火箭着陆段能量管理与轨迹优化技术

doi:10.7527/S1000-6893.2024.29634

Abstract

Abstract:

The engine thrust and aerodynamic forces are highly coupled in vertical recovery rocket landing， and the rocket feasibility and safety depend on not only the trajectory terminal position， velocity and attitude deviation， but also the initial attitude deviation and the control accuracy of the landing energy. Aiming at the complex dynamic model trajectory planning with aerodynamic changes under the influence of the engine starting section and jet stream， the segmented trajectory online planning is conducted by adopting the polynomial guidance method in the starting section and the analytical initial value-sequential convex optimization method in the thrust throttling adjustment section. To eliminate the jumps of the switching attitude angle caused by the difference of segmented solving models， a quintuple polynomial form was used to obtain the analytical initial value reference profile with the constraints of the initial attitude angle. Then， through the dynamic adjustment of the thrust angle and trajectory tilt angle constraints as well as the introduction of a deviation relaxation term， the terminal mass constraint was added to the optimization performance index function， and the optimization problem with constraints on the terminal position， velocity， attitude， and specified mass was completed using the sequence-convex iterative method. The results show that the proposed method has advantages in accuracy index and number of constraints compared with the traditional polynomial or convex optimization methods. Capable of achieving accurate terminal position， velocity and terminal mass constraints under the combination of deviation conditions， with the terminal attitude angle deviation less than 1.5°， and the average time consumed for online planning less than 1 s， it has a good engineering application prospect and can provide reference for the development of China’s new generation of reusable manned launch vehicles.

Key words: reusable launch vehicles, vertical landing, energy management, analytical initial value, sequential convex optimization

CLC Number:

V448.1

Yin DIAO, Zhi ZHANG, Yue PENG, Yang LI, Borong ZHANG, Zhiguo ZHANG. Energy management and trajectory optimization technology for rocket landing[J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(15): 229634-229634.

Figures/Tables 21

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类别	参数	数值
初始状态	位置/m	［-300 2 000 -10］
	速度/（m·s^-1）	［50 -200 2］
	质量/kg	34 500
动力系统参数	比冲/s	282
	额定推力/kN	825
	节流范围/%	50~100
	起动段时长/s	3
终端状态	位置/m	［0 0 0］
	速度/（m·s^-1）	［0 -0.01 0］
	质量/kg	30 200

方法	位置/（10^-3 m）	速度/（10^-4 m·s^-1）	姿态角/（10^-3（°））	质量/kg
四次多项式制导	-2	1	1.5（俯仰）	29 985
	24	-400	1（偏航）
	1	1
传统凸优化制导	-0.01	0.01	-340（俯仰）	30 500
	0.01	-100	-100（偏航）
	-0.01	0.01
解析初值+ 序列凸优化	-0.01	0.01	0.1（俯仰）	30 200
	0.01	-100	-0.1（偏航）
	-0.01	0.01

类别	参数	3σ值
初始状态偏差	位置/m	［±100 ±100 ±50］
	速度/（m·s^-1）	［±20 ±20 ±10］
	质量/kg	±50
动力系统偏差	比冲/%	±1
动力系统偏差	秒耗量/%	±2
环境干扰偏差	气动系数/%	±10
环境干扰偏差	大气密度/%	±10

统计项		终端精度（3σ）偏差
位置	r_x /（10^-2 m）	-7.3
	r_y /（10^-2 m）	5.1
	r_z /（10^-2 m）	-10
速度	v_x （10^-3 m·s^-1）	2.6
	v_y （10^-3 m·s^-1）	-10
	v_z （10^-3 m·s^-1）	9.7
姿态角	俯仰角/（°）	1.13
姿态角	偏航角/（°）	0.55
质量/kg		2.58
平均规划耗时/s		0.86

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Energy management and trajectory optimization technology for rocket landing

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