一种小型固体运载火箭末级多约束制导方法

针对耗尽关机的固体运载火箭末级多约束制导问题，提出了在真空飞行段设计一种具有速度管控能力的多约束制导方法。同时针对速度管控引起的状态矢量耦合问题，基于定点制导算法推导出一种适用于耗尽关机制导的拓展理论算法，通过求解交变姿态速度管控方向实现对耦合项的抑制；并对大气层外“助推-滑行-助推”的任务模式，在此理论基础上推导出滑行点火时间、〖JP2〗需要速度矢量与终端轨道根数之间的理论关系，解决了固体运载火箭在固定弧长条件下的两点边值问题。蒙特卡洛仿真结果表明：该制导算法对不同载荷任务具有较强的适应能力，对模型的参数偏差及不确定性具有高制导精度和强鲁棒性，因此该算法具有一定的理论意义和工程应用价值。

A Multi Constraint Guidance Method for Terminal Stages of Small Solid Launch Vehicles

In order to solve the problem of multi-constraint guidance for terminal stages of solid launch vehicles which shut off by the fuel exhaustion, a multi-constraint guidance method with the velocity control ability is designed in vacuum. For the coupling problem of state vectors caused by the process of the velocity control, an improved theoretical algorithm for exhaustion shutdown based on the pointing algorithm is deduced, which restrains the coupling by controlling the direction of the alternating attitude. The improved pointing algorithm is used as the base guidance method to obtain the required velocity vector and ignition time for the “burn-coast-burn” task mode in the exo-atmosphere, satisfies with the terminal multi-constraint orbit elements and solves the two-point boundary value problems with the given arc length constraint. The proposed guidance algorithm is verified by the Monte Carlo simulations and the testing results demonstrate the powerful adaptability to different load masses, the strong robustness and excellent performance to the deviations and uncertainties, which has a certain theoretical significance and reference value for practical engineering applications.