RLV末端能量管理段轨迹在线规划与制导

针对可重复使用飞行器（RLV）末端能量管理段利用数值优化算法在线规划轨迹的实时性无法保证，工程应用性差的问题，在末端能量管理段的航向调整段（HAC）轨迹前增加直线预测捕获段(PASL)，并在该阶段提前完成末端区域能量管理(TAEM)段轨迹的在线规划，从而降低工程中对轨迹在线规划方法实时性的高要求。首先，通过求解零气动角下的质点运动方程解析解，得到直线预测捕获段结束点的飞行状态预测值作为TAEM段轨迹的初始点状态。然后，在线求解以航向调整段进入点飞行器航向角偏差最小为目标函数，以动压、过载和速度滚转角限制为约束的非线性规划问题，得到航向调整螺旋线中心的最优位置。最后，设计了以规划轨迹确定的标称气动角指令为前馈，以跟踪偏差的比例+微分律生成指令(PD)为反馈的TAEM段制导律。算例仿真校验了本文基于弹道预测的末端能量管理方法的有效性。

On Line Trajectory Planning and Guidance for Terminal Area Energy Management of Reusable Launch Vehicle

On-line trajectory plan methods are of no guarantee of real time for using optimization searching algorithms. They are unpractical to be adopted in engineering application for reusable launch vehicles (RLV) in terminal area energy management (TAEM). An prediction and acquisition straight line (PASL) phase is added before the heading alignment cone (HAC) to accomplish the TAEM trajectory on-line planning in advance, thus decreasing the requirement for the real time performance. The vehicle′s initial states of the TAEM phase referred to as the terminal states of the PASL phase can be predicted by calculating the analytic solution of three-degree freedom motion equations with zero aerodynamic angle. Taking dynamic pressure, normal acceleration and bank angle as constraints, it is transformed into a non-linear planning problem to generate the TAEM trajectory. The objective function is to search for the optimal HAC position with a minimum heading error to enter the HAC. In addition, a pneumatic-angle directive (PD) feedback tracking law is designed, where the open-loop commands are available once the trajectory is obtained. Finally, an illustrative example is given to confirm the efficiency of the TAEM method based on trajectory prediction.