收稿日期:
2023-01-03
修回日期:
2023-01-28
接受日期:
2023-05-25
出版日期:
2023-12-15
发布日期:
2023-06-02
通讯作者:
薛文超
E-mail:wenchaoxue@amss.ac.cn
基金资助:
Linkun HE1, Wenchao XUE2,3(), Ran ZHANG1, Huifeng LI1
Received:
2023-01-03
Revised:
2023-01-28
Accepted:
2023-05-25
Online:
2023-12-15
Published:
2023-06-02
Contact:
Wenchao XUE
E-mail:wenchaoxue@amss.ac.cn
Supported by:
摘要:
可重复使用运载火箭能够大幅降低进入空间的成本,是下一代航天运输系统的重要组成部分,而动力着陆段是实现可重复使用运载火箭回收的关键。对现有运载火箭动力着陆段的制导控制方法进行了综述,在对现有方法进行分析的基础上提出了一种模块化协作设计,并对人工智能方法在制导控制中的应用进行了展望。首先建立了运载火箭动力着陆段制导控制的整体模型,归纳了常用指标及约束集合,并分析了制导控制设计需解决的问题。然后,对现有的主要制导控制方法,即解析制导方法、轨迹优化制导方法、基于机器学习的制导方法、姿态控制方法及制导控制协作方法等进行了综述,通过分析所考虑的运动方程模型、约束及性能指标等对主要方法进行了较全面的比较,并进一步针对不确定模型及干扰下的制导控制综合目标优化问题提出了一种模块化智能协作方法。最后,对动力着陆段制导控制方法的发展趋势进行了总结,并对人工智能方法与动力着陆段制导控制方法的结合进行了展望。
中图分类号:
何林坤, 薛文超, 张冉, 李惠峰. 运载火箭动力着陆段制导控制方法综述与展望[J]. 航空学报, 2023, 44(23): 628462-628462.
Linkun HE, Wenchao XUE, Ran ZHANG, Huifeng LI. Guidance and control for powered descent and landing of launch vehicles: Overview and outlook[J]. Acta Aeronautica et Astronautica Sinica, 2023, 44(23): 628462-628462.
表 2
动力着陆段制导控制方法
制导控制方法 | 运动方程特性 | 约束特性 | 性能指标 | 优缺点 | 应用场景 | |
---|---|---|---|---|---|---|
方法 解析制导 | 多项式制导 | 常值重力; 无气动力;质量恒定 | 终端位置、速度、 姿态约束 | 无性能指标 | 模型简单 模型简化严重 | 气动力作用不明显的行星动力着陆 |
重力转弯制导 | 假设动力着陆段轨迹位于纵向平面 | 纵向平面内的终端速度和姿态约束 | 易于控制系统实现 难以处理大范围 横纵向终端位置误差 | |||
近似最优解析制导 | 可使用一般形式 重力场模型 | 终端位置、 速度约束 | 加速度二次型积分 | 采用误差反馈形式,鲁棒性好;难以处理终端姿态约束 | ||
轨迹优化制导方法 | 间接法 | 考虑质量变化; 一般不考虑气动力 | 推力大小过程约束 | 燃料消耗 指标 | 最优性好 难以在线应用 | 一般 动力着陆 |
凸优化 | 考虑质量变化; 考虑气动力作用; 飞行时间不确定 | 一般线性、 非线性约束 | 一般线性、非线性指标 | 可处理一般约束及 指标;收敛性缺少严格理论证明 | ||
基于机器学习的制导方法 | 考虑初始状态及 模型参数散布 | 一般线性、 非线性约束 | 一般线性、非线性指标 | 适应性好;样本量大、奖励函数设计难、可解释性差、控制量安全性难以保证 | 一般 动力着陆 | |
方法 姿态控制 | 比例-微分-积分控制 | 仅考虑绕质心运动 | 可用摆角约束 | 无性能指标 | 模型简单;结构固定,难以精细化设计 | 一般 动力着陆 |
相平面控制 | 模型简单;仅能进行 开关控制 | 以RCS进行姿态控制 | ||||
滑模控制 | 鲁棒性好;可能出现 控制量震颤、需要获得高阶微分信号 | 一般 动力着陆 | ||||
自适应控制 | 能够显式估计干扰 | |||||
制导控制协作方法 | 非线性控制 | 联立质心运动及 绕质心运动方程 | 可用摆角约束 | 无性能指标 | 反馈形式,计算量小 仅能实现对标称 轨迹的跟踪 | 一般 动力着陆 |
六自由度轨迹优化 | 姿态角速率、摆角变化率过程约束 | 燃料消耗 指标 | 可以考虑制导与姿控的相互影响;依赖精确的模型参数 |
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