针对三维空间中多枚导弹协同打击机动目标的问题，提出一种收敛时间、攻击时间及攻击角度均可控的协同制导律。通过构建新型增益可调的预设时间稳定准则，在保证增益有界且不牺牲收敛精度的前提下，实现制导律收敛时间的任意设定。该准则引入增益可调机制，兼容定常与时变增益设计，并显著提升预设稳定时间的准确性。首先，提出了预设时间扰动观测器，无需依赖机动目标先验信息，即可在预设时间内精确估计目标加速度。其次，在视线方向，采用领导-跟随架构，为领弹设计攻击时间控制制导律，实现弹群攻击时刻的主动控制；为从弹设计适用于有向通信的分布式预设时间状态观测器，并结合预设时间状态跟踪控制器，确保从弹在预设时间内快速准确估计并跟踪领弹状态，达成多弹攻击同步。然后，在视线法向，提出预设时间视线角控制制导律，驱动各导弹视线角在预设时间内收敛至期望值。最后，通过仿真多组工况验证了所提制导律的有效性和优越性。

For the problem of multiple missiles cooperatively attacking a maneuvering target in three-dimensional space, a cooperative guidance law with controllable convergence time, impact time, and impact angle is proposed. By constructing a novel gain-tunable prescribed-time stability criterion, the convergence time of the guidance law can be arbitrarily set under the premise of ensuring bounded gain without sacrificing convergence accuracy. This criterion introduces a gain-tunable mechanism, which accommodates both constant and time-varying gain designs, and significantly improves the accuracy of the prescribed convergence time. First, a prescribed-time disturbance observer is proposed, which can accurately estimate the target acceleration within the prescribed time without relying on any priori information of the maneuvering target. Second, in the line-of-sight (LOS) direction, a leader-follower architecture is adopted. An impact time control guidance law is designed for the leader missile to achieve active control of the impact time of the missile swarm. For the follower missiles, a distributed prescribed-time state observer suitable for the directed communication is designed, and combined with a prescribed-time state tracking controller, it ensures that the follower missiles can quickly and accurately estimate and track the state of the leader within the prescribed time, achieving attack synchronization of multiple missiles. Then, in the LOS normal direction, a prescribed-time LOS angle control guidance law is proposed to drive the LOS angles of each missile to converge to the desired values within the prescribed time. Finally, numerical simulations under multiple cases are conducted to verify the effectiveness and superiority of the proposed guidance law.