一种应用于弹道导弹控制的朗伯特导引方法

介绍了一种用于与弹道目标会合的三自由度拦截弹仿真,其导引方法可以使拦截弹与弹道目标的位置和速度相匹配,在会合后能够跟随目标运动。该方法采用朗伯特导引,控制在主动段飞行的导弹,使它的弹道与弹道目标的弹道重合。在与弹道目标会合之前,预先设定了一个短暂的末修段,以使拦截弹的速度与弹道目标的速度相匹配。     

交会接近轨迹的闭环斜滑控制算法研究

为了矫正追踪航天器相对接近轨迹的偏离,实现交会轨迹的主动安全控制,在开环斜滑算法的基础上提出了闭环斜滑主动控制方法,包括轨迹控制的闭环斜滑算法和终端控制的闭环斜滑算法。利用某近距离交会接近问题,采用MonteCarlo（蒙特卡洛）打靶仿真,分析比较了开环斜滑算法和2种闭环斜滑算法。结果表明,闭环控制终端偏离明显小于开环情况,同时在较短时间内以较小的速度增量实现了终端状态控制,并且轨迹控制的闭环斜滑算法控制精度小于终端控制算法。     

A novel biased proportional navigation guidance law for close approach phase

A novel biased proportional navigation guidance (BPNG) law is proposed for the close approach phase, which aims to make the spacecraft rendezvous with the target in specific relative range and direction. Firstly, in order to describe the special guidance requirements, the concept of zero effort miss vector is proposed and the dangerous area where there exists collision risk for safety consideration is defined. Secondly, the BPNG, which decouples the range control and direc-tion control, is designed in the line-of-sight (LOS) rotation coordinate system. The theoretical anal-ysis proves that BPNG meets guidance requirements quite well. Thirdly, for the consideration of fuel consumption, the optimal biased proportional navigation guidance (OBPNG) law is derived by solving the Schwartz inequality. Finally, simulation results show that BPNG is effective for the close approach with the ability of evading the dangerous area and OBPNG consumes less fuel compared with BPNG.     

交会对接远程导引轨道控制状态规划与优化算法

对空间交会对接远程导引段轨道控制问题进行了研究。在简单介绍交会对接远程导引轨道控制实时规划模型的基础上,提出了基于近圆偏差方程、序列二次规划算法和目标权重函数等在不同控制目标模式下的状态规划与优化算法。仿真结果表明,该算法收敛速度快,能较好地满足交会对接远程导引段的轨道控制要求,具有一定的工程实用价值。     

Survey of orbital dynamics and control of space rendezvous

Rendezvous orbital dynamics and control （RODC） is a key technology for operating space rendezvous and docking missions. This paper surveys the studies on RODC. Firstly, the basic relative dynamics equation set is introduced and its improved versions are evaluated. Secondly, studies on rendezvous trajectory optimization are commented from three aspects： the linear rendez- vous, the nonlinear two-body rendezvous, and the perturbed and constrained rendezvous. Thirdly, studies on relative navigation are briefly reviewed, and then close-range control methods including automated control, manual control, and telecontrol are analyzed. Fourthly, advances in rendezvous trajectory safety and robust analysis are surveyed, and their applications in trajectory optimization are discussed. Finally, conclusions are drawn and prospects of studies on RODC are presented.     

Optimal robust linearized impulsive rendezvous

The optimization of time-fixed linearized impulsive rendezvous with control uncertainty is investigated. One performance index related to the variances of the terminal state error is defined as the performance index of robustness which is calculated by linear covariance method. The two-objective optimization problem of minimizing the total characteristic velocity and the performance index of robustness is formulated based on the Clohessy–Wiltshire (C-W) system and solved by the nondominated sorting genetic algorithm. The Pareto-optimal solution sets of one homing rendezvous mission are provided and the Pareto optimality is verified by comparing with the fuel-optimal and the robustness-optimal solutions. It is shown that the proposed approach can quickly investigate the relation between the fuel cost and the trajectory robustness, besides evaluate different rendezvous maneuver schemes.     

Optimization of multiple-impulse minimum-time rendezvous with impulse constraints using a hybrid genetic algorithm

The minimum-time multiple-impulse rendezvous with impulse constraints is investigated in this paper. Based on the Clohessy–Wiltshire (C–W) equations, an optimization model including several different kinds of impulse constraints such as the maximum impulse magnitude, the total velocity change magnitude and the time of imposing impulse for multiple-impulse minimum-time rendezvous is established. A generalized inverse matrix solution for linear equation is applied to avoid handling the terminal equality constraints. In order to obtain the global solution efficiently, a hybrid optimizer combining the advantages of a floating-coded genetic algorithm and simplex method is employed. A low-earth orbit multiple-impulse rendezvous problem is used as an example. The influence of the number of impulses, the optimization variables and the constraints on the solution is analyzed, and the different optimization algorithms are compared. Results indicate our proposed model and approach is effective in designing linearized minimum-time rendezvous trajectory with impulse constraints.     

无人机空中加油自主会合的制导与控制

针对无人机空中加油的自主会合问题,进行了相应制导律和非线性控制器的设计。通过改进的带角度约束的三维比例制导律实现对航向角的控制,以协调转弯的方式将航迹角指令转化为姿态角指令。基于无人机六自由度的动力学模型,针对无人机的姿态控制,采用时标分离的方法设计了慢子系统和快子系统,并对这两个子系统分别进行动态逆控制设计。同时,基于滑模控制的方法设计了满足自主会合要求的速度控制律。在保证无人机飞行稳定的基础上,实现了对控制和制导指令的精确跟踪。仿真结果表明,所设计的制导律和控制律能够实现无人机空中加油的自主会合,具有良好的动态特性。     

非合作目标交会的双层MPC全局轨迹规划控制

针对空间非合作目标近距离视线交会中的全局最优鲁棒轨迹规划与控制问题,提出了基于高斯伪谱方法（GPM）和线性时变模型预测控制（LTVMPC）的双层模型预测控制（MPC）算法。在轨迹规划方面,以视线坐标系下的相对轨道动力学为模型、能量最少和控制精度最优为性能指标构建最优控制问题,利用GPM精度高、收敛速度快的特点将最优控制问题转化为易于求解的全局非线性规划问题,在MPC框架下求解得到全局最优的标称轨迹,克服了传统的MPC不适用于全局大范围非线性规划的缺点;在轨迹跟踪控制方面,考虑预测时域内状态转移矩阵的时变特性,设计了LTVMPC算法对标称轨迹进行追踪,避免了存在不确定性时轨迹的重规划,从而降低在线计算量,保证算法在线自主实施,并且采用滚动优化的策略使算法对不确定性具有鲁棒性。由于规划层和控制层考虑的约束相同,因此规划的轨迹是可控、可达的。数字仿真表明,在燃料消耗和交会时间等方面,提出的方法均显著优于传统的MPC方法,相较于传统的MPC方法,新算法的交会时间减少50%左右,燃料消耗降低30%以上。     

基于轨道方程线性化的中段飞行轨道修正方法

对于深空探测、大范围远程交会、抵近观察等中段飞行时间较长的航天任务,中段轨道修正是完成任务的重要保证.基于摄动制导的思路,通过对轨道方程进行线性化,研究了二体条件下的中段轨道修正方法.在近地航天任务中,各种摄动力特别是J2项对终端位置精度的影响不可忽略,因此研究了考虑J2摄动影响时线性化方程的补偿方法.最后通过数值仿真...     

基于NFTET的高超声速飞行器再入容错制导

针对以X-33为对象的三自由度高超声速飞行器,采用相邻可行轨迹存在定理(NFTET)设计了容错制导律以解决再入段执行器发生故障的轨迹重构问题。在标称情况下采用预测校正算法生成满足再入过程约束和终端约束要求的再入轨迹;当执行器发生故障时,飞行器气动参数、结构和舵面力矩都可能发生不可预测的变化,原先的轨迹不再满足制导要求,因此需要设计新型容错制导律。针对实际再入制导模型,基于NFTET设计容错制导算法对轨迹进行重构,得到满足故障情况下制导任务的可行轨迹。从仿真结果中可以看出,容错制导算法生成的新轨迹重新回到了约束范围之内,轨迹呈收敛趋势,使得高超声速飞行器从故障恢复到正常飞行状态,提高了飞行器的自主容错能力。     

基于混合粒子群算法的上升段交会弹道快速优化设计

基于梯度搜索的高效性和粒子群搜索的随机性,提出了一种混合粒子群算法,并应用该算法研究了运载火箭上升段交会弹道快速优化设计问题.以运载火箭与目标飞行器在交会时刻的距离最小为目标函数,设计了运载火箭飞行程序,建立了运载火箭上升段交会弹道优化模型,同时分别采用混合粒子群算法、遗传算法和粒子群算法进行求解.仿真结果表明:基于本文算法对运载火箭上升段交会弹道进行优化设计,平均交会位置误差为4.137m,较遗传算法减少了17.940m,平均优化耗时488.922s,较粒子群算法缩短了2342.125s.混合粒子群算法搜索速度较快,收敛精度较高,可用于运载火箭上升段交会弹道的快速优化设计.      

Autonomous gliding entry guidance with geographic constraints

This paper presents a novel three-dimensional autonomous entry guidance for relatively high lift-to-drag ratio vehicles satisfying geographic constraints and other path constraints. The guidance is composed of onboard trajectory planning and robust trajectory tracking. For trajectory planning, a longitudinal sub-planner is introduced to generate a feasible drag-versus-energy profile by using the interpolation between upper boundary and lower boundary of entry corridor to get the desired trajectory length. The associated magnitude of the bank angle can be specified by drag profile, while the sign of bank angle is determined by lateral sub-planner. Two-reverse mode is utilized to satisfy waypoint constraints and dynamic heading error corridor is utilized to satisfy no-fly zone constraints. The longitudinal and lateral sub-planners are iteratively employed until all of the path constraints are satisfied. For trajectory tracking, a novel tracking law based on the active disturbance rejection control is introduced. Finally, adaptability tests and Monte Carlo simulations of the entry guidance approach are performed. Results show that the proposed entry guidance approach can adapt to different entry missions and is able to make the vehicle reach the prescribed target point precisely in spite of geographic constraints.     

微型航天器与空间非合作目标交会制导方法

星载设备能力有限的微型航天器在与空间非合作目标交会任务开始前,存放在空间轨道平台内,为了使其完成此项任务,需要设计制导方法。本文首先根据希尔（C-W）方程,设计了初制导律,然后在视线坐标系内建立了微型航天器与非合作目标间的相对运动方程,并设计了空间交会自寻的末制导律。交会任务开始时,为节省微型航天器的燃料,轨道平台根据初制导律以一定速度及释放角度释放微型航天器,微型航天器进入交会轨道,在初制导的作用下,经过若干个过渡轨道周期后接近空间非合作目标,并为末制导提供良好的交班条件,当末制导导引设备捕获并跟踪目标后可通过自寻的末制导最终完成与空间非合作目标交会任务。     

Accurate and autonomous navigation for the ATV

The Automated Transfer Vehicle (ATV) is a European spacecraft intended to service the International Space Station (ISS). It is designed to perform automated phasing, approach, rendezvous and docking to the ISS, then departure and deorbitation manoeuvres. Such an automated rendezvous mission towards a manned facility raises severe performance and safety constraints for the vehicle, which are declined towards the on-board Navigation in terms of availability, accuracy and failure tolerance: the ATV shall be operational after any first failure and safe conditions shall be reached after a second failure. The whole ATV navigation system has been designed to fulfil these very stringent requirements. Based on fully redundant hardware, the navigation algorithms present optimal estimators and multi-layers Failure, Detection, Isolation and Recovery (FDIR) capabilities to ensure the continuity of the state vector in case of failure. Several functions provide state vectors estimations and health reports, according to the flight phase: the attitude and drift estimation function provides the vehicle absolute attitude and angular rate during the whole flight; for the far rendezvous, position and velocity relative to the ISS are estimated by the relative GPS navigation and a dedicated relative navigation with Videometer applies in close rendezvous, in the final approach. All these autonomous navigation functions offer nevertheless a high level of monitoring and control to the ATV Control Centre operators. Thus the ATV innovative navigation chain provides the high level of performance, robustness and autonomy required by modern spacecrafts involved in human programs, today in Earth orbit but also for future space exploration missions.     

路径约束的时间最短多脉冲交会全局优化

不同于现有的多脉冲最优交会研究多集中于交会时间固定的最省燃料优化,研究了路径约束和脉冲受限的多脉冲最短时间交会问题。综合考虑了交会测量视场角、脉冲总量和脉冲作用时刻等约束,基于Lam-bert交会算法,建立了多脉冲交会最短时间优化的非线性规划模型。为了高效获得全局最优解,采用了模拟退火算法用于非线性优化问题的求解。最后,通过解决一个寻的三脉冲交会问题验证了模型和算法的有效性。该研究方法可寻找满足特定约束条件的最优交会轨道。     

On Optimal Allocation and Guidance Laws for Linear lnterception and Rendezvous Problems

This paper considers the problem of guiding N interceptors so that they intercept or rendezvous with N targets at the same time T. It is assumed that the interceptors and targets are described by linear time-varying differential equations (deterministic or stochastic). Under certain assumptions both the optimal (static or dynamic) interceptor-target allocation and the guidance of each interceptor for the optimal allocation can be obtained with modest real-time and storage computer requirements.     

基于正交试验设计的交会远距离导引误差分析

由于测量-规划-执行闭环过程的引入,交会远距离导引段的导航执行误差之间存在交互作用。对一个实际的远距离导引任务,采用正交试验设计方法安排数值试验,通过离差平方和评估误差之间的交互作用。结果表明,影响推进剂消耗的主要误差源之间存在显著的交互作用,而影响终端相对位置速度的主要误差源之间的交互作用很小或不明显。     

航天器多约束交会的仅测角导航最优多目标闭环制导

研究了航天器多约束交会的仅测角导航最优多目标闭环制导问题,优化目标包括交会时间、燃耗和仅测角导航可观性指标,并考虑了视觉传感器视场角、推力器推力幅度和最小安全距离等各种约束条件,建立了多约束、多目标优化下的仅测角导航和闭环制导问题的数学模型,分析了仅测角导航和闭环制导之间的耦合关系。最后,通过Matlab遗传算法工具箱中的多目标优化函数,求解得到了该多目标优化模型的Pareto最优解集,结果显示交会时间、燃耗和仅测角导航可观性指标不能同时达到最优,存在相互制约关系,即提高其中一种优化目标的性能会降低其他优化目标的性能。     

单推力航天器交会对接轨迹规划及跟踪控制

针对单推力航天器交会对接问题,提出一种轨迹规划及跟踪算法。首先,考虑到追踪航天器只沿本体X轴安装推力器,且推力方向固定,为了实现从起始位置转移至期望位置并满足姿态要求,基于三维螺旋线设计两阶段转移轨迹,根据初末位置以及末端速度方向要求,求解螺旋线参数。该螺旋线可以保证在初末速度方向固定情况下,曲率积分最小。其次,为了降低轨迹跟踪难度并减小初始时刻的位置跟踪控制力,需要将转移轨迹初始速度与追踪星X轴重合。传统螺旋线无法满足该约束条件。本文对传统螺旋线进行改进,提出一种旋转螺旋线轨迹设计方法。通过引入姿态旋转矩阵,将螺旋线在三维空间旋转,在不改变曲线形状的前提下满足初末位置及速度方向要求。然后,为了跟踪转移轨迹以及跟踪期望推力方向,提出基于CLF（Control Lyapunov Function）的滑模控制策略,当追踪星X轴与期望推力方向夹角较大时,采用CLF,保证最优性;当姿态误差收敛至滑模面附近时,切换为滑模控制,以提升系统鲁棒性。最后,通过仿真验证旋转螺旋线相比于传统螺旋线的优势。