack and roll angle .

[0041] Specifically, the third step includes the following steps:

[0042] Step 1: Establish a game model between a variable-sweep hypersonic aircraft and a target aircraft, including:

[0043] The problem of a variable-sweep hypersonic glide vehicle chasing a target aircraft can be regarded as a zero-sum game problem between the two parties because the target aircraft has the ability to fly and evade autonomously. In terms of longitudinal guidance, in order to facilitate the solution of multiple guidance design variables, the variable-sweep aircraft is used to , and At the same time, the related term is the virtual guidance variable, denoted as , the expression is:

[0044] ;

[0045] At the same time, it is assumed that the target aircraft and The related term is the virtual guidance variable, denoted as , the expression is ; Select the longitudinal line of sight angular velocity As the determination condition of zero control miss amount of both parties, take As the game state variable, the game model between the variable-sweep hypersonic gliding vehicle and the target aircraft is established, and the expression is:

[0046] (2)

[0047] in, , and is the correlation coefficient term of the game model, and its expression is:

[0048] ;

[0049] Step 2: Solve the virtual guidance variables, including:

[0050] Designing game cost function :

[0051] (3)

[0052] in, , , is the weight constant. To solve the game cost function The optimal solution , derive the cost function in the optimal control framework The corresponding Hamiltonian function is . Hamiltonian function middle Represents the cost function For game state variables Find the partial derivative, that is , Represents the partial derivative operator. Based on the Hamiltonian function The extreme value condition equation and , we get the optimal solution of the game cost function The corresponding optimal guidance variables for both parties and , the expression is:

[0053] (4)

[0054] in, Represents the optimal solution of the cost function right The partial derivative of To solve , based on the adaptive dynamic programming method framework, with game state variables As input, the optimal solution of the cost function is approximated through adaptive learning of a single-layer evaluation neural network, and its estimated value is output , then Find the partial derivative , where the evaluation neural network is expressed as:

[0055] (5)

[0056] in, represents the weight vector for evaluating the neural network nodes, Represents the evaluation of the neural network node and the game state variable Related known function vector, express right The partial derivative of ; Positive number and Represents the weight vector The adaptive learning parameters of and is the intermediate term in the derivation process. Substituting into equation (4), we can get the approximate values ​​of the virtual guidance variables of the variable-sweep hypersonic glide vehicle and the target vehicle: and , the expression is:

[0057] (6)

[0058] Step 3: Solve the longitudinal guidance variable sweep angle , flight angle of attack and the roll angle amplitude ,include:

[0059] Using spline interpolation method to interpolate the drag coefficient of variable-sweep hypersonic glider , get the current flight speed The sweep angle corresponding to the minimum drag coefficient and flight angle of attack , the expression is:

[0060] (7)

[0061] in, is the spline interpolation operator, is the minimum value search operator. Substituting into equation (6), we get the roll angle amplitude , the expression is:

[0062] (8)

[0063] Equations (7) and (8) are the expressions of the longitudinal guidance variables of the variable-sweep hypersonic glide vehicle. The design parameters are: , , , , , as well as The initial value of For this variable-sweep hypersonic glide vehicle, the design parameters of the longitudinal guidance law are: , , , , , , .

[0064] Specifically, the fourth step includes:

[0065] In terms of lateral guidance, the roll angle is used as the lateral guidance variable of the variable-sweep hypersonic glide vehicle, the reference heading angle is solved in the parallel approach guidance framework, and the roll angle sign is designed based on the heading angle corridor method. Specifically, based on the approach relationship in the parallel approach guidance method , solve the reference heading angle of the variable-sweep gliding hypersonic vehicle , the expression is:

[0066] (9)

[0067] Select the heading angle corridor width that is adaptively adjusted with the relative distance ,in is the initial value of the relative distance between the variable-sweep hypersonic glider and the target aircraft, and is the heading angle corridor width parameter, and no change means no change. Symbol The change strategy is designed to remain unchanged within the heading angle corridor width and only reverses when the heading angle corridor width is exceeded, which can be expressed as:

[0068] (10)

[0069] equation and equation The variable expression of lateral guidance of variable-sweep hypersonic glide vehicle is composed of the following design parameters: and For this variable-sweep hypersonic glide vehicle, the design parameters of the lateral guidance law are: Degree and Spend.

[0070] Specifically, the fifth step includes: solving the expressions of sweep angle, flight angle of attack, and roll angle in the joint longitudinal guidance and lateral guidance aspects, and the expressions of sweep angle, flight angle of attack, and roll angle are equations (7), (8), and (10), thus completing the design of the adaptive variable-configuration game guidance law for the variable-sweep hypersonic glide vehicle. Based on the parameter values ​​of each step above, a numerical simulation of the variable-sweep hypersonic glide vehicle pursuing a dynamic target is carried out. The simulation results show that compared with the pursuit of the same dynamic target by a fixed-sweep hypersonic glide vehicle with a 40-degree sweep angle, the present invention can enable the variable-sweep hypersonic glide vehicle to achieve successful pursuit within 200 seconds, achieving an effective reduction in pursuit time, such as Figure 2-Figure 3 shown.

[0071] The contents not described in detail in the specification of the present invention belong to the prior art known to the professional and technical personnel in the field. It is easy for the technical personnel in the field to understand that the above description is only the preferred embodiment of the present invention and is not intended to limit the present invention. Any modification, equivalent replacement and improvement made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An adaptive variable-configuration game guidance method for a variable-sweep hypersonic gliding vehicle, characterized in that: The following steps are involved: The first step is to conduct aerodynamic analysis of variable-sweep hypersonic glider vehicles and use spline interpolation methods to obtain aerodynamic parameter data related to sweep angle, flight angle of attack, and flight speed. The second step is to derive the three-dimensional relative motion equation between the variable-sweep hypersonic glide vehicle and the target aircraft based on the aircraft kinematic equation, taking the sweep angle, flight attack angle, and roll angle as the design variables of the variable-sweep hypersonic glide vehicle guidance law; The third step is to design the game cost function of both parties based on the game guidance model in the longitudinal guidance. The adaptive dynamic programming method is used to solve the virtual guidance variables of the variable-sweep hypersonic glider vehicle under the differential game guidance framework. After interpolating the sweep angle and flight angle of attack corresponding to the current optimal aerodynamic performance, the amplitude of the roll angle is solved based on the virtual guidance variables. Step 4: In terms of lateral guidance, the bank angle is used as the lateral guidance variable of the variable-sweep hypersonic glide vehicle, the reference heading angle is solved in the parallel approach guidance framework, and the bank angle symbol is designed based on the heading angle corridor method; The fifth step is to combine the sweep angle, flight attack angle obtained from the longitudinal guidance and the sign of the roll angle obtained from the lateral guidance to complete the design of the adaptive variable configuration game guidance law for the variable sweep hypersonic gliding vehicle.

2. The adaptive allergic game guidance method for a variable-sweep hypersonic gliding vehicle according to claim 1, characterized in that: The first step comprises: Discrete sampling of the sweep angle, flight angle of attack, and flight speed of the variable-sweep hypersonic glide vehicle is performed within the flight profile to analyze the lift coefficient of the variable-sweep hypersonic glide vehicle at different sweep angles, different flight angles of attack, and different flight speeds. and drag coefficient , lift coefficient and drag coefficient All are three-dimensional data, among which, Indicates the variable-sweep hypersonic glide vehicle at the sweep angle , flight angle of attack , Flight speed The lift coefficient under Indicates the variable sweep aircraft at the sweep angle , flight angle of attack , Flight speed The drag coefficient under the condition of using the spline interpolation method to obtain the aerodynamic parameter data related to the sweep angle, the flight angle of attack, and the flight speed is to increase the number of discrete samples of the sweep angle, the flight angle of attack, and the flight speed in the flight profile, and obtain the lift coefficient with more fine sampling by the spline interpolation method. Database and drag coefficient database.

3. The adaptive allergic game guidance method for a variable-sweep hypersonic gliding vehicle according to claim 2 is characterized in that: In the second step, the three-dimensional relative motion equation between the variable-sweep hypersonic glider and the target aircraft is expressed in the line-of-sight coordinate system as follows: （1） in, Indicates the relative distance between the variable-sweep hypersonic glide vehicle and the target aircraft. represents the vertical line of sight angle between the two. represents the lateral sight angle, ". " represents the first-order derivative; represents the velocity variable of the variable-sweep hypersonic glide vehicle in the line-of-sight coordinate system, , , is the corresponding three-dimensional component, the superscript represents the transpose operator; represents the velocity variable of the target aircraft in the line-of-sight coordinate system, , , is the corresponding three-dimensional component; the velocity variables of the variable-sweep hypersonic glider and the target aircraft in the line-of-sight coordinate system and speed variables The solution is obtained by converting the velocity variable in the northeastern sky coordinate system, and the expression is: ； in, , , They represent the three-dimensional position coordinate components of the variable-sweep hypersonic glider in the northeastern sky coordinate system. is the velocity variable of the variable-sweep hypersonic glide vehicle in the corresponding northeast celestial coordinate system; , , They represent the three-dimensional position coordinate components of the target aircraft in the northeast sky coordinate system. After differentiation is the velocity variable of the target aircraft in the corresponding northeast celestial coordinate system; Represents the coordinate transformation matrix between the northeast sky coordinate system and the sight line coordinate system. The expression is: ； Velocity variables of variable-sweep hypersonic glide vehicle in the northeastern sky coordinate system and the target vehicle's velocity variable The flight dynamics equations are as follows: ； ； Among them, the variable subscript represents the relevant variables of the variable-sweep hypersonic glide vehicle, Indicates the flight speed, represents the track angle, represents the heading angle, represents the mass of the aircraft, represents the acceleration due to gravity, represents the reference aerodynamic area, Indicates the air density during flight. Indicates the roll angle; variable subscript Represents the relevant variables of the target aircraft, Indicates the flight speed, represents the track angle, represents the heading angle, represents the mass of the aircraft, represents the acceleration due to gravity, represents the reference aerodynamic area, Indicates the air density during flight. represents the tilt angle, Indicates the target aircraft is flying at an angle of attack , Flight speed The lift coefficient under Indicates the target aircraft is flying at an angle of attack , Flight speed The drag coefficient under Different from the target aircraft at a given flight angle of attack Select the roll angle As the guidance variable, the guidance law design variable of the variable-sweep hypersonic glide vehicle is selected as the sweep angle , flight angle of attack and roll angle .

4. The adaptive allergic game guidance method for a variable-sweep hypersonic gliding vehicle according to claim 3 is characterized in that: The third step comprises: Step 1: Establish a game model between a variable-sweep hypersonic aircraft and a target aircraft, including: In terms of longitudinal guidance, in order to facilitate the solution of multiple guidance design variables, the variable-sweep aircraft is designed with a sweep angle , flight angle of attack and roll angle At the same time, the related term is the virtual guidance variable, denoted as , the expression is ; At the same time, it is assumed that the target aircraft is flying at an angle of attack and roll angle The related term is the virtual guidance variable, denoted as , the expression is ; Select the longitudinal line of sight angular velocity As the determination condition of zero control miss amount of both parties, take As the game state variable, the game model between the variable-sweep hypersonic glide vehicle and the target aircraft is established, and the expression is: （2） in, , and is the correlation coefficient term of the game model, and its expression is: ； Step 2: Solve the virtual guidance variables, including: Designing game cost function for: （3） in, , , is the weight constant; is the cost function for solving the game The optimal solution , derive the cost function in the optimal control framework The corresponding Hamiltonian function is ; Hamiltonian function middle Represents the cost function For game state variables Find the partial derivative, that is , Represents the partial derivative operator; based on the Hamiltonian function The extreme value condition equation and , we get the game cost function The optimal solution The corresponding optimal guidance variables for both parties and , the expression is: （4） in, Represents the game cost function The optimal solution For game state variables The partial derivative of , in order to solve , based on the adaptive dynamic programming method framework, with game state variables As input, the optimal solution of the cost function is approximated through adaptive learning of a single-layer evaluation neural network, and its estimated value is output , and then the game state variables Taking the partial derivative we get , where the evaluation neural network is expressed as: （5） in, represents the weight vector of the evaluation neural network node, Represents the evaluation of the neural network node and the game state variable Related known function vector, express For game state variables The partial derivative of ; Positive number and Represents the weight vector The adaptive learning parameters of and is the intermediate term in the derivation process; Substituting into equation (4), we can obtain the approximate value of the virtual guidance variable of the variable-sweep hypersonic glide vehicle: and the approximate value of the virtual guidance variable of the target aircraft , the expression is: （6） Step 3: Solve the longitudinal guidance variable sweep angle , flight angle of attack and the roll angle amplitude ,include: Using spline interpolation method to interpolate the drag coefficient of variable-sweep hypersonic glider , get the current flight speed The sweep angle corresponding to the minimum drag coefficient and flight angle of attack , the expression is: （7） in, is the spline interpolation operator, is the minimum value search operator; Substituting into equation (6) we get the roll angle amplitude , the expression is: （8） Equations (7) and (8) are expressions of the longitudinal guidance variables of the variable-sweep hypersonic glide vehicle.

5. The adaptive allergic game guidance method for a variable-sweep hypersonic gliding vehicle according to claim 4 is characterized in that: The fourth step comprises: Approaching Relationship in Parallel Approach Guidance Framework , solve the reference heading angle of the variable-sweep gliding hypersonic vehicle , the expression is: （9） Select the heading angle corridor width that is adaptively adjusted with the relative distance ,in, is the initial value of the relative distance between the variable-sweep hypersonic glider and the target aircraft, and is the heading angle corridor width parameter; the roll angle of the variable-sweep gliding hypersonic vehicle Symbol The change strategy of is designed to remain unchanged within the heading angle corridor width, and only reverses when the heading angle corridor width is exceeded, which is expressed as: （10） Equations (8) and (10) constitute the lateral guidance variable expressions of the variable-sweep hypersonic glide vehicle, and nochange means no change.

6. The adaptive allergic game guidance method for a variable-sweep hypersonic gliding vehicle according to claim 5, characterized in that: In the fifth step, the expressions of the sweep angle, flight angle of attack, and bank angle are equations (7), (8), and (10).

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