基于过载对虚拟路径变上限积分的变节点IDVD算法

doi:10.7527/S1000-6893.2013.0360

Abstract

Abstract: To solve the problem of low utilization rate in IDVD（Inverse Dynamics in the Virtual Domain）trajectory optimization caused by the nodes distribution in equal distance, a variable node IDVD trajectory optimization real time algorithm is presented in this paper. The algorithm based on variable upper limit integral of overload on the virtual arc transcribes fixed node and fixed step IDVD to variable node and variable step IDVD by optimizing twice. Compared with two examples using IDVD in the interception of BM trajectory at ascend phase, if the number of nodes is equal, variable node IDVD reaches lower standard deviations of error of 20% at x axis, y axis, z axis approximately, and cuts the optimization time by 20% approximately. Results show that the variable node IDVD is able to distribute nodes adaptively according to the size of curvature of virtual arc, which improves utilization rate of nodes, increases trajectory calculation accuracy and decreases online optimization time.

Key words: Guidance, Optimal control, Trajectory optimization, Direct methods, Variable node IDVD, IDVD, Node

CLC Number:

V412.1

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Variable Node IDVD Based on Variable Upper Limit Integral of Overload on the Virtual Arc

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