本文關(guān)鍵詞： 火星著陸器 動力下降 制導(dǎo)策略 燃料最優(yōu) 路徑點(diǎn) 二階滑模　出處：《哈爾濱工業(yè)大學(xué)》2015年碩士論文　論文類型：學(xué)位論文

【摘要】：隨著人類對太空探索的不斷深入,人造探測器探測任務(wù)已由早期對地球、月球探測發(fā)展到行星及彗星的探測,探測任務(wù)的類型經(jīng)歷了飛越、繞飛、硬著陸、軟著陸、采樣返回等幾個階段。著陸器的動力下降段主要用于實現(xiàn)行星的最終軟著陸任務(wù),是確保實現(xiàn)近距離研究行星的重要階段之一。針對火星著陸器在任務(wù)可靠性、燃料消耗等多方面任務(wù)需求,本文以燃料最優(yōu)為目標(biāo),對動力下降段的軌跡優(yōu)化和最優(yōu)跟蹤制導(dǎo)策略開展了研究,主要包括以下幾個方面:經(jīng)過合理簡化得到著陸器動力下降段運(yùn)動模型,并將具有非凸特性的燃料最優(yōu)問題轉(zhuǎn)換為凸優(yōu)化問題進(jìn)行求解,通過軌跡優(yōu)化得到了大量不同初始狀態(tài)下的燃料最優(yōu)著陸軌跡。針對得到的燃料最優(yōu)軌跡,設(shè)計了一種基于二階滑模的軌跡跟蹤制導(dǎo)律。針對傳統(tǒng)變結(jié)構(gòu)控制使系統(tǒng)產(chǎn)生抖振,動態(tài)響應(yīng)速率慢,以及存在大氣等干擾時不具備較強(qiáng)魯棒性等問題,設(shè)計一種二階滑模到達(dá)條件,理論證明了其存在性和可達(dá)性,對存在干擾情況下的魯棒性進(jìn)行了分析;基于所設(shè)計的到達(dá)條件設(shè)計出跟蹤制導(dǎo)律;通過數(shù)值仿真驗證了所設(shè)計跟蹤制導(dǎo)律的有效性。考慮最優(yōu)軌跡存儲將占據(jù)大量存儲空間,本文在深入分析燃料最優(yōu)解的基礎(chǔ)上提出了一種新的路徑點(diǎn)制導(dǎo)策略。通過其推力變化規(guī)律定義了新的路徑點(diǎn),選取線性制導(dǎo)律與之結(jié)合形成新的制導(dǎo)策略,該制導(dǎo)策略既具有燃料最優(yōu)性,又較傳統(tǒng)標(biāo)稱軌跡制導(dǎo)節(jié)省存儲空間;分別采用線性插值和三次樣條插值方法,獲得了非典型初始位置對應(yīng)的路徑點(diǎn),通過仿真驗證所提出方法的有效性。
[Abstract]:With the deepening of human space exploration, the exploration mission of artificial probe has developed from the early exploration of the earth and the moon to the exploration of planets and comets. The types of missions have experienced overflight, orbit, hard landing, soft landing. The dynamic descent section of the lander is mainly used to realize the final soft landing mission of the planet, which is one of the important stages to ensure the close study of the planet. In this paper, the trajectory optimization and the optimal tracking guidance strategy of the power descent section are studied, which is aimed at the fuel optimization. The main contents are as follows: after reasonable simplification, the dynamic descent motion model of lander is obtained, and the fuel optimal problem with non-convex characteristics is converted to convex optimization problem. A large number of fuel optimal landing trajectories in different initial states are obtained by trajectory optimization. A trajectory tracking guidance law based on second-order sliding mode is designed for the fuel optimal trajectory. The system is buffeted by conventional variable structure control. The dynamic response rate is slow and there is no strong robustness in the presence of atmospheric disturbances. A second-order sliding mode arrival condition is designed and its existence and reachability are proved theoretically. The robustness in the presence of disturbances is analyzed. The tracking guidance law is designed based on the designed arrival conditions, and the effectiveness of the designed tracking guidance law is verified by numerical simulation. Considering that the optimal trajectory storage will occupy a large amount of storage space, Based on the analysis of the fuel optimal solution, a new path point guidance strategy is proposed in this paper. A new path point is defined by the law of its thrust variation, and the linear guidance law is selected to combine with it to form a new guidance strategy. The guidance strategy not only has fuel optimality, but also saves storage space compared with the traditional nominal trajectory guidance. The path points corresponding to the atypical initial position are obtained by using linear interpolation and cubic spline interpolation, respectively. The effectiveness of the proposed method is verified by simulation.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2015
【分類號】：V448.2

【參考文獻(xiàn)】

相關(guān)會議論文 前1條

1 方寶東;張建剛;張文巧;;火星探測發(fā)展趨勢及關(guān)鍵技術(shù)淺析[A];中國宇航學(xué)會深空探測技術(shù)專業(yè)委員會第三屆學(xué)術(shù)會議論文集[C];2006年

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