CN108984903B - Optimal selection/optimization design method for manufacturing guidance parameters - Google Patents
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Abstract
The invention relates to a guidance parameter optimization/optimization design method, which constructs a target function by using the required track number precision index and deviation to select or optimize guidance parameters. Aiming at the optimization and determination of system parameters required by terminal multi-parameter indexes, multi-index constraints are comprehensively considered, effective dimensionless independence indexes are processed through dimensionless processing and judgment to obtain balanced and comprehensive objective functions, the multi-index optimization problem is converted into a comprehensive index optimization problem, and the workload in the guidance parameter adjusting process in the system design process is simplified; an evaluation index function is constructed based on the number of the tracks, guidance parameters are determined by combining an optimization algorithm, a target equation is ingeniously constructed, and the method has wide engineering applicability.
Description
Technical Field
The invention relates to a method for optimizing/optimally designing guidance parameters, mainly aiming at the situation with clear technical index requirements, mainly aiming at the design of an optimized objective function, and belonging to the technical field of guidance control, wherein the method can be used for multi-objective balanced optimization design of carrier rocket orbit entering, satellite orbit changing and the like.
Background
In recent years, china accelerates the space deployment of Beidou navigation systems, space stations, communication satellites and the like, and the number of launch tasks of carrier rockets is increased year by year. The increasingly high-strength and high-density launch puts higher requirements on the precision and the reliability of the carrier rocket. Meanwhile, in order to meet the development trend of the microsatellite with long service life, small dead weight and the like, the pressure of independent orbit transfer depending on the satellite needs to be reduced as much as possible, and the precision of the carrier rocket for sending the effective loads such as the satellite into the preset orbit needs to be improved as much as possible.
Currently, the evaluation of the orbit entering precision of the carrier rocket at the satellite and rocket separation time is generally measured according to six independent indexes: altitude deviation Δ H at near site p The system comprises a track period deviation delta T, a track inclination angle deviation delta i, an amplitude angle deviation delta omega of a near place, a right ascension deviation delta omega of a rising intersection point, an orbit entering time deviation delta T and the like. If the six indexes completely meet the technical index requirements, the guidance system precision meets the requirements. How in the design process of guidance parameters, the automatic optimization design of parameters is developed by utilizing continuously developed computer technology and the like, the dependence of manual adjustment on the experience of design parameters is reduced, namely, the requirement on the level of designers is reduced, the labor intensity is reduced, the imbalance of technical index realization is reduced, and the design efficiency is improved at the same time.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a method for optimizing/designing guidance parameters, which can reasonably integrate a plurality of independent indexes into one index, thereby effectively reducing the operation complexity on the basis of ensuring the effect.
The purpose of the invention is realized by the following technical scheme:
a preferred method of producing a parameter is provided comprising the steps of:
(1) Establishing a guidance equation according to the task;
(2) Setting a plurality of groups of guidance parameters, and respectively simulating the established guidance equations to obtain a plurality of groups of track root values with precision requirements;
(3) Calculating the deviation between each group of track root values and the required standard value;
(4) Carrying out non-dimensionalization processing on the calculated deviation;
(5) Judging whether the absolute value of the deviation value after dimensionless processing is larger than 1, if so, directly judging that the deviation value is unqualified, otherwise, entering the step (6);
(6) Calculating the mean value m and the standard deviation sigma of each group of non-dimensionalized deviations;
(7) Constructing a multi-target balance objective function:
(8) And comparing the objective function values L corresponding to each group of parameters, and selecting a group of guidance parameters with the minimum objective function values L.
Preferably, the orbit root value with the precision requirement in the step (2) is the height H of the perigee p The track period T, the track inclination angle i, the argument omega of the near place, the right ascension channel omega of the ascending intersection point and the track entering time T.
Preferably, the deviation in step (3) comprises a near-location height deviation Δ H p The calculation method comprises the following steps of calculating track period deviation delta T, track inclination angle deviation delta i, perigee amplitude angle deviation delta omega, ascension point right ascension deviation delta omega and orbit entering time deviation delta T:
ΔH p ＝H p -H pr
ΔT＝T-T r
Δi＝i-i r
Δω＝ω-ω r
ΔΩ＝Ω-Ω r
Δt＝t-t r
wherein H pr 、T r 、i、ω r 、Ω r 、t r The altitude of the near place, the track period, the track inclination angle, the amplitude angle of the near place, the right ascension of the ascending intersection point and the time of entering the track under the standard track.
Preferably, the specific method for non-dimensionalizing the calculated deviation in step (4) is as follows:
wherein, Δ H pr 、ΔT r 、Δi r 、Δω r 、ΔΩ r 、Δt r The maximum allowable deviation is required for the technical index; u. of hp 、u T 、u i 、u ω 、u Ω 、u t And the method represents dimensionless height deviation of near place, track period deviation, track inclination deviation, amplitude deviation of near place, right ascension deviation of ascending intersection point and time deviation of entering rail.
Preferably, the specific method for calculating the mean m and the standard deviation σ of each dimensionless group of deviations in step (6) is as follows:
and n is the number of the track root values required by the terminal precision.
Meanwhile, the method for optimizing the manufacturing guide parameters comprises the following steps:
(1) Establishing a guidance equation according to the task;
(2) Setting initial values of the guidance parameters according to the selected optimization algorithm, and respectively simulating the established guidance equations to obtain a plurality of groups of track root values with precision requirements;
(3) Calculating the deviation between each group of track root values and the required standard value;
(4) Carrying out dimensionless processing on the calculated deviation;
(5) Judging whether the absolute value of the deviation value after dimensionless processing is larger than 1, if so, directly judging that the deviation value is not qualified, otherwise, entering the step (6);
(6) Solving the mean value m and the standard deviation sigma of each group of non-dimensionalized deviations;
(7) Constructing a multi-objective balanced optimization objective function:
(8) And taking the multi-target balanced optimization objective function as an objective function in an optimization algorithm, and performing iterative solution by using the optimization algorithm until a set convergence condition is met to obtain a group of optimized guidance parameters.
Preferably, the orbit root value with the precision requirement in the step (2) is the height H of the perigee p The track period T, the track inclination angle i, the argument omega of the near place, the right ascension channel omega of the ascending intersection point and the track entering time T.
Preferably, the deviation in step (3) comprises a near-location height deviation Δ H p The calculation method comprises the following steps of calculating track period deviation delta T, track inclination angle deviation delta i, perigee amplitude angle deviation delta omega, ascension point right ascension deviation delta omega and orbit entering time deviation delta T:
ΔH p ＝H p -H pr
ΔT＝T-T r
Δi＝i-i r
Δω＝ω-ω r
ΔΩ＝Ω-Ω r
Δt＝t-t r
wherein H pr 、T r 、i、ω r 、Ω r 、t r The altitude of the perigee, the period of the orbit, the inclination angle of the orbit, the amplitude angle of the perigee, the right ascension of the ascending intersection and the time of entering the orbit under the standard orbit.
Preferably, the specific method for non-dimensionalizing the calculated deviation in step (4) is as follows:
wherein, Δ H pr 、ΔT r 、Δi r 、Δω r 、ΔΩ r 、Δt r Requiring a maximum allowable deviation for the corresponding technical index; u. of hp 、u T 、u i 、u ω 、u Ω 、u t Height deviation at near location, orbit period deviation, orbit inclination deviation, amplitude deviation at near location, right ascension deviation at ascending intersection point and entering into dimensionless locationTrack time offset.
Preferably, the specific method for calculating the mean m and the standard deviation σ of each dimensionless group of deviations in step (6) is as follows:
and n is the number of the track root values required by the terminal precision.
Preferably, the optimization algorithm adopts a genetic algorithm, a particle swarm algorithm or an ant colony algorithm.
Compared with the prior art, the invention has the following advantages:
(1) Aiming at the optimization of specific points, the invention comprehensively considers multi-index constraint and carries out dimensionless treatment, processes dimensionless independence indexes to obtain a balanced and comprehensive objective function, converts the multi-index optimization problem into a comprehensive index optimization problem, simplifies the workload and the consumption of computing resources in the guidance parameter adjusting process in the ground design process, finally reduces the dependence on the design experience of designers, and obviously improves the balance of technical index realization.
(2) The method constructs an evaluation index function based on the number of the tracks with the terminal precision requirement, determines the guidance parameters by combining an optimization algorithm, skillfully constructs a target equation, and has wide engineering applicability.
(3) The invention also provides a guidance parameter optimization method, which is convenient for designers to quickly and accurately determine the optimized guidance parameters when facing multiple groups of guidance parameters, and improves the design efficiency.
Drawings
FIG. 1 is a schematic flow chart of a guidance parameter optimization method of the present invention;
fig. 2 is a schematic diagram of the number of tracks.
Detailed Description
The invention is further described below with reference to specific examples.
When a designer faces multiple groups of guidance parameters, all guidance parameters are required to be adjusted repeatedly, and whether all guidance precision indexes meet requirements or not is judged according to an operation result, so that the design process of the guidance parameters is extremely complicated. In order to reduce the design workload and the consumption of computing resources, finally reduce the dependence on the design experience of designers and improve the balance of technical index implementation, the invention carries out comprehensive and balanced evaluation on guidance parameters and provides an optimal selection/optimization design method of the guidance parameters.
The invention provides a method for optimizing a manufacturing guidance parameter, which comprises the following specific calculation processes:
(1) Establishing a guidance equation by using the existing method according to the task;
(2) Setting a plurality of groups of guidance parameters, respectively simulating the established guidance equations to obtain a plurality of groups of track root values with terminal precision requirements, such as the height H of the near place p The method comprises the following steps of (1) determining a track period T, a track inclination angle i, an argument omega of a place close to the place, a right ascension channel omega of a rising intersection point and a track entering time T; the track number schematic is shown in fig. 2.
(3) Calculating the deviation of each group of orbit root values, including the height deviation delta H of the near place p The system comprises a track period deviation delta T, a track inclination angle deviation delta i, an amplitude angle deviation delta omega of a near place, a right ascension deviation delta omega of a rising intersection point and an orbit entering time deviation delta T.
ΔH p ＝H p -H pr
ΔT＝T-T r
Δi＝i-i r
Δω＝ω-ω r
ΔΩ＝Ω-Ω r
Δt＝t-t r
Wherein H pr 、T r 、i、ω r 、Ω r 、t r The altitude of the perigee, the orbit period, the orbit inclination angle, the argument of the perigee, the right ascension of the ascending intersection point and the time of entering the orbit under the standard orbit are obtained through calculation according to the designed standard trajectory.
(4) And carrying out dimensionless treatment on the deviation of the numerical value of each group of the track roots. The specific method comprises the following steps:
wherein, Δ H pr 、ΔT r 、Δi r 、Δω r 、ΔΩ r 、Δt r Requiring a maximum allowable deviation for the corresponding technical index; u. u hp 、u T 、u i 、u ω 、u Ω 、u t The dimensionless altitude deviation, orbit period deviation, orbit inclination deviation, altitude deviation, elevation intersection right ascension deviation and orbit entering time deviation are preliminary parameters of subsequent processing.
(5) Judging whether the absolute value of the deviation value after dimensionless processing is larger than 1, if so, directly judging that the deviation value is not qualified, otherwise, entering the step (6);
(6) And solving the mean value m and the standard deviation sigma of each group of deviations. The specific method comprises the following steps:
where n is the number of the orbit root values required by the terminal precision, and is usually 6.
(7) And (5) constructing a multi-target balance objective function.
(8) And comparing the objective function values L corresponding to each group of parameters, and selecting a group of guidance parameters with the minimum objective function values L as final design parameters.
Aiming at the situation that a designer repeatedly adjusts the guidance parameters according to experience, the invention introduces an optimization algorithm and provides a balanced multi-target constraint objective function. The invention provides an optimization method of manufacturing guidance parameters, which comprises the following specific calculation processes:
(1) Establishing a guidance equation by using the existing method according to the task;
(2) Setting initial values of guidance parameters according to the selected optimization algorithm, respectively simulating the established guidance equations, and obtaining a plurality of groups of track root values with terminal precision requirements, including the height H of the near place p The method comprises the following steps of (1) track period T, track inclination angle i, perigee amplitude angle omega, ascension point right ascension omega and track entering time T;
(3) Calculating the deviation of each group of orbit root values, including the height deviation delta H of the near place p The system comprises a track period deviation delta T, a track inclination angle deviation delta i, an amplitude angle deviation delta omega of a near place, a right ascension deviation delta omega of a rising intersection point and an orbit entering time deviation delta T.
ΔH p ＝H p -H pr
ΔT＝T-T r
Δi＝i-i r
Δω＝ω-ω r
ΔΩ＝Ω-Ω r
Δt＝t-t r
Wherein H pr 、T r 、i、ω r 、Ω r 、t r The altitude of the perigee, the orbit period, the orbit inclination angle, the argument of the perigee, the right ascension of the ascending intersection point and the time of entering the orbit under the standard orbit are obtained through calculation according to the designed standard trajectory.
(4) And carrying out non-dimensionalization processing on the deviation of the numerical value of each group of the tracks. The specific method comprises the following steps:
wherein, Δ H pr 、ΔT r 、Δi r 、Δω r 、ΔΩ r 、Δt r Requiring a maximum allowable deviation for the corresponding technical index; u. of hp 、u T 、u i 、u ω 、u Ω 、u t Representing dimensionless height deviation of near-to-ground, periodic deviation of track, trackThe track inclination angle deviation, the amplitude angle deviation of the near place, the right ascension deviation of the ascending intersection point and the orbit entering time deviation are initial parameters of subsequent processing.
(5) Judging whether the absolute value of the deviation value after dimensionless processing is larger than 1, if so, directly judging that the deviation value is not qualified, otherwise, entering the step (6);
(6) And solving the mean value m and the standard deviation sigma of each group of deviations. The specific method comprises the following steps:
where n is the number of the orbit root values required by the terminal precision, and is usually 6.
(7) And constructing a multi-objective balanced optimization objective function. Its maximum value should not exceed 2, and a smaller value indicates a higher precision of the guidance system.
s.t|ΔH p |-|ΔH pr |≤0
|ΔT|-|ΔT r |≤0
|Δi|-|Δi r |≤0
|Δω|-|Δω r |≤0
|ΔΩ|-|ΔΩ r |≤0
|Δt|-|Δt r |≤0
(8) And taking the multi-target balanced optimization objective function as an objective function in an optimization algorithm, and performing iterative solution by using the optimization algorithm until a set convergence condition is met to obtain a group of optimized guidance parameters.
The optimization algorithm can adopt a genetic algorithm, a particle swarm algorithm, an ant colony algorithm and the like. According to the optimization method, the precision indexes of all the terminals are processed in a balanced and comprehensive mode, the objective function in the optimization algorithm is constructed, and then the optimized guidance parameters are obtained. The method can be applied to the evaluation of the orbit-entering precision of the carrier rocket with specific index constraint at specific points and the design of guidance parameters in the ground system design stage. The method can also be used for the evaluation of the orbital transfer precision of the medium-low orbit on-orbit aircraft and the space reentry return aircraft and the design of guidance parameters.
The above description is only for the best mode of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Those skilled in the art will appreciate that the invention may be practiced without these specific details.
Claims (11)
1. A preferred method of deriving parameters, comprising the steps of:
(1) Establishing a guidance equation according to the task;
(2) Setting a plurality of groups of guidance parameters, and respectively simulating the established guidance equations to obtain a plurality of groups of track root values with precision requirements;
(3) Calculating the deviation between each group of track root values and the required standard value;
(4) Carrying out non-dimensionalization processing on the calculated deviation;
(5) Judging whether the absolute value of the deviation value after dimensionless processing is larger than 1, if so, directly judging that the deviation value is not qualified, otherwise, entering the step (6);
(6) Solving the mean value m and the standard deviation sigma of each group of non-dimensionalized deviations;
(7) Constructing a multi-target balance objective function:
(8) And comparing the objective function values L corresponding to each group of parameters, and selecting a group of guidance parameters with the minimum objective function values L.
2. The preferred method for guidance parameters of claim 1 wherein the precision-required orbit root value set forth in step (2) is the perigee height H p The track period T, the track inclination angle i, the argument omega of the near place, the right ascension channel omega of the ascending intersection point and the track entering time T.
3. The preferred method for guidance parameters of claim 2 wherein said deviation in step (3) comprises a near-position altitude deviation ah p The calculation method comprises the following steps of calculating track period deviation delta T, track inclination angle deviation delta i, amplitude angle deviation delta omega of the near place, right ascension deviation delta omega of the ascending intersection point and track entering time deviation delta T:
ΔH p ＝H p -H pr
ΔT＝T-T r
Δi＝i-i r
Δω＝ω-ω r
ΔΩ＝Ω-Ω r
Δt＝t-t r
wherein H pr 、T r 、i、ω r 、Ω r 、t r The altitude of the perigee, the period of the orbit, the inclination angle of the orbit, the amplitude angle of the perigee, the right ascension of the ascending intersection and the time of entering the orbit under the standard orbit.
4. The preferred method of guidance parameters according to claim 3, wherein the computed deviations in step (4) are non-dimensionalized as follows:
wherein, Δ H pr 、ΔT r 、Δi r 、Δω r 、ΔΩ r 、Δt r The maximum allowable deviation is required for the technical index; u. of hp 、u T 、u i 、u ω 、u Ω 、u t And the method represents dimensionless height deviation of near place, track period deviation, track inclination deviation, amplitude deviation of near place, right ascension deviation of ascending intersection point and time deviation of entering rail.
5. The preferred method of guidance parameters according to claim 4, wherein the mean m and standard deviation σ of each set of non-dimensionalized deviations in step (6) are as follows:
and n is the number of the track root values required by the terminal precision.
6. A method for optimizing manufacturing parameters is characterized by comprising the following steps:
(1) Establishing a guidance equation according to the task;
(2) Setting initial values of the guidance parameters according to the selected optimization algorithm, and respectively simulating the established guidance equations to obtain a plurality of groups of track root values with precision requirements;
(3) Calculating the deviation between each group of track root values and the required standard value;
(4) Carrying out non-dimensionalization processing on the calculated deviation;
(5) Judging whether the absolute value of the deviation value after dimensionless processing is larger than 1, if so, directly judging that the deviation value is not qualified, otherwise, entering the step (6);
(6) Solving the mean value m and the standard deviation sigma of each group of non-dimensionalized deviations;
(7) Constructing a multi-objective balanced optimization objective function:
(8) And taking the multi-target balanced optimization objective function as an objective function in an optimization algorithm, and performing iterative solution by using the optimization algorithm until a set convergence condition is met to obtain a group of optimized guidance parameters.
7. The method for optimizing guidance parameters according to claim 6, wherein the orbit root value with the precision requirement in the step (2) is a height H of a near point p The track period T, the track inclination angle i, the argument omega of the near place, the right ascension channel omega of the ascending intersection point and the track entering time T.
8. The method for optimizing guidance parameters of claim 7 wherein said deviations in step (3) comprise a near-location height deviation Δ H p The calculation method comprises the following steps of calculating track period deviation delta T, track inclination angle deviation delta i, amplitude angle deviation delta omega of the near place, right ascension deviation delta omega of the ascending intersection point and track entering time deviation delta T:
ΔH p ＝H p -H pr
ΔT＝T-T r
Δi＝i-i r
Δω＝ω-ω r
ΔΩ＝Ω-Ω r
Δt＝t-t r
wherein H pr 、T r 、i、ω r 、Ω r 、t r The altitude of the near place, the track period, the track inclination angle, the amplitude angle of the near place, the right ascension of the ascending intersection point and the time of entering the track under the standard track.
9. The method for optimizing guidance parameters according to claim 8, wherein the calculated deviation in step (4) is subjected to non-dimensionalization by the following specific method:
wherein, Δ H pr 、ΔT r 、Δi r 、Δω r 、ΔΩ r 、Δt r Requiring a maximum allowable deviation for the corresponding technical index; u. of hp 、u T 、u i 、u ω 、u Ω 、u t And the method represents dimensionless height deviation of near place, track period deviation, track inclination deviation, amplitude deviation of near place, right ascension deviation of ascending intersection point and time deviation of entering rail.
10. The method for optimizing guidance parameters according to claim 9, wherein the specific method for calculating the mean m and standard deviation σ of each group of non-dimensionalized deviations in step (6) is as follows:
and n is the number of the track root values required by the terminal precision.
11. The method for optimizing guidance parameters according to claim 10, wherein the optimization algorithm employs a genetic algorithm, a particle swarm algorithm, or an ant colony algorithm.
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