CN108548541A - A kind of air with opening altitude target in order to control enters method of guidance - Google Patents
A kind of air with opening altitude target in order to control enters method of guidance Download PDFInfo
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- CN108548541A CN108548541A CN201810205370.7A CN201810205370A CN108548541A CN 108548541 A CN108548541 A CN 108548541A CN 201810205370 A CN201810205370 A CN 201810205370A CN 108548541 A CN108548541 A CN 108548541A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/24—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for cosmonautical navigation
Abstract
A kind of air with opening altitude target in order to control enters method of guidance, and (1) completes nominal trajectory design, obtains nominal Guidance Law uref, nominally indulge journey sref, nominal height change rateNominal drag acceleration Dref, nominal lift acceleration Lref, nominal height H to be flowntogo_ref, nominal flight path angle γref；(2) journey s, resistance D and altitude rate are indulged according to current flightOpposite nominal amount sref, Dref,Deviation and the corresponding nominal height H to be flown of present speedtogo_ref, predict current height H to be flowntogo_p；(3) according to the height H to be flown of predictiontogo_p, control compensation rate Δ u is solved, waits flying height and with reference to the deviation of height to be flown with elimination prediction；(4) the nominal Guidance Law u obtained in Guidance Law compensation rate Δ u and step (1) is utilizedrefDetermine final Guidance Law uc；(5) before air inlet point to parachute-opening, vertical journey s, the altitude rate of lander are obtained in real timeDrag acceleration D generates Guidance Law uc, it is sent to landing rover and carries out closed-loop control.
Description
Technical field
The invention belongs to the guidances that the small lifting body rarefied atmosphere in survey of deep space planetary surface landing project enters process
Field is related to a kind of analytical Prediction correction method of guidance based on nominal trajectory.
Background technology
Planetary exploration mission will implement circular planet, landing and make an inspection tour to detect by once emitting for the first time in China, task
Key is successful implementation planetary surface soft landing.However 18 planetary landing detection missions are implemented altogether in world wide at present,
Be completely successful only 7 times, success rate is less than 39%, it is seen that planetary landing detection mission difficulty is very big, wherein enter, decline and
Landing mission (EDL, Entry, Descent, and Landing) is the ultimate challenge that planetary landing detection mission faces.
Realize that safe soft landing, parachute success opening are crucial.Therefore the primary of air approach section guidance is appointed
Business is to ensure to meet every parachute-opening constraint, such as opening altitude constraint and dynamic pressure constraint.Compared with reentering situation with the earth,
Big into process ground observing and controlling time delay, planetary surface atmospheric environment is complicated and changeable, while the aerodynamic parameter of detector is with larger
Uncertainty, cause in multiple emulation of practicing shooting, the SOT state of termination of approach section spread it is very big, it is difficult to ensure that parachute-opening constraint
Met.
The document published both at home and abroad at present is seldom paid close attention to mainly with guidance precision, miss distance for primary control targe
The distribution of opening altitude, more seldom article is to control opening altitude as target design Guidance Law.
Invention content
The technology of the present invention solves the problems, such as：Overcome the deficiencies in the prior art, for planetary exploration mission to parachute-opening condition
Strong constraint problem, it is proposed that a kind of air with opening altitude target in order to control enters method of guidance.It is controlled as mesh with height
, terminal opening altitude deviation is analytically predicted based on nominal trajectory, is realized deviation compensation by adjusting angle of heel, is effectively subtracted
The small distribution situation of opening altitude and dynamic pressure, largely ensure that the safety of parachute-opening, while meeting impact accuracy and wanting
It asks.
The technical scheme is that：A kind of air with opening altitude target in order to control enters method of guidance, and step is such as
Under：
(1) nominal trajectory design is completed, nominal Guidance Law u is obtainedref, nominally indulge journey sref, nominal height change rate
Nominal drag acceleration Dref, nominal lift acceleration Lref, nominal height H to be flowntogo_ref, nominal flight path angle γref；
(2) journey s, resistance D and altitude rate are indulged according to current flightOpposite nominal amount sref, Dref,Deviation, with
And the corresponding nominal height H to be flown of present speedtogo_ref, predict current height H to be flowntogo_p；
(3) according to the height H to be flown of predictiontogo_p, control compensation rate Δ u is solved, winged height and ginseng are waited for elimination prediction
Examine the deviation of height to be flown；
(4) the nominal Guidance Law u obtained in Guidance Law compensation rate Δ u and step (1) is utilizedrefDetermine final guidance
Restrain uc；
(5) before air inlet point to parachute-opening, vertical journey s, the altitude rate of lander are obtained in real timeDrag acceleration
D generates Guidance Law uc, it is sent to landing rover and carries out closed-loop control.
Further, height H to be flown is predicted in step (2)togo_pIt is calculated by following calculation formula：
To wait flying the partial derivative of the relatively vertical journey of height, height and drag acceleration, characterization height by
The sensitivity that above 3 quantity of states influence.
Further, the Guidance Law compensation rate Δ u in step (3) is calculated by following formula：
Wherein, K was control coefficient,It is height to the partial derivative of Guidance Law；Guidance Law formal definition isD is drag acceleration, and L/D is lift resistance ratio, and σ is angle of heel.
Further, described to cross control COEFFICIENT K ＞ 1 and be the bigger the better in landing rover lift control limit of power.
Further, Guidance Law ucExpression-form is as follows：
Further, it guidances command and is described by following manner：
Wherein,V is current ground velocity；Kld_REstimate to correct for lift resistance ratio
Coefficient, F1(V), F2(V), F3(V), F4(V) it is deviation feedback gain.
Further, the deviation feedback gain is determined by following manner：
1) simplification obtains the barycenter kinetics equation in fore-and-aft plane；
2) the barycenter kinetics equation that step 1) simplifies is subjected to linearization process near reference locus, when obtaining linear
Become system equation；
3) adjoint system equation of above-mentioned linear time varying system equation is obtained；
4) the association state variable value λ (t) at other each moment is obtained by boundary condition and adjoint system equation reverse integral, profit
Deviation feedback gain is calculated with association's state variable value.
Further, deviation feedback gain calculation formula is as follows：
λh(V), λγ(V), λs(V), λu(V) it is association's state variable under present speed, the i.e. state variable of adjoint equation.
Further, lift resistance ratio estimates adjusted coefficient Kld_RBy first calculating practical lift resistance ratio and with reference to the ratio of lift resistance ratio
Value, obtains using first-order filtering.
The present invention has the beneficial effect that compared with prior art：
In order to make the strong parachute-opening constraint of parachute be met, the present invention is for the purpose of height controls, based on nominal
Terminal opening altitude deviation is analytically predicted in track, and deviation compensation is realized by adjusting angle of heel, devises a kind of air entrance
Guide opening altitude control method.This method efficiently reduces the distribution situation of opening altitude and dynamic pressure, largely protects
The safety of parachute-opening has been demonstrate,proved, while having met impact accuracy requirement.
Description of the drawings
Fig. 1 is the method for the present invention flow chart.
Specific implementation mode
Below in conjunction with the accompanying drawings and example elaborates to the present invention.
A kind of air with opening altitude target in order to control enters method of guidance, as shown in Figure 1, steps are as follows：
(1) nominal trajectory design is completed, nominal Guidance Law u is obtainedref, nominally indulge journey sref, nominal height change rate
Nominal drag acceleration Dref, nominal lift acceleration Lref, nominal height H to be flowntogo_ref, nominal flight path angle γref；
(2) journey s, resistance D and altitude rate are indulged according to current flightOpposite nominal amount sref, Dref,Deviation, with
And the corresponding nominal height H to be flown of present speedtogo_ref, predict current height H to be flowntogo_p；
To wait flying the partial derivative of the relatively vertical journey of height, height and drag acceleration, characterization height by
The sensitivity that above 3 quantity of states influence.
(3) Guidance Law compensation rate Δ u is solved, and waits flying height and the nominally deviation of height to be flown with elimination prediction：
Wherein, K was control coefficient,It is height to the partial derivative of Guidance Law；Guidance Law formal definition isD is drag acceleration, and L/D is lift resistance ratio, and σ is angle of heel.
(4) the nominal Guidance Law u obtained in Guidance Law compensation rate Δ u and step (1) is utilizedrefDetermine final Guidance Law：
I.e.：
Wherein,V is current ground velocity.Kld_REstimate to correct for lift resistance ratio
Coefficient,It is deviation feedback gain.Instead
The specific solution procedure of feedforward coefficient is described as follows：
1), simplification obtains the barycenter kinetics equation in fore-and-aft plane
Wherein, h is flying height；R=rm+ h is the r into device barycenter at a distance from Mars barycentermFor Mars radius, s is
Longitudinal voyage；V is the velocity magnitude into device relative to Mars；γ is the flight-path angle into device relative to Mars；σ is into device
Angle of heel, for describing to enter device relative to the velocity vector of Mars and the angle of fore-and-aft plane, control lift is in fore-and-aft plane
With the component in horizontal plane；μThe gravitational constant of Mars；L and D enters the resistance and lift acceleration of device, and m is into device quality, CL
And CDRespectively lift and drag acceleration coefficient, Sref are aerodynamic characteristics area, ρ martian atmosphere density.
2) kinetics equation, will be simplified in nominal trajectory xref(t)=x*(t)=[s*(t),V*(t),γ*(t),h*(t)]T
Neighborhood linearizes：
I.e.
3) adjoint system of the linear time varying system, is obtained：
Its boundary condition is,
4), by seeking feedback gain after anti-item Integration Solving λ (t)：
Specific solution procedure principle is described as follows：
Controlled quentity controlled variable deviation is not considered, then influence of the state deviation to end opening altitude deviation at any time can indicate
For：
δHf=λT(t) δ x (t)=λs(t)δs(t)+λV(t)δV(t)+λγ(t)δγ(t)+λh(t)δh(t)
Since it is desired that when aircraft reaches specified opening altitude at ideal voyage position, i.e.,
It can obtainTherefore it can be obtained by boundary condition and adjoint system equation reverse integral
To the association state variable value λ (t) at other each moment.
In view of that can be that drag acceleration and height become by the precision and quantity-variation that navigation system measures during practical flight
Rate, voyage, and height and flight path angle is more difficult measures, it is therefore desirable to be turned the feedback quantity of height and flight path angle
Change.According toWithIt can derive：
And have δ V=0 when using speed as independent variable, therefore can get
Arrangement can obtain
Further consider to offset the voyage deviation caused by state deviation using control compensation rate, have
Solve λuIt (t) can basis：When controlled quentity controlled variable Perturbation δ u are constant value, microvariations lienarized equation has solution as follows
Φ (t in formulaf, t) and it is state-transition matrix, above formula the right and left is multiplied by simultaneouslyHave
Therefore have
Obvious λu(tf)=0 can then acquire λu(t)。
Therefore arranging can obtain：
λs(t)=1
Compare formula below
It can obtain：
Unspecified part of the present invention belongs to common sense well known to those skilled in the art.
Claims (9)
1. a kind of air with opening altitude target in order to control enters method of guidance, it is characterised in that：
(1) nominal trajectory design is completed, nominal Guidance Law u is obtainedref, nominally indulge journey sref, nominal height change rateNominal resistance
Power acceleration Dref, nominal lift acceleration Lref, nominal height H to be flowntogo_ref, nominal flight path angle γref；
(2) journey s, resistance D and altitude rate are indulged according to current flightOpposite nominal amount sref, Dref,Deviation, and work as
The corresponding nominal height H to be flown of preceding speedtogo_ref, predict current height H to be flowntogo_p；
(3) according to the height H to be flown of predictiontogo_p, solve and control compensation rate Δ u, the height that waits flying to eliminate prediction is waited for reference
Fly the deviation of height；
(4) the nominal Guidance Law u obtained in Guidance Law compensation rate Δ u and step (1) is utilizedrefDetermine final Guidance Law uc；
(5) before air inlet point to parachute-opening, vertical journey s, the altitude rate of lander are obtained in real timeDrag acceleration D is raw
At Guidance Law uc, it is sent to landing rover and carries out closed-loop control.
2. according to the method described in claim 1, it is characterized in that：Height H to be flown is predicted in step (2)togo_pBy counting as follows
Formula is calculated to calculate：
To wait flying the partial derivative of the relatively vertical journey of height, height and drag acceleration, characterization height is by above
The sensitivity that 3 quantity of states influence.
3. according to the method described in claim 1, it is characterized in that：Guidance Law compensation rate Δ u in step (3) passes through following public affairs
Formula calculates：
Wherein, K was control coefficient,It is height to the partial derivative of Guidance Law；Guidance Law formal definition isD is drag acceleration, and L/D is lift resistance ratio, and σ is angle of heel.
4. according to the method described in claim 3, it is characterized in that：Described crosses control COEFFICIENT K ＞ 1 and in landing rover lift
It is the bigger the better within the scope of control ability.
5. according to the method described in claim 1, it is characterized in that：Guidance Law ucExpression-form is as follows：
6. according to the method described in claim 5, it is characterized in that：It guidances command and is described by following manner：
Wherein,V is current ground velocity；Kld_REstimate correction factor for lift resistance ratio,
F1(V), F2(V), F3(V), F4(V) it is deviation feedback gain.
7. according to the method described in claim 6, it is characterized in that：The deviation feedback gain by following manner into
Row determines：
1) simplification obtains the barycenter kinetics equation in fore-and-aft plane；
2) the barycenter kinetics equation that step 1) simplifies near reference locus is subjected to linearization process, obtains linear time-varying system
System equation；
3) adjoint system equation of above-mentioned linear time varying system equation is obtained；
4) the association state variable value λ (t) at other each moment is obtained by boundary condition and adjoint system equation reverse integral, utilizes association
State variable value calculates deviation feedback gain.
8. the method described according to claim 6 or 7, it is characterised in that：Deviation feedback gain calculation formula is as follows：
λh(V), λγ(V), λs(V), λu(V) it is association's state variable under present speed, the i.e. state variable of adjoint equation.
9. according to the method described in claim 6, it is characterized in that：Lift resistance ratio estimates adjusted coefficient Kld_RBy first calculating reality
Lift resistance ratio is obtained with reference to the ratio of lift resistance ratio using first-order filtering.
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Cited By (4)
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| CN110015446A (en) * | 2019-03-05 | 2019-07-16 | 上海卫星工程研究所 | A kind of Mars of semi analytic enters method of guidance |
| CN110442117A (en) * | 2019-08-26 | 2019-11-12 | 北京理工大学 | A kind of pneumatic integrated separation process safety analysis method of Mars probes outsole |
| CN110764432A (en) * | 2019-10-14 | 2020-02-07 | 北京空间机电研究所 | Dynamic umbrella opening control system |
| CN114019792A (en) * | 2021-10-08 | 2022-02-08 | 北京控制工程研究所 | Mars atmosphere entering process lift guidance error analysis method and system |
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| CN110764432A (en) * | 2019-10-14 | 2020-02-07 | 北京空间机电研究所 | Dynamic umbrella opening control system |
| CN114019792A (en) * | 2021-10-08 | 2022-02-08 | 北京控制工程研究所 | Mars atmosphere entering process lift guidance error analysis method and system |
| CN114019792B (en) * | 2021-10-08 | 2023-08-01 | 北京控制工程研究所 | Mars atmosphere entry process lift force guidance error analysis method and system |
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