基于序列凸规划的运载火箭轨迹在线规划方法

针对大气层内气动力对轨迹规划求解实时性与收敛性的影响,提出一种基于模型补偿序列凸规划的大气层内火箭轨迹规划方法.该方法的核心思想是通过设计一种序列补偿的方式,将火箭动力学中非线性项(气动力加速度与重力加速度)与过程约束项(动压、过载约束等)进行凸化,从而将轨迹规划问题转化为序列凸规划问题而得到快速求解.在此基础上,本文...

Online Trajectory Planning for Launch Vehicles withSuccessiveConvex Programming

A model compensation version ofsuccessive convex programming is developed to account for aerodynamicdispersions and applied to the atmospheric rocket trajectory planning problem.A strategy to successively compensate the nonlinear terms in the vehicledynamics is proposed, with which the original problem can be transformed into aconvex one and then solved rapidly. A method to successively convexify the pathconstraints is developed, which is capable of addressing the nonconvex pathconstraints without slowing the optimization process. At last, the convergenceis analyzed theoretically. The simulation results suggest that the proposedmethod can generate trajectories autonomously and rapidly for launch vehiclesboth in landing phase and in ascent flight. Besides, the convergence rate ofthe method meets the real time requirement.