2D比例制导（Proportional Guidance）实现：导弹转向过缓无法拦截目标

我正在用Processing实现比例制导（Proportional Guidance）来创建导弹类，要求每帧更新时接收目标位置并执行拦截。导弹需要沿自身朝向加速，模拟火箭发动机向前推进的效果，制导算法要像真实导弹的稳定翼那样控制转向。

之前试过一些简单算法但效果不好，所以选择了比例制导（仅为视觉效果，不接受其他算法推荐，除非效果完全类似）。现在的问题是导弹能转向目标，但速度太慢，没法完成拦截。我参考了相关资料实现了当前代码。

Missile missile;
Target target;

void setup()
{
  fullScreen();
  
  missile = new Missile();
  target = new Target();
}

void draw()
{
  background(0);
  
  target.Update();
  missile.Update(target);
}

class Target
{
  PVector Location = new PVector();
  PVector Velocity = new PVector();
  PVector Acceleration = new PVector();
  float Speed = 100;
  float DeltaT = 0.0166;
  
  Target()
  {
    Location.set(width - 15,height - 15);
    Velocity.set(-Speed * DeltaT,0);
    Acceleration.set(0,0);
  }
  
  void Update()
  {
    Location.add(Velocity);
    
    Draw();
  }
  
  void Draw()
  {
    stroke(255,0,0);
    fill(255,0,0);
    ellipse(Location.x,Location.y,10,10);
  }
}

class Missile
{
  PVector LocationC = new PVector();    // 当前位置
  PVector LocationP = new PVector();    // 上一帧位置
  PVector Velocity = new PVector();
  PVector Acceleration = new PVector();
  
  PVector TargetLocC = new PVector(0,0);  // 当前目标位置
  PVector TargetLocP = new PVector(0,0);  // 上一帧目标位置
  PVector TargetVelC = new PVector(0,0);  // 当前目标速度
  PVector TargetVelP = new PVector(0,0);  // 上一帧目标速度

  PVector RTM_C = new PVector();    // 当前指向目标的向量
  PVector RTM_P = new PVector();    // 上一帧指向目标的向量
  PVector LOS_Delta = new PVector();
  float LOS_Rate = 0;
  float VC = 0;     // 接近速度
  float N = 5;     // 导航增益
  float DeltaT = 0.0166;
  
  PVector Commanded_Accel = new PVector(0,0.1);
  
  Missile()
  {
    LocationC.set(width/2,10);
    Velocity.set(0,0.1);
    Acceleration.set(0,0.1);
  }
  
  void Update(Target target)
  {
    UpdateCurrentValues(target);
    ProportionalGuidence();
    UpdatePreviousValues();
    Draw();
    //println(degrees(Velocity.heading()));
  }
   
  void ProportionalGuidence()
  {    
    // 获取上一帧和当前帧的导弹-目标距离向量
      RTM_P = TargetLocP.copy().sub(LocationP.copy());
      RTM_C = TargetLocC.copy().sub(LocationC.copy());
      
      // 归一化目标向量
      RTM_P.normalize();
      RTM_C.normalize();      
      
      // 计算视线变化率
      LOS_Delta = RTM_C.copy().sub(RTM_P.copy());
      if(frameCount > 1)
      {
        PVector crossProduct = RTM_P.cross(RTM_C);
        LOS_Rate = crossProduct.z/(RTM_P.mag() * RTM_C.mag());
      }
      else
      {
        LOS_Rate = 0;
      }
      
      // 计算接近速度
      VC = RTM_C.mag()-RTM_P.mag();
      
      // 计算加速度
      Commanded_Accel = RTM_C.mult(N * VC * LOS_Rate + (0.5*N));
      Acceleration = Commanded_Accel.mult(DeltaT);
  }
  
  void UpdateCurrentValues(Target target)
  {
    Velocity.add(Acceleration);
    LocationC.add(Velocity);
    
    TargetLocC = target.Location;
    TargetVelC = target.Velocity;
  }
  
  void UpdatePreviousValues()
  {
    LocationP = LocationC.copy();
    TargetLocP = TargetLocC.copy();
    TargetVelP = TargetVelC.copy();
  }
  
  void Draw()
  {    
    stroke(255);
    fill(255);
    ellipse(LocationC.x, LocationC.y,5,5);
  }
}

内容的提问来源于stack exchange，提问作者Stephan