本文關(guān)鍵詞：空天飛行器軌跡規(guī)劃與控制研究　出處：《國防科學(xué)技術(shù)大學(xué)》2015年博士論文　論文類型：學(xué)位論文

  更多相關(guān)文章： 空天飛行器 軌跡規(guī)劃與控制 改進(jìn)偽譜法 微分平坦 同倫法 不確定性 隨機(jī)配點(diǎn) 微分變換 有限時(shí)間控制 電磁編隊(duì) 滑翔飛行器

【摘要】：近年來,隨著高超聲速飛行器、空間機(jī)器人等新型空天飛行器的快速發(fā)展,對(duì)空天飛行任務(wù)的靈活性、適應(yīng)性和安全性提出了更高的要求,因而任務(wù)規(guī)劃成為當(dāng)前空天領(lǐng)域研究熱點(diǎn)。空天飛行器軌跡規(guī)劃與控制具有狀態(tài)變量維數(shù)高、約束多、耦合性和不確定性強(qiáng)等特點(diǎn),在理論和技術(shù)實(shí)現(xiàn)上均提出了一定挑戰(zhàn)。論文深入研究了空天飛行器最優(yōu)軌跡規(guī)劃、在線軌跡規(guī)劃、不確定性軌跡規(guī)劃以及非線性魯棒控制等方法,并應(yīng)用于航天器電磁編隊(duì)構(gòu)形重構(gòu)和高超聲速滑翔飛行器再入飛行。論文由理論和應(yīng)用研究兩部分組成,理論研究部分重點(diǎn)圍繞優(yōu)化規(guī)劃策略、提高求解效率和處理不確定性影響等問題展開:(一)考慮性能指標(biāo)優(yōu)化需求,在最優(yōu)控制理論框架下,建立了最優(yōu)軌跡規(guī)劃問題的數(shù)學(xué)模型,采用分段Radau偽譜法將其轉(zhuǎn)換為非線性規(guī)劃問題求解;進(jìn)而,針對(duì)Radau偽譜法求解Bang-Bang控制軌跡的不足,提出了基于協(xié)態(tài)映射定理和極大值原理的控制切換結(jié)構(gòu)檢測(cè)策略,并利用Radau偽譜積分矩陣逐段將微分約束轉(zhuǎn)換為代數(shù)約束,仿真結(jié)果驗(yàn)證了該方法的有效性。(二)考慮規(guī)劃效率與精度要求,利用系統(tǒng)微分平坦屬性,將問題轉(zhuǎn)換為平坦輸出規(guī)劃問題,消除了微分動(dòng)力學(xué)約束且降低了規(guī)劃空間維數(shù);進(jìn)一步,采用Chebyshev偽譜法參數(shù)化平坦輸出,并綜合共形映射和重心有理插值技術(shù)進(jìn)行改進(jìn),有效降低了微分矩陣病態(tài)特性對(duì)規(guī)劃精度的影響。研究了微分平坦-解析同倫組合優(yōu)化方法,基于平坦方法生成的光滑軌跡構(gòu)建協(xié)態(tài)變量解析為零的輔助問題,化解了同倫法的初始化困難,同時(shí)提高了平坦方法對(duì)非光滑軌跡的適用性。(三)考慮不確定性對(duì)軌跡規(guī)劃的影響,分析了空天飛行器的主要不確定性;針對(duì)強(qiáng)非線性動(dòng)態(tài)系統(tǒng),研究了基于隨機(jī)配點(diǎn)的不確定性分析方法,并與Monte Carlo法對(duì)比,驗(yàn)證了前者的估算精度及計(jì)算效率優(yōu)勢(shì)。構(gòu)建了軌跡穩(wěn)健性指標(biāo),并基于雙層嵌套式不確定性規(guī)劃框架建立多目標(biāo)優(yōu)化模型,以綜合考慮穩(wěn)健性指標(biāo)和初始性能指標(biāo);仿真表明該方法能夠有效降低軌跡對(duì)不確定性的靈敏度。(四)研究利用反饋跟蹤控制消除不確定性影響的方法:考慮控制能量與跟蹤效果,采用滾動(dòng)時(shí)域方法設(shè)計(jì)了魯棒最優(yōu)跟蹤控制律,并提出了求解有限時(shí)域兩點(diǎn)邊值問題的微分變換方法;考慮跟蹤偏差收斂時(shí)間,采用自適應(yīng)終端滑�？刂圃O(shè)計(jì)了有效時(shí)間跟蹤控制律;仿真驗(yàn)證了兩種跟蹤控制律的有效性與魯棒性。論文應(yīng)用部分圍繞航天器電磁編隊(duì)和高超聲速滑翔飛行器展開:(一)針對(duì)電磁編隊(duì)構(gòu)形重構(gòu)任務(wù),考慮系統(tǒng)動(dòng)力學(xué)的強(qiáng)耦合性,分別采用自由磁偶極子解耦策略+Radau偽譜法和間接控制變量解耦策略+微分平坦方法的規(guī)劃框架,設(shè)計(jì)了雙星和三星編隊(duì)的最優(yōu)構(gòu)形重構(gòu)軌跡;考慮系統(tǒng)的非線性和不確定性,設(shè)計(jì)了基于反饋線性化和自適應(yīng)終端滑�？刂品椒ǖ膬�(nèi)外環(huán)組合控制策略,并仿真驗(yàn)證了構(gòu)形重構(gòu)控制律的魯棒性與有限時(shí)間收斂性。(二)針對(duì)高超聲速滑翔式再入飛行任務(wù),在無量綱地心距-速度剖面內(nèi),建立了過載、動(dòng)壓和熱流密度三類過程約束的統(tǒng)一數(shù)學(xué)規(guī)律,推導(dǎo)了傾側(cè)角閉環(huán)解析解,并基于恒定過程約束飛行的策略生成了三自由度再入飛行軌跡。在狀態(tài)空間中,采用微分平坦方法快速優(yōu)化滑翔飛行軌跡,并設(shè)計(jì)了滾動(dòng)時(shí)域魯棒最優(yōu)跟蹤控制律。數(shù)值仿真驗(yàn)證了兩種標(biāo)稱軌跡生成方法的有效性以及滾動(dòng)時(shí)域跟蹤控制律的魯棒性�？傊�,論文系統(tǒng)研究了空天飛行器軌跡規(guī)劃與控制的理論方法,并針對(duì)航天器電磁編隊(duì)構(gòu)形重構(gòu)和高超聲速滑翔飛行任務(wù)進(jìn)行了設(shè)計(jì)分析。論文研究在最優(yōu)軌跡規(guī)劃、在線軌跡規(guī)劃、不確定性軌跡規(guī)劃以及非線性魯棒跟蹤控制等方面取得了一些研究成果,為進(jìn)一步深入研究奠定了堅(jiān)實(shí)基礎(chǔ)。
[Abstract]:In recent years, with the rapid development of hypersonic vehicle, space robot model of spacecraft of the space flight mission, flexibility, put forward higher requirements for adaptability and security, so the task planning has become a hot topic in the research field of aerospace. Trajectory planning and control of the state variable dimension is high, the coupling characteristics of multi constraints. With strong uncertainty, some challenges were made in the implementation of the theory and technology. This paper further studies the spacecraft trajectory planning, trajectory planning, trajectory planning uncertainty and nonlinear robust control method is applied to electromagnetic spacecraft formation reconfiguration and hypersonic glide reentry flight. The theory research and application of two parts, part of the theoretical research focuses on the optimization planning strategy, improve the efficiency of problem solving and processing uncertainty Effect of expansion and other issues: (a) performance optimization needs to consider, in the optimal control theory, establishes a mathematical model of optimal trajectory planning problem, using piecewise Radau pseudospectral method to convert it to solve nonlinear programming problems; then, in the Radau pseudospectral method for solving Bang-Bang trajectory control, proposed the co state mapping theorem and the maximum control switch structure detection strategy based on the principle of using Radau integral matrix pseudospectra piecewise differential constraint into algebraic constraints, the simulation results verify the validity of the method. (two) test requirements into account planning efficiency and accuracy, using Differential Flatness property, be changed to flat output programming problem, eliminating the dynamical constraints and reduce the dimension of space planning; further, the Chebyshev pseudo spectral method of parametric flat output, and conformal mapping and barycentric rational interpolation. Operation is improved, can effectively reduce the influence of pathological characteristics on the planning of differential matrix precision. The thesis studied the Differential Flatness analytical homotopy optimization method, smooth trajectory generation method of flat construction co state variables analysis for auxiliary problem zero based on homotopy method to resolve the initialization difficulties, and improve the applicability of the method of non smooth flat track. (three) considering the effect of uncertainty on trajectory planning, analyzes the main uncertainty of spacecraft; for strong nonlinear dynamic system, the stochastic collocation method based on uncertainty analysis, and compared with Monte Carlo method, to verify the accuracy and computational efficiency of constructing trajectory advantage. Robust index, and based on the multi-objective optimization model of double nested uncertainty planning framework is established, by considering the robustness index and initial performance index; the simulation show that the Reduce the sensitivity of the track on the uncertainty of the method. (four) based on feedback tracking control method to eliminate the effects of uncertainty: energy control and tracking effect into account, using the rolling time domain method to design a robust optimal tracking control law, and put forward the differential transform method of problem solving finite domain boundary value; considering the tracking error convergence time, the adaptive terminal sliding mode control design of effective time tracking control law; simulation of the two tracking control law is effective and robust. The application part around the spacecraft electromagnetic formation and hypersonic glide vehicle: (a) the electromagnetic formation reconfiguration task, considering the strong coupling system dynamics, respectively. The free dipole decoupling strategy +Radau pseudospectral method and indirect control variable decoupling strategy + Differential Flatness method planning frame design, the double Optimal and Samsung star formation reconstruction trajectory; considering the system nonlinearity and uncertainty, the design of a feedback control strategy of the combination of the inner and outer ring and adaptive terminal sliding mode control based on linear, and verified the robustness and convergence of the finite time control law reconfiguration. (two) for hypersonic glide reentry flight task in dimensionless range - velocity profile, established a unified mathematical rules of overload, dynamic pressure and heat flux of three kinds of constraints in the process of solution, the bank angle closed loop is derived, and the constant constraint in the process of flight generation strategy based on three degrees of freedom. The reentry trajectory in the state space, the fast glide flight trajectory optimization method and the design of the differential flatness, robust receding horizon optimal tracking control law. Simulation results verify the effectiveness of the two nominal trajectory generation method and rolling time Robust tracking control law. In short, the theory method of trajectory planning and control, and the electromagnetic spacecraft formation reconfiguration and hypersonic glide flight are analyzed. The research on the optimal trajectory planning, online trajectory planning, trajectory planning and tracking control of uncertain nonlinear robust made some research achievements, and laid a solid foundation for further research.

【學(xué)位授予單位】：國防科學(xué)技術(shù)大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2015
【分類號(hào)】：V448.2;V412.4
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本文編號(hào)：1363263