基于改进CO-RS的平流层飞艇总体设计与优化

为改进响应面协同优化(CO-RS,Collaborative Optimization based on Response Surface)方法的工程实用性,提出改进的CO-RS方法.在响应面建立中应用广义乘子法和信赖域法,取消响应面更新对梯度的依赖性.针对平流层飞艇的总体设计与优化问题,基于改进的CO-RS框架,进行了系统任务分析和学科耦合分析.对气动与推进子系统、结构子系统和能源子系统进行了学科分析,以最小化平流层飞艇的质量为目标,建立基于改进CO-RS框架的多学科设计优化(MDO,Multidisciplinary Design Optimization)模型和相应的学科分析模型.利用iSIGHT软件搭建求解平台,采用改进的CO-RS算法进行仿真计算,并得到合理结果,验证了所建立的MDO模型的合理性和改进的CO-RS算法在平流层飞艇总体设计优化中的有效性.     

平流层飞艇总体设计的基础问题

平流层飞艇是一种新型的长航时临近空间飞行器，具有驻空高度高、驻空时间长、承载能力大、使用效费比高等特点，在对地观测及通信中继等领域具有广泛应用前景。但是该飞行器系统十分复杂，技术与设计实现难度大，总体设计需要考虑的基础问题及解决方案尚不完全明晰。根据平流层大气风场、温度和压力的基础特征，考虑平流层环境对平流层飞艇总体设计的影响，根据空气动力学与热力学基本理论，分析平流层飞艇的显著特征及与常规低空飞艇的区别，研究这些基础问题对平流层飞艇总体设计的影响，为平流层飞艇技术发展提供建议和参考。      

考虑风场条件的一类平流层飞艇返回过程建模与航迹规划研究

对一类气囊内外压差恒定的平流层软式飞艇,在考虑大气密度、温度变化以及大气风场的基础上,建立了飞艇三维空间运动的动力学模型;并针对能量消耗最少和航行时间最短两个指标函数,利用高斯伪谱法设计了飞艇从平流层返回地面的航迹,并对飞艇飞行高度、速度以及推力等状态变化进行分析研究.     

平流层飞艇热力学验证温度测量方法研究

平流层飞艇的热力学分析是平流层飞艇关键技术之一。针对热力学分析的工程验证及模型完善,提出了适合于平流层飞艇的艇囊内气体及囊体表面的温度测量方法,包括采集点的分布,传感器的选型,数据传输和处理及数据准确性评价等。经过两次平流层飞艇的缩比飞行试验,对比同艇发放的探空仪采集的温度数据,验证了该方法测量到的数据的准确性。     

微小型无人直升机避障最优轨迹规划

针对无人直升机在低空复杂环境下避障飞行问题,提出了一种基于非线性最优控制理论的求解策略.以避障机动飞行时间为优化目标,无人直升机六自由度非线性动力学方程为等式约束,直升机飞行性能限制以及三维空间中障碍物限制等因素为不等式约束,建立了避障机动飞行的最优控制模型.然后利用高斯伪谱法（GPM,Gauss Pseudospectral Method）将轨迹规划问题转化为非线性规划（NLP,Non-Linear Programming）问题,并采用序列二次规划算法进行求解.在此基础上研究了障碍物尺寸对最优轨迹的影响.计算结果表明,该方法能够以较高的精度生成真实可行的避障飞行轨迹,最优机动动作取决于障碍物纵横向尺寸比.      

平流层飞艇太阳能源系统研究

以平流层太阳能飞艇平台为背景,对平流层太阳能飞艇能源系统展开了分析和研究。文中建立了飞艇表面太阳能电池接收太阳直接辐射、散射辐射、反射辐射的模型。利用该模型对某飞艇太阳能电池进行计算,结果显示飞艇接收的太阳辐射能量与飞艇的工作纬度、季节、太阳能电池阵列表面面积、飞行姿态密切相关。当飞艇的脊背从日出到日落时刻正对太阳光线时,太阳能电池接收到的太阳辐射能量将是最大的。     

基于平流层风场预测的浮空器轨迹控制

平流层风场环境对浮空器设计和轨迹控制具有重要影响。针对平流层风场建模,以长沙地区2005—2010年的风场数据为例,首先采用本征正交分解（POD）方法对风场数据进行降阶处理;然后分别采用Fourier级数与BP神经网络算法对平流层风场进行预测,并对2种模型的预测精度进行比较分析;最后通过建立临近空间浮空器的动力学模型和高度调控模型,分析2种风场预测模型对浮空器轨迹控制的影响。研究结果表明,相对于Fourier预测模型,基于BP神经网络预测模型的预测精度更高,可信度更强,能够更好地为浮空器飞行轨迹控制提供参考价值。      

高空气球热力学模型与上升过程仿真分析

基于对高空气球热力学环境的分析,建立了热力学与动力学耦合的高空气球动力学模型;并采用该模型对某高空气球的上升与驻留过程进行仿真分析.结果表明:高空气球上升过程中内部氦气存在"超冷"现象,其中平流层区域"超冷"明显,氦气平均温差为-19 K;由于"超冷",其上升速度曲线呈双"V"形变化;强太阳辐射与弱对流环境使驻留过程中氦气呈现"超热"现象,平衡时氦气平均温度比环境温度高39 K,球内氦气超压648.8 Pa.数值仿真的速度、平均温度变化规律与相关飞行试验数据相吻合,说明该仿真模型是有效的.      

Ascent trajectory optimization for stratospheric airship with thermal effects

Ascent trajectory optimization with thermal effects is addressed for a stratospheric airship. Basic thermal characteristics of the stratospheric airship are introduced. Besides, the airship’s equations of motion are constructed by including the factors about aerodynamic force, added mass and wind profiles which are developed based on horizontal-wind model. For both minimum-time and minimum-energy flights during ascent, the trajectory optimization problem is described with the path and terminal constraints in different scenarios and then, is converted into a parameter optimization problem by a direct collocation method. Sparse Nonlinear OPTimizer(SNOPT) is employed as a nonlinear programming solver and two scenarios are adopted. The solutions obtained illustrate that the trajectories are greatly affected by the thermal behaviors which prolong the daytime minimum-time flights of about 20.8% compared with that of nighttime in scenario 1 and of about 10.5% in scenario 2. And there is the same trend for minimum-energy flights. For the energy consumption of minimum-time flights, 6% decrease is abstained in scenario 1 and 5% decrease in scenario 2. However, a few energy consumption reduction is achieved for minimum-energy flights. Solar radiation is the principal component and the natural wind also affects the thermal behaviors of stratospheric airship during ascent. The relationship between take-off time and performance of airship during ascent is discussed. it is found that the take-off time at dusk is best choice for stratospheric airship. And in addition, for saving energy, airship prefers to fly downwind.     

Matching trajectory optimization and nonlinear tracking control for HALE

This paper concerns optimal trajectory generation and nonlinear tracking control for stratospheric airship platform of VIA-200. To compensate for the mismatch between the point-mass model of optimal trajectory and the 6-DOF model of the nonlinear tracking problem, a new matching trajectory optimization approach is proposed. The proposed idea reduces the dissimilarity of both problems and reduces the uncertainties in the nonlinear equations of motion for stratospheric airship. In addition, its refined optimal trajectories yield better results under jet stream conditions during flight. The resultant optimal trajectories of VIA-200 are full three-dimensional ascent flight trajectories reflecting the realistic constraints of flight conditions and airship performance with and without a jet stream. Finally, 6-DOF nonlinear equations of motion are derived, including a moving wind field, and the vectorial backstepping approach is applied. The desirable tracking performance is demonstrated that application of the proposed matching optimization method enables the smooth linkage of trajectory optimization to tracking control problems.     

Effect of vapor condensation on ascending performance of stratospheric airship

This paper reports a numerical investigation on the effects of water vapor condensing inside the air bag of a stratospheric airship on its ascending performance. The kinetic and thermal model considering vapor condensation was established, based on which a computer program was written in Fortran. The simulation results show that the vapor condensation remarkably affects the kinetic and thermal characteristics of the stratospheric airship in the ascent process. During the ascent process below 11 km, a large amount of latent heat is released when the water vapor in the air inside the air bag of the stratospheric airship condenses, which results in the increase of the temperature and the reduction of the weight of the air in the air bag, causing the airship to speed up, the accelerated expansion of the helium, and the decrease of the helium temperature in the helium bag. When the flight altitude is higher than 11 km, the effect of vapor condensation on the kinetic and thermal characteristics of the stratospheric airship is negligible because vapor is virtually nonexistent in the air.     

Trajectory tracking control for underactuated stratospheric airship

Stratospheric airship is a new kind of aerospace system which has attracted worldwide developing interests for its broad application prospects. Based on the trajectory linearization control (TLC) theory, a novel trajectory tracking control method for an underactuated stratospheric airship is presented in this paper. Firstly, the TLC theory is described sketchily, and the dynamic model of the stratospheric airship is introduced with kinematics and dynamics equations. Then, the trajectory tracking control strategy is deduced in detail. The designed control system possesses a cascaded structure which consists of desired attitude calculation, position control loop and attitude control loop. Two sub-loops are designed for the position and attitude control loops, respectively, including the kinematics control loop and dynamics control loop. Stability analysis shows that the controlled closed-loop system is exponentially stable. Finally, simulation results for the stratospheric airship to track typical trajectories are illustrated to verify effectiveness of the proposed approach.     

A general calculation method to specify center-of-buoyancy for the stratospheric airship with multiple gas cells

As the lighter-than-air (LTA) flight vehicle, the stratospheric airship is a desirable platform to provide communication and surveillance services. During the ascent from sea-level to the mission altitude, the volume of the lifting gas may change significantly, which will result in the change of the center-of-buoyancy (CB). A general calculation method is developed to specify CB for the stratospheric airship with a double-ellipsoid hull and an arbitrary number of the gas cells. The cross-section-integral (CSI) method is used as a basic calculation scenario to specify CB. Considering the complexity in determining the boundary between the helium and air in the gas cell, a searching algorithm is put forward and the specification of CB can be conducted by the iterative calculation. As an important application, the stable condition of the pitch angle is analyzed when the change of CB is involved. Under different initial configurations, the stable pitch angle of the stratospheric airship during the ascent is specified and compared, which shows the advantages of the multi-gas-cell configuration. The results of this paper may provide an important reference for the engineering application of the stratospheric airship.     

Backstepping sliding-mode control of stratospheric airships using disturbance-observer

In the presence of unknown disturbances and model parameter uncertainties, this paper develop a nonlinear backstepping sliding-mode controller (BSMC) for trajectory tracking control of a stratospheric airship using a disturbance-observer (DO). Compared with the conventional sliding mode surface (SMS) constructed by a linear combination of the errors, the new SMS manifold is selected as the last back-step error to improve independence of the adjustment of the controller gains. Furthermore, a nonlinear disturbance-observer is designed to process unknown disturbance inputs and improve the BSMC performances. The closed-loop system of trajectory tracking control plant is proved to be globally asymptotically stable by using Lyapunov theory. By comparing with traditional backstepping control and SMC design, the results obtained demonstrate the capacity of the airship to execute a realistic trajectory tracking mission, even in the presence of unknown disturbances, and aerodynamic coefficient uncertainties.     

一种月球表面飞跃转移轨迹设计方法

针对飞跃器在月球表面飞跃转移轨迹设计问题，提出了基于凸优化方法的整个飞跃过程燃料最优轨迹设计方法。与经典凸优化方法对轨迹分段求解后再拼接得到全轨迹设计的方法不同，在假设垂直上升、着陆时间固定条件下，根据实际工程需要对轨迹进行了分段设计约束，利用黄金分割法搜索上升着陆时间，通过将原问题转化为求解一个二阶锥问题得到了全飞行过程燃料最优轨迹，解决了经典方法中分段最优但全任务过程非最优的问题。仿真结果表明，在同样满足分段约束情况下，分段凸优化方法采用不同垂直起降速度约束时燃耗分别为25.7207kg和 25.3903kg，而全程凸优化方法的燃料消耗为24.9682kg，优于分段凸优化的结果。     

月面上升的轨迹优化与参数分析

面向月球采样返回任务分析需求,对月面上升段的轨迹优化及燃料消耗影响因素进行了研究。基于上升器运动模型,建立以燃料消耗最优为目标考虑入轨约束的轨迹优化模型,通过Gauss伪谱法和序列二次规划求解上升过程最优推力方向。改变运动模型中的初始推重比、入轨约束中的目标轨道参数,根据轨迹优化结果得到对应的燃料消耗,分析了这些因素对上升器燃料消耗的影响。针对上升器非共面起飞的问题,提出了上升偏航、升交点调整、倾角调整3种方案,从燃料消耗的角度分析了各方案的适用情况,为未来工程应用提供参考。     

基于高斯伪谱法的空天飞机上升段最优轨迹设计

针对复杂多约束条件下空天飞机上升段燃料最优轨迹优化问题,提出一种基于高斯伪谱法的上升段轨迹优化策略.依据发动机的推力特性将上升轨迹合理分段,使原最优控制问题转化为多段最优控制问题后,采用高斯伪谱法进行并行优化计算.数值仿真结果表明采用这种轨迹优化策略能够满足组合动力系统工作模态转换时对飞行状态的约束条件,可以在较短的时间内完成高精度的上升段轨迹优化任务,从而验证了该方法的有效性.