垂直起降重复使用运载器返回制导与控制

针对垂直起降可重复使用运载器返回全程非线性、高动态、强扰动、多约束条件下的精确着陆问题，开展适应各飞行段任务特性和需求的返回全程制导控制方法研究。首先分析返回全剖面各飞行段的特点及对制导控制的需求，建立了动力学模型；然后基于经典制导控制方法给出可行的返回全程制导控制方案，并针对其不足分别设计修航段基于剩余时间估计和几何关系目标点自适应更新的双层迭代制导、返回末段多约束自适应制导和返回全程自抗扰控制器，构建了自适应强抗扰新型返回全程制导控制方案；最后进行了数学仿真，通过对比分析经典制导控制方案和新型制导控制方案在小偏差/扰动和大偏差/扰动两种条件下的飞行状态，验证了新型制导控制方案下更高的着陆精度、更强的适应性和抗扰性。

Guidance and control for return process of vertical takeoff vertical landing reusable launching vehicle

The guidance and control of vertical takeoff vertical landing reusable launch vehicle face multiple constraints, large nonlinearity, and high dynamics during its return process. To overcome these difficulties, schemes of guidance and control adapted to variable characteristics and demands of every flight phase are designed based on the use and improvements of existing algorithms. Firstly, the features of the whole flight profile during the return process are analyzed and a dynamic model is developed. An initial plan is then brought up with the employment of typical guidance and control methods and its shortcomings are analyzed in detail. Improvements are made correspondingly including designing new iterative guidance with adaptive target-updating on the foundation of the estimated remaining working time and geometry relationship and establishing the adaptive guidance method for the final two flight phases with multi-constraints and an active disturbance rejection controller, leading to the formation of a new guidance and control scheme with strong anti-disturbance and adaptability. Finally, the results of mathematical simulation under small disturbances and large disturbances demonstrate the effectiveness of the two proposed schemes as well as strong anti-disturbance and robustness of the improved scheme.