【摘要】：隨著火星探測(cè)任務(wù)的深入開(kāi)展,火星表面采樣返回和載人登陸火星已經(jīng)是未來(lái)火星探測(cè)新階段的目標(biāo),探測(cè)器的著陸精度成為探火任務(wù)成功與否的關(guān)鍵因素。在大氣進(jìn)入階段進(jìn)行有效的制導(dǎo)與控制是提高著陸器著陸精度中必然和重要的技術(shù)手段之一,因此對(duì)火星探測(cè)器在大氣進(jìn)入段的相關(guān)技術(shù)和理論進(jìn)行較深層次的研究,設(shè)計(jì)合理的火星大氣進(jìn)入段的軌跡和高精度制導(dǎo)系統(tǒng),已經(jīng)成為當(dāng)前火星研究的重點(diǎn)。本文結(jié)合科技部973項(xiàng)目“行星表面精確著陸導(dǎo)航與制導(dǎo)控制問(wèn)題研究”和國(guó)家自然科學(xué)基金項(xiàng)目“行星著陸自主導(dǎo)航方法研究”,以提高火星探測(cè)器大氣進(jìn)入段開(kāi)傘點(diǎn)精度為目標(biāo),對(duì)該階段的軌跡設(shè)計(jì)與制導(dǎo)關(guān)鍵技術(shù)進(jìn)行了系統(tǒng)地研究,主要研究成果如下:研究了火星探測(cè)器在大氣進(jìn)入段的軌跡設(shè)計(jì)問(wèn)題�；诨鹦谴髿膺M(jìn)入段的動(dòng)力學(xué)模型,利用蒙特卡洛方法,對(duì)影響探測(cè)器開(kāi)傘點(diǎn)狀態(tài)的各種誤差源進(jìn)行了分析。結(jié)果表明在火星大氣進(jìn)入段,大氣密度以及氣動(dòng)力參數(shù)不確定性對(duì)軌跡開(kāi)傘點(diǎn)精度影響較大。為了降低這些誤差源對(duì)開(kāi)傘點(diǎn)精度的影響,將大氣密度及氣動(dòng)力參數(shù)中的不確定性作為一階齊次常微分方程初值問(wèn)題加入到軌跡設(shè)計(jì)中,并結(jié)合火星著陸器在大氣進(jìn)入階段的任務(wù)特點(diǎn),構(gòu)建了新的魯棒性能指標(biāo),提出了基于狀態(tài)靈敏度的魯棒軌跡設(shè)計(jì)方法。該方法對(duì)應(yīng)的最優(yōu)控制問(wèn)題得到的軌跡對(duì)各種誤差源的敏感程度明顯降低。利用線(xiàn)性協(xié)方差分析方法定量地分析了火星大氣進(jìn)入過(guò)程中的各種誤差因素對(duì)開(kāi)傘點(diǎn)狀態(tài)的影響,提出了基于協(xié)方差分析的魯棒軌跡設(shè)計(jì)方法。該方法中利用協(xié)方差矩陣的傳播方程以及對(duì)稱(chēng)性,將開(kāi)傘點(diǎn)狀態(tài)的協(xié)方差加入到原目標(biāo)函數(shù)中,同時(shí)還考慮了大氣密度、氣動(dòng)力參數(shù)的不確定性,以及探測(cè)器受到的動(dòng)力學(xué)約束、控制約束、路徑約束等其他約束條件,通過(guò)該方法規(guī)劃出來(lái)的軌跡可以有效地提高開(kāi)傘精度。隨后,分別從計(jì)算復(fù)雜度和魯棒性能兩方面對(duì)上述基于狀態(tài)靈敏度和基于狀態(tài)協(xié)方差的軌跡設(shè)計(jì)方法進(jìn)行了詳細(xì)的比較和分析。研究了火星探測(cè)器在火星大氣進(jìn)入段內(nèi)的軌跡跟蹤問(wèn)題。針對(duì)探測(cè)器在大氣進(jìn)入段的實(shí)時(shí)性以及精確性要求,考慮到初始進(jìn)入點(diǎn)偏差、大氣密度及氣動(dòng)力參數(shù)不確定性對(duì)探測(cè)器軌跡的影響,設(shè)計(jì)出了基于模型預(yù)測(cè)靜態(tài)規(guī)劃技術(shù)的軌跡跟蹤方法。該方法將模型預(yù)測(cè)控制和靜態(tài)規(guī)劃理論相結(jié)合,只需在線(xiàn)求解靜態(tài)規(guī)劃問(wèn)題,結(jié)構(gòu)簡(jiǎn)單具有控制解析解。同時(shí),為了提高在線(xiàn)計(jì)算速度,利用遞歸方法求解計(jì)算控制量所需的系數(shù)矩陣,在保證實(shí)時(shí)性要求的情況下,有效地降低了實(shí)際飛行軌跡和標(biāo)稱(chēng)軌跡之間的誤差,實(shí)現(xiàn)了較高的開(kāi)傘點(diǎn)狀態(tài)精度。對(duì)火星大氣進(jìn)入段的預(yù)測(cè)跟蹤制導(dǎo)方法的關(guān)鍵技術(shù)問(wèn)題進(jìn)行了研究。首先,利用平衡滑翔條件將軌跡分為進(jìn)入初段、平衡滑翔段和進(jìn)入末段,重點(diǎn)針對(duì)平衡滑翔段航跡角變化為零的條件,結(jié)合線(xiàn)性二次型規(guī)劃的軌跡跟蹤方法,設(shè)計(jì)出了基于常值航跡角的解析預(yù)測(cè)跟蹤制導(dǎo)方法。該方法計(jì)算速度快,對(duì)各種擾動(dòng)和不確定因素具有一定的適應(yīng)能力,但是在擾動(dòng)環(huán)境惡劣情況下的開(kāi)傘精度偏低。為了實(shí)現(xiàn)高精度的制導(dǎo),進(jìn)一步設(shè)計(jì)了基于常值航跡角的數(shù)值預(yù)測(cè)跟蹤制導(dǎo)方法,該方法根據(jù)軌道特性將大氣進(jìn)入段軌跡設(shè)計(jì)為Pre-bank段、航程控制段和航向修正段,重點(diǎn)針對(duì)航程控制段待飛航程的要求利用牛頓辛普森方法確定常值航跡角參數(shù),采用反饋線(xiàn)性化方法設(shè)計(jì)了軌跡實(shí)時(shí)跟蹤航跡角的控制律,仿真結(jié)果表明它具有較高的開(kāi)傘精度,但是計(jì)算速度較慢。分析比較以上兩種預(yù)測(cè)跟蹤制導(dǎo)方法,并探討了它們?cè)诨鹦谴髿膺M(jìn)入段任務(wù)中的適用性。
[Abstract]:With the development of the Mars exploration mission, the surface sampling of Mars and the manned landing of Mars have been the target of the new stage of the future exploration of Mars, and the landing accuracy of the detector is the key factor for the success of the fire detection task. The effective guidance and control at the air entering stage is one of the necessary and important technical means to improve the landing precision of the lander, so the related technology and the theory of the Mars detector in the atmospheric entry section are deeply studied. The design of a reasonable trajectory and high-precision guidance system for the entry of the Mars atmosphere has become the focus of the current Mars research. Based on the "Research on the Precision Landing and Guidance Control of the Planetary Surface" of the 973 Project of the Ministry of Science and Technology and the "Research on the Autonomous Navigation Method for Planetary Landing" of the National Natural Science Foundation of China, the paper systematically studies the trajectory design and the key technology of the guidance of the trajectory design and guidance of the Martian detector, and the main research results are as follows: The trajectory design of the Mars probe in the atmosphere is studied. Based on the dynamic model of the atmosphere entering section of Mars, the various error sources that influence the state of the open-and-open point of the detector are analyzed by using the Monte-Carlo method. The results show that the influence of the atmospheric density and the uncertainty of aerodynamic parameters on the accuracy of the trajectory opening point is great. In order to reduce the influence of these error sources on the accuracy of the open-loop point, the uncertainty of the atmospheric density and the aerodynamic parameters is added to the trajectory design as the first-order homogeneous ordinary differential equation and combined with the mission characteristics of the Mars lander during the atmospheric entry phase, A new robust performance index is constructed, and a robust trajectory design method based on state sensitivity is proposed. The trajectory of the optimal control problem corresponding to the method obviously reduces the sensitivity of various error sources. The influence of various error factors on the state of the umbrella point is analyzed quantitatively by using the linear covariance analysis method, and a robust trajectory design method based on the covariance analysis is proposed. The method comprises the following steps of: using the propagation equation and the symmetry of the covariance matrix, adding the covariance of the state of the open umbrella point into the original objective function, taking into account the uncertainty of the atmospheric density, the aerodynamic parameters, and the dynamic constraint and the control constraint that the detector is subjected to, And other constraints such as path constraints can effectively improve the accuracy of the opening and closing by using the track which is planned by the method. Then, the method of trajectory design based on state sensitivity and state covariance is compared and analyzed from two aspects of computational complexity and robustness. In this paper, the trace tracking problem of the Martian detector in the atmosphere of Mars is studied. In view of the real-time and accuracy requirements of the detector in the atmospheric entry section, the trajectory tracking method based on the model predictive static planning technique is designed in view of the influence of the initial entry point deviation, the atmospheric density and the aerodynamic parameter uncertainty on the trajectory of the detector. The method combines the model predictive control with the static planning theory, and only needs to solve the static programming problem on-line, and the structure is simple and has the control and resolution solution. At the same time, in order to improve the on-line calculation speed, the coefficient matrix required for calculating the control amount is solved by a recursive method, and the error between the actual flight path and the nominal track is effectively reduced under the condition that the real-time requirement is ensured, and the state accuracy of the high-opening point state is realized. The key technology problem of the prediction and tracking guidance method for the entry section of the Mars atmosphere is studied. firstly, the track is divided into a first section, a balanced glide section and an entry end section by using a balance gliding condition, and the track tracking method combining the linear quadratic programming is focused on the condition that the change of the track angle of the balance glide section is zero, An analytical and predictive tracking guidance method based on the constant-value track angle is designed. The method has the advantages of high calculation speed, certain adaptability to various disturbance and uncertain factors, and low opening and opening precision under severe disturbance conditions. in order to realize high-precision guidance, a numerical prediction and tracking guidance method based on a constant-value track angle is further designed, which is designed as a Pre-bank section, a range control section and a heading correction section according to the track characteristics, The control law of track angle in real-time track is designed by means of the method of feedback linearization. The simulation results show that it has high open-parachute precision, but the calculation speed is slow. In this paper, two kinds of predictive tracking guidance methods are compared, and the applicability of these two kinds of prediction tracking guidance methods is discussed.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2015
【分類(lèi)號(hào)】：V448.2;V412.41

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