CN111897354B - Method and device for determining controllable landing trajectory scheme - Google Patents
Method and device for determining controllable landing trajectory scheme Download PDFInfo
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Abstract
The embodiment of the invention provides a method and a device for determining controllable landing trajectory schemes. The technical scheme provided by the embodiment of the invention can determine the controllability index of the landing trajectory scheme, and further can directly determine the controllable degree of the aircraft controlled in the landing process.
Description
Technical Field
The invention relates to the technical field of aircraft control, in particular to a method and a device for determining controllable landing trajectory schemes.
Background
The success or failure of the star exploration task is determined by the success or failure of the landing of an autonomous unmanned aerial vehicle (aircraft for short), so that the process of landing the aircraft in the atmospheric layer is an important research direction in the field of current aerospace. In order to improve the success probability of aircraft landing, a plurality of landing trajectory schemes for indicating aircraft landing are usually prepared, but how to determine the controllability of these landing trajectory schemes during aircraft landing among many landing trajectory schemes is a hot spot of research today.
At present, the prior art generally determines whether a landing trajectory scheme of an aircraft landing in the atmosphere has controllability by using controllable parameters, and the controllability is generally used for judging whether the landing process of the aircraft can be controlled by a designed control system. However, the controllability proposed in the prior art can only answer whether the control system is controllable, but the degree of controllability of each landing trajectory plan is unknown.
Disclosure of Invention
The embodiment of the invention aims to provide a method and a device for determining a controllable scheme so as to determine the controllable degree of an aircraft controlled in a landing process. The specific technical scheme is as follows:
in a first aspect, an embodiment of the present invention provides a method for determining a controllable scheme, where the method is applied to a control system, and the method includes:
obtaining controllable parameters and characteristic parameters corresponding to a landing trajectory scheme, wherein the controllable parameters are parameters for influencing the executable degree of the landing trajectory scheme;
and inputting the acquired controllable parameters and the acquired characteristic parameters into a preset controllability determination model to obtain the controllability of the landing trajectory scheme, wherein the controllability determination model is a model for determining the controllability of the landing trajectory scheme.
In an embodiment of the present invention, before the obtaining the controllable parameters and the characteristic parameters corresponding to the landing trajectory plan, the method further includes:
the method comprises the steps of obtaining controllable parameters and characteristic parameters corresponding to landing trajectory schemes from a preset landing parameter set, wherein the landing parameter set is used for storing the controllable parameters and the characteristic parameters corresponding to different landing trajectory schemes.
In an embodiment of the present invention, after obtaining the controllability of each landing trajectory scenario in the controllable parameter set, the method further includes:
determining the maximum controllability from the degrees of controllability corresponding to the landing trajectory schemes;
and determining the landing track scheme corresponding to the maximum controllability as the optimal landing scheme.
In an embodiment of the present invention, after the obtaining the controllable parameters and the characteristic parameters corresponding to the landing trajectory plan, the method further includes:
inputting the controllable parameters and the characteristic parameters into a preset controllable judgment model to obtain a judgment result; the controllable judging model is used for judging whether the landing track scheme is controllable;
and if the judgment result indicates that the landing trajectory scheme is controllable, executing the step of inputting the acquired controllable parameters and the acquired characteristic parameters into a preset controllability determination model to obtain the controllability of the landing trajectory scheme.
In an embodiment of the present invention, the landing trajectory scenario with the controllable determination result is used as a controllable execution scenario, and after obtaining the controllability of the controllable execution scenario in the controllable parameter set, the method further includes:
determining the maximum controllable degree from the controllable degrees corresponding to the controllable execution schemes;
and determining the controllable execution scheme corresponding to the maximum controllability as the optimal landing scheme.
In one embodiment of the invention, the controllable parameters comprise atmospheric density of the altitude where the aircraft is located, lift coefficient, drag coefficient, longitude coordinate information of the aircraft at the current moment, latitude coordinate information of the aircraft at the current moment, sagittal diameter from the center of mass of the planet to the center of mass of the aircraft, motion speed of the aircraft, flight path angle of motion of the aircraft, flight course angle of motion of the aircraft, gravitational acceleration borne by the aircraft at the current altitude, resistive acceleration acting on the aircraft and lift acceleration acting on the aircraft.
In an embodiment of the present invention, the inputting the obtained controllable parameters and the obtained characteristic parameters into a preset controllability determination model to obtain the controllability of the landing trajectory plan includes:
inputting the obtained controllable parameters and characteristic parameters into a controllability determination model of a first expression to obtain the controllability of the landing trajectory scheme;
the first expression is:
wherein, W k Is the controllability of the kth time point in the landing trajectory scheme, n is the system dimension, i is the time point, Φ k+n,k+1+i A dynamic model of the aircraft landing process after dispersion;
t is the sampling time, V h To represent the intermediate quantity of the deviation of the speed of motion of the aircraft from its altitude,
D * change in resistance and acceleration, h, for a nominal trajectory s Is the planet atmospheric elevation, g is lineAcceleration of gravity, gamma, to which the device is subjected at the current altitude * For the flight path angle of the aircraft motion in the nominal trajectory, r * Is the sagittal diameter from the center of mass of the planet to the center of mass of the aircraft in the nominal trajectory; v V For representing the intermediate quantity of the deviation of the speed of motion of the aircraft from its own speed,
V * is the speed of motion of the aircraft in the nominal trajectory; v γ For representing the intermediate quantity, V, of the angular deviation of the flight path of the aircraft from the speed of motion γ ＝-gcosγ * ，γ h To represent the intermediate quantity of the aircraft flight path angle versus altitude deviation of the aircraft itself,
u * control input variables in the nominal trajectory; gamma ray V For the purpose of representing the intermediate quantity of the flight path angle versus the flight speed deviation,
γ γ to represent the intermediate quantity of the aircraft flight path angle deviation from its own flight path angle,
Γ k is the input gain at the kth time point in the landing trajectory scenario.
In an embodiment of the present invention, the inputting the controllable parameters and the characteristic parameters into a preset controllable judgment model to obtain a judgment result includes:
inputting the controllable parameters and the characteristic parameters into a controllable judgment model represented by a second expression to obtain a judgment result,
the second expression is: d k ＝1/cond(W k )；
Wherein D is k Is the judgment result of the kth time point in the landing trajectory plan, cond (W) k ) For the condition number of the time-varying gram matrix,cond(W k )＝σ max /σ min ，σ max is the maximum singular value, σ min Is the smallest singular value.
In a second aspect, an embodiment of the present invention further provides a determining apparatus with controllable landing trajectory scheme, which is applied to a control system, and the apparatus includes:
the landing trajectory planning system comprises a first parameter acquisition module, a second parameter acquisition module and a third parameter acquisition module, wherein the first parameter acquisition module is used for acquiring controllable parameters and characteristic parameters corresponding to a landing trajectory plan, and the controllable parameters are parameters for influencing the executable degree of the landing trajectory plan;
and the controllability obtaining module is used for inputting the acquired controllable parameters and the acquired characteristic parameters into a preset controllability determining model to obtain the controllability of the landing trajectory scheme, wherein the controllability determining model is a model used for determining the controllability of the landing trajectory scheme.
In yet another aspect of the present invention, there is also provided a computer-readable storage medium having stored therein instructions, which when executed on a computer, cause the computer to execute any one of the above-mentioned controllable landing trajectory plan determination methods.
In yet another aspect of the present invention, the present invention further provides a computer program product containing instructions, which when run on a computer, causes the computer to execute any one of the above-mentioned determination methods with controllable landing trajectory plan.
According to the determining method and device for the controllable landing trajectory scheme provided by the embodiment of the invention, the controllable degree of the landing trajectory scheme can be obtained by acquiring the controllable parameters and the characteristic parameters corresponding to the landing trajectory scheme and inputting the controllable parameters and the characteristic parameters into the preset controllable degree determining model. Compared with the prior art, the technical scheme provided by the embodiment of the invention can determine the controllability of the landing trajectory scheme, and further can directly determine the controllable degree of the aircraft controlled in the landing process. Of course, it is not necessary for any product or method of practicing the invention to achieve all of the above-described advantages at the same time.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below.
Fig. 1 is a schematic flowchart of a first method for determining a landing trajectory plan that is controllable according to an embodiment of the present invention;
fig. 2 is a flowchart of a second method for determining a landing trajectory plan which is controllable according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of an altitude variation curve of a landing trajectory plan under different roll angle control according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a resistive acceleration profile under different roll angle control according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a controllability variation curve for landing along different landing trajectory schemes according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a landing trajectory plan, ADRC, and PID controlled roll angle profiles provided by an embodiment of the present invention;
FIG. 7 (a) is a schematic diagram of a resistive acceleration profile under ADRC and PID control with a landing trajectory scheme provided by an embodiment of the present invention;
FIG. 7 (b) is a schematic diagram showing a partial enlargement of a resistance acceleration profile under ADRC and PID control according to an embodiment of the present invention;
FIG. 8 (a) is a schematic diagram of a landing trajectory plan, a controllability variation curve under ADRC and PID control provided by an embodiment of the present invention;
FIG. 8 (b) is a schematic diagram showing a local enlargement of the controllability change curve under the control of the landing trajectory plan, ADRC and PID according to the embodiment of the present invention;
fig. 9 is a schematic structural diagram of a determining apparatus with controllable landing trajectory plan according to an embodiment of the present invention;
fig. 10 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described below with reference to the drawings in the embodiments of the present invention.
Referring to fig. 1, fig. 1 is a schematic flowchart of a first method for determining a landing trajectory scheme that is controllable and is applied to a control system according to an embodiment of the present invention, including the following steps:
s100, obtaining controllable parameters and characteristic parameters corresponding to the landing trajectory scheme, wherein the controllable parameters are parameters for influencing the executable degree of the landing trajectory scheme.
The control system of the present application may be a ground control system, a control system in an aircraft, or a control system of a detector, which is not limited in this embodiment.
The above characteristic parameter may be understood as a parameter for planning the landing trajectory plan, and the characteristic parameter may be a tilt angle or/and an attack angle.
For example, if the inclination angle of the landing trajectory plan A1 is 30 degrees and the inclination angle of the landing trajectory plan A2 is 50 degrees, the controllable parameters of the landing trajectory plan A1 with the inclination angle of 30 degrees are different from the controllable parameters of the landing trajectory plan A2 with the inclination angle of 50 degrees.
The landing trajectory plan described above refers to a trajectory plan for instructing a probe carrying an aircraft to land, that is, the aircraft may perform a landing according to the landing trajectory plan.
The landing trajectory plan may be one or multiple, and this embodiment is not limited to this.
In view of the change of the atmospheric density along with the change of the altitude, the longitude coordinate information of the aircraft at the current moment, the latitude coordinate information of the aircraft at the current moment, the radius from the center of mass of the planet to the center of mass of the aircraft, the motion speed of the aircraft, the flight track angle of the motion of the aircraft, the flight course angle of the motion of the aircraft, the gravity acceleration borne by the aircraft at the current altitude, the resistance acceleration acting on the aircraft and the lift acceleration acting on the aircraft all change along with the descent of the aircraft.
Based on the analysis, the controllable parameters can include the atmospheric density of the altitude of the aircraft, the longitude coordinate information of the aircraft at the current moment, the latitude coordinate information of the aircraft at the current moment, the radius from the center of mass of the planet to the center of mass of the aircraft, the motion speed of the aircraft, the flight path angle of the motion of the aircraft, the flight course angle of the motion of the aircraft, the gravity acceleration of the aircraft at the current altitude, the resistance acceleration acting on the aircraft and the lift acceleration acting on the aircraft. The parameters included by the controllable parameters have great influence on the landing of the aircraft, so that whether the landing track scheme is controllable or not can be determined more accurately through the controllable parameters.
In addition, the lift coefficient and the drag coefficient are related to the flight Mach number and the attack angle of the aircraft and the aerodynamic profile of the aircraft, and based on the lift coefficient and the drag coefficient, the controllable parameters can also comprise the height of the aircraft.
The effective aerodynamic cross-sectional area of the aircraft may also vary with the deformation of the aircraft, such that the effective aerodynamic cross-sectional area of the aircraft may also influence the aircraft landing, on the basis of which the above-mentioned controllable parameters may also comprise the effective aerodynamic cross-sectional area of the aircraft.
And S200, inputting the acquired controllable parameters and the acquired characteristic parameters into a preset controllability determination model to obtain the controllability of the landing trajectory scheme, wherein the controllability determination model is a model for determining the controllability of the landing trajectory scheme.
When the landing trajectory plan is plural, one specific implementation of the controllability may be:
after the controllable parameters and the characteristic parameters corresponding to the land trajectory scheme are obtained in S100, a specific implementation manner in S200 may be:
and inputting the controllable parameters and the characteristic parameters corresponding to each landing trajectory scheme into the controllable degree determination model to obtain the controllable degree corresponding to the landing trajectory scheme.
Another embodiment may be: and repeating the steps of S100 and S200 for each landing trajectory scheme, and finally obtaining the controllability of each landing trajectory scheme.
After the controllability of each landing trajectory scheme is obtained, the controllability may be filtered, and landing trajectory schemes with the controllability lower than a threshold value are filtered out, so that the remaining landing trajectory schemes are all controllable, and when the aircraft lands, any one of the remaining landing trajectory schemes may be selected, and the landing may be performed according to the landing trajectory scheme.
In an embodiment of the present invention, after S200, how to select an optimal landing trajectory plan, the method may further include the following steps a to B:
and step A, determining the maximum controllability from the degrees of controllability corresponding to the landing trajectory schemes.
The controllable degrees corresponding to the landing track schemes can be sorted according to the size to obtain a sorted sequence; and determines the maximum degree of controllability from the above sequence.
The sorting according to the size may be sorting from large to small, or sorting from small to large, which is not limited in this embodiment.
In view of the controllability that can characterize the feasibility of the implementation, in order to increase the operating speed, an embodiment filters the controllability lower than the threshold from the obtained controllability to obtain a target controllability higher than or equal to the threshold; and sequencing the target controllability to determine the maximum controllability.
And step B, determining the landing track scheme corresponding to the maximum controllability as the optimal landing scheme.
The larger the controllability, the more controlled the implementation scheme of the aircraft landing, and the more the aircraft landing scheme is executable, that is, the higher the probability of the aircraft landing successfully.
Based on the analysis, the landing trajectory scheme corresponding to the maximum controllability is selected as the optimal landing scheme, so that the success rate of landing by using the optimal landing scheme is highest in a plurality of landing trajectory schemes.
Based on the above embodiments, it can be seen that in the technical solutions provided in the embodiments of the present invention, the largest controllable degree is determined from the controllable degrees corresponding to each landing trajectory scheme, and the landing trajectory scheme corresponding to the largest controllable degree is determined as the optimal landing scheme, and based on the determination of the optimal landing scheme, the success probability of aircraft landing can be improved.
Therefore, in the technical scheme provided by the embodiment of the invention, the controllability of the landing trajectory scheme can be obtained by obtaining the controllable parameters for influencing the executable degree of the landing trajectory scheme and inputting the controllable parameters into the preset controllability determination model. Compared with the prior art, the scheme provided by the embodiment of the invention can determine the controllability of the landing trajectory scheme, and further can directly determine the controllable degree of the aircraft controlled in the landing process.
In an embodiment of the present invention, before S100, the method may further include the following step C:
and step C, acquiring controllable parameters and characteristic parameters corresponding to the landing trajectory schemes from a preset landing parameter set, wherein the landing parameter set is used for storing the controllable parameters and the characteristic parameters corresponding to different landing trajectory schemes.
The landing trajectory scheme placed in the landing parameter set is associated with the controllable parameters and the characteristic parameters corresponding to the landing trajectory scheme, that is, after the landing trajectory scheme is obtained, the controllable parameters and the characteristic parameters corresponding to the landing trajectory scheme can be obtained. After the controllable parameters or the characteristic parameters are obtained, the characteristic parameters or the landing trajectory schemes corresponding to the controllable parameters can be obtained.
Based on the above analysis, if it is desired to determine the controllability of a certain landing trajectory plan, only according to the landing trajectory plan, the controllable parameters and the characteristic parameters corresponding to the landing trajectory plan may be obtained from the landing parameter set, and then the controllable parameters and the characteristic parameters are input into the controllability determination model, so that the controllability of the landing trajectory plan may be obtained.
Therefore, in the technical scheme provided by the embodiment of the invention, the controllable parameters and the characteristic parameters corresponding to the landing trajectory schemes are obtained from the preset landing parameter set, so that the controllable parameters and the characteristic parameters corresponding to the landing trajectory schemes do not need to be input every time when the controllability of each landing trajectory scheme is determined, and meanwhile, the controllable parameters and the characteristic parameters corresponding to each landing trajectory scheme are convenient to extract.
In an embodiment of the present invention, after S100, as shown in fig. 2, the method may further include S110 to S120:
s110, inputting the controllable parameters and the characteristic parameters into a preset controllable judgment model to obtain a judgment result; and the controllable judging model is used for judging whether the landing track scheme is controllable.
And the judgment result is information for representing whether the landing track scheme is controllable.
For example, the controllable parameters and the characteristic parameters of the landing trajectory scheme B1 are input into the controllable judgment model to obtain a controllable judgment result representing the landing trajectory scheme B1, and the controllable parameters and the characteristic parameters of the landing trajectory scheme B2 are input into the controllable judgment model to obtain an uncontrollable judgment result representing the landing trajectory scheme B2.
And S120, if the judgment result represents that the landing trajectory scheme is controllable, executing S200.
Based on the above analysis, if the landing trajectory plan is controllable, the controllability of the landing trajectory plan may be obtained by executing S200, and it may be further determined whether the controllability of the landing trajectory plan is high or low.
In addition, if the judgment result represents that the landing trajectory scheme is uncontrollable, the landing trajectory scheme is abandoned.
Therefore, in the technical scheme provided by the embodiment of the invention, the controllable parameters and the characteristic parameters are input into the preset controllable judgment model to obtain the judgment result; for the determination result that the characteristic landing trajectory scheme is controllable, the step S200 is executed, and compared with the technical scheme that whether the landing trajectory scheme is controllable is not determined in advance, the method and the device for determining the controllable landing trajectory scheme can improve the controllability of determining the controllable landing trajectory scheme, and can avoid the controllability of calculating the uncontrollable landing trajectory scheme, so as to save the computing resources of the control system.
How to quickly determine an optimal landing trajectory scheme from the controllable landing trajectory schemes, in an embodiment of the present invention, the landing trajectory scheme whose determination result is controllable is taken as a controllable execution scheme, and after obtaining the controllability of the controllable execution scheme in the controllable parameter set, the method may further include steps D to E:
and D, determining the maximum controllability from the degrees corresponding to the controllable execution schemes.
The degrees of controllability corresponding to the above-described controllable execution schemes may be sorted according to size, and the maximum degree of controllability is determined from the sorted degrees of controllability.
And E, determining the controllable execution scheme corresponding to the maximum controllable degree as the optimal landing scheme.
Each executable scheme corresponds to one controllable degree, so that after the maximum controllable degree is obtained, the landing track scheme corresponding to the maximum controllable degree can be determined.
The higher the controllability degree, the higher the controllability degree of the landing trajectory scheme is, and the higher the landing success rate of the aircraft is.
The optimal landing scheme is the landing trajectory scheme corresponding to the maximum controllability.
Therefore, in the technical scheme provided by the embodiment of the invention, the method determines the optimal landing scheme corresponding to the maximum controllability from the executable schemes. Compared with the determination of the optimal landing scheme from the landing trajectory scheme, the method determines the optimal landing scheme from the executable scheme, which is not only fast, but also saves time and computing resources.
In an embodiment of the present invention, a specific implementation manner of S200 includes the following steps:
inputting the acquired controllable parameters and characteristic parameters into a controllability determination model of a first expression to obtain the controllability of the landing trajectory scheme;
the first expression is:
wherein, W k The controllability corresponding to the kth time point in the landing track scheme, n is the system dimension, and i is the time point phi k+n,k+1+i A dynamic model of the aircraft landing process after dispersion;
t is the sampling time, V h To represent the intermediate quantity of the deviation of the speed of motion of the aircraft from its altitude,
D * change in resistance and acceleration, h, for a nominal trajectory s Is the planet atmospheric elevation, g is the gravitational acceleration of the planet at the current altitude, gamma * For the flight path angle of the aircraft motion in the nominal trajectory, r * Is the sagittal diameter from the center of mass of the planet to the center of mass of the aircraft in the nominal trajectory; v V For representing the intermediate quantity of the deviation of the speed of motion of the aircraft from its own speed,
V * is the speed of motion of the aircraft in the nominal trajectory; v γ For representing the intermediate quantity, V, of the angular deviation of the flight path of the aircraft from the speed of motion γ ＝-gcosγ * ，γ h To represent the intermediate quantity of the aircraft flight path angle versus altitude deviation of the aircraft itself,
u * control input variables in the nominal trajectory; gamma ray V For the purpose of representing the intermediate quantity of the flight path angle versus the flight speed deviation,
γ γ to represent the intermediate quantity of the aircraft flight path angle deviation from its own flight path angle,
Γ k is the input control quantity at the kth time point in the landing trajectory plan.
In the embodiment, the autonomous landing of the aircraft in the atmosphere is a complex dynamics process with strong uncertainty, strong nonlinearity and strong coupling, and in the process, the aircraft often deals with various problems such as uncertainty of an atmosphere model, a complex pneumatic environment, deviation of an entry point, deviation of pneumatic parameters of the aircraft and the like.
In the modeling process, considering that the duration of the landing process of the autonomous unmanned aerial vehicle in the atmosphere is short, and the energy dissipated during the attitude adjustment of the autonomous unmanned aerial vehicle is small, the influence of planetary autorotation on the dynamics of the autonomous unmanned aerial vehicle is generally ignored, and the autonomous unmanned aerial vehicle is regarded as a constant mass body for modeling analysis.
During the whole landing process of the aircraft, the aircraft mainly carries out orbital maneuver by changing the magnitude of the lift force and the resistance force acting on the aircraft, and the directions of the lift force and the resistance force.
The aircraft in the embodiment usually adopts a resistance acceleration profile as a main track planning quantity and a tracking control quantity, realizes the tracking of a nominal track by controlling a characteristic parameter, namely an inclination angle, in a landing track scheme, and then lands the aircraft to a preset target point.
In order to analyze the controllable degree in the autonomous landing process, a preset aircraft landing process dynamic model is subjected to transverse and longitudinal motion decoupling, and an aircraft longitudinal motion model is separated.
Since the center radius distance r, the velocity V and the flight path angle γ are decoupled from the other states and the three quantities are defined in the longitudinal plane, for the sake of analytical simplicity, the three quantities are usually separated from the system of kinetic equations and the course dynamics are also added thereto to obtain a longitudinal motion model.
The embodiment mainly performs controllability analysis on longitudinal motion, and based on the controllability analysis, performs small-disturbance linearization processing on a longitudinal motion model along a nominal track to obtain a continuous time state space model shown in the following expression:
in the above expression, X = [ δ h δ v δ γ δ s] T The system state vector is shown, δ h is the offset of the height of the longitudinal motion parameter, δ v is the offset of the speed of the longitudinal motion parameter, δ γ is the offset of the path angle of the longitudinal motion parameter, and δ s is the offset of the course of the longitudinal motion parameter.
F is a system matrix of continuous time,
g is an input matrix of the continuous time,
u is a controlled variable and is a control variable,
l is the lift acceleration acting on the aircraft and D is the drag acceleration acting on the aircraft.
Discretizing the longitudinal motion model, and constructing a gram controllability matrix by using the discretized longitudinal motion system model;
and (3) dispersing the continuous time state space model, wherein the discretization matrix form is as follows:
X k+1 ＝Φ k+1,k X k +Γ k u k (1)
the singular value kinetic velocity of the aircraft's Rugoram matrix.
In the above expression (1), X k ＝[δh δv δγ δs] T A state vector of longitudinal motion of the unmanned autonomous aircraft; the dynamic model of the aircraft landing process after dispersion is as follows:
the input gain at the kth time point in the landing trajectory scenario is:
control quantity u of system at k time point k ，
Based on t k State variable X of time k At [ t ] according to the expression (1) k ,t k+n ]The following state transition procedure is obtained in the time interval:
X k+n ＝Φ k+n,k X k +Φ k+n,k+1 Γ k u k +…+Φ k+n,k+n-1 Γ k+n-2 u k+n-2 +Γ k+n-1 u k+n-1
transforming the expression into a matrix form, specifically:
X k+n ＝Φ k+n,k X k +T k U k (2)
in the above expression, T k ＝[Γ k+n-1 Φ k+n,k+n-1 Γ k+n-2 … Φ k+n,k+1 Γ k ]。
T above k Only an intermediate quantity, time period t k ,t k+n ]Inner input sequence U k Is denoted as U k ＝[u k+n-1 u k+n-2 … u k ] T ，u k+n-1 u k+n-2 … u k Respectively the control input of the k + n-1, k + n-2, … …, k time points.
Further, the above expression (2) can be rewritten as follows
Based on the minimum energy transfer problem, it is often desirable to minimize the performance metric ρ, i.e., energy consumption
ρ＝(X k+n -Φ k+n,k X k ) T (T k (T k ) T ) -1 (X k+n -Φ k+n,k X k ) T
Given the same initial and end states, the gram controllability matrix may be used to characterize the amount of energy that the system needs to consume to complete a state transition. The form of the gram controllability matrix for a time-varying system is as follows:
therefore, in the technical scheme provided by the embodiment of the invention, the controllability of the landing trajectory scheme can be quickly and accurately obtained by inputting the acquired controllable parameters and characteristic parameters into the controllability determination model of the following first expression.
In an embodiment of the present invention, the specific implementation manner of the step S110 may include the following steps:
inputting the controllable parameters and the characteristic parameters into a controllable judgment model represented by a second expression to obtain a judgment result,
the second expression is: d k ＝1/cond(W k )；
Wherein D is k Is the judgment result of the kth time point in the landing trajectory plan, cond (W) k ) Condition number, cond, of time-varying gram matrix(W k )＝σ max /σ min ，σ min Respectively minimum singular value, σ max Is the largest singular value.
In this embodiment, the existing controllability criterion usually finds the minimum eigenvalue of the gram controllability matrix as an index for measuring the controllability. Similar to the definition of stability, the further the minimum eigenvalue of the gram controllability matrix is from the zero point, the greater the controllability of the system. However, when the minimum eigenvalue is extremely close to zero, there may be a case where the minimum eigenvalue is considered to be zero due to the limited word size of the computer. In addition, when the elements in the system matrix cause the gram matrix to be not of full rank due to errors or disturbances, that is, the matrix is singular, the system may be determined to be uncontrollable. The invention carries out singular value decomposition on the gram controllable degree matrix
W k ＝UΣV Τ
In the expression, columns of U and V are respectively left and right singular vectors corresponding to singular values of a gram controllability matrix, and Σ is a diagonal matrix formed by the singular values of the gram controllability matrix;
in the above expression, σ 1 ,σ 2 ...,σ r The singular values of the gram matrix with the serial numbers of 1,2, … … and r respectively and the maximum and minimum singular values are used for solving the condition number of the matrix:
because the condition number can measure the relative degree of the matrix distance singularity, and in order to compare the controllability conveniently, the reciprocal of the condition number of the gram controllability matrix is used as the weighing value of the controllability of the system. Linear time varying system at time t k Degree of controllability D of k Comprises the following steps:
D k ＝1/cond(W k )
according to the definition of the degree of controllability in this embodiment, D k The larger the value of (A), the greater the controllability of the system.
Therefore, in the technical solution provided by the embodiment of the present invention, the controllable parameters and the characteristic parameters may be input into a controllable judgment model represented by the following second expression, so that a judgment result can be obtained quickly and accurately.
In order to verify the reliability of the method for determining the controllable landing trajectory scheme provided by the embodiment of the invention, that is, the linear time-varying controllability criterion, the following simulation analysis is performed, specifically:
in the embodiment, the Mars atmospheric landing at the entrance section is taken as the background, and relevant parameters of a 'curiosity number' Mars lander are selected to verify the feasibility of the provided autonomous landing process quantitative analysis method based on controllable indexes. In the dynamic modeling process of the embodiment, a mars fixed connection coordinate system is adopted, the initial state of the atmospheric entering section of the lander is shown in table 1, and the target end state of the entering section is shown in table 2:
TABLE 1
TABLE 2
In Table 1, θ 0 As longitude coordinate information of the starting point of the aircraft entry segment,
latitude coordinate information of the starting point of the aircraft entering section, r 0 The radius, V, of the aircraft from the starting point position of the entering section to the center of mass of the planet 0 The speed of movement, gamma, of the aircraft at the beginning of the approach section 0 For the flight path angle, psi, of the aircraft at the starting point of the entry segment 0 The course angle of the aircraft at the starting point of the entry segment.
In Table 2, θ f For longitude coordinate information of the aircraft's desired termination point,
latitude coordinate information for the desired ending point of the aircraft, h f The height of the desired termination point for the aircraft.
According to fig. 3, the height variation curves of the nominal tracks under different constant roll angle control are shown, fig. 4 shows the resistance acceleration profiles under different roll angle control, fig. 5 shows the controllability variation curves of the system when falling along different nominal tracks, and in combination with fig. 4 and 5, it can be easily found that the variation trend of the controllability of the system is substantially the same as the variation trend of the resistance acceleration, and the two curves reach the maximum value at substantially the same position; meanwhile, in conjunction with fig. 3,4 and 5, the following conclusions can be drawn:
the smaller the roll angle is, the higher the flight trajectory is, the larger the resistance the aircraft is subjected to during landing, and the controllability of the system is low. According to the analysis of the stress characteristics of the aircraft in the landing process, the air resistance is the maximum external force applied to the whole system in the whole deceleration process of the entering section, and when the applied external force is larger, the energy required for state transfer in the longitudinal movement system is smaller, so that the system is more controllable. Therefore, the linear time-varying controllability criterion proposed in the present invention is verified.
In this embodiment, an ADRC (active disturbance rejection control) and a PID (proportional-integral-differential) control technique are respectively adopted to perform tracking control on a certain optimized nominal trajectory, and controllability change curves under two different control algorithms are analyzed. Fig. 6 is a diagram showing a nominal trajectory, a curve of a roll angle under ADRC and PID control, fig. 7 (a) and (b) are a diagram showing a profile of a resistance acceleration under the nominal trajectory, ADRC and PID control and a partially enlarged view, respectively, and fig. 8 (a) and (b) are a diagram showing a curve of a degree of controllability under the nominal trajectory, ADRC and PID control and a partially enlarged view, respectively. The correctness of the proposed controllability criterion can be further verified by comparing fig. 7 (a) - (b) with fig. 8 (a) - (b).
Corresponding to the determining method for the controllable landing trajectory scheme, the embodiment of the invention also provides a determining device for the controllable landing trajectory scheme.
Referring to fig. 9, fig. 9 is a schematic structural diagram of a determining apparatus with controllable landing trajectory scheme according to an embodiment of the present invention, where the apparatus may include:
a first parameter obtaining module 901, configured to obtain a controllable parameter and a characteristic parameter corresponding to a landing trajectory scheme, where the controllable parameter is a parameter for affecting an executable degree of the landing trajectory scheme;
a controllability obtaining module 902, configured to input the obtained controllable parameters and the obtained characteristic parameters into a preset controllability determining model, so as to obtain a controllability of the landing trajectory plan, where the controllability determining model is a model for determining a controllability of the landing trajectory plan.
In one embodiment, the apparatus may further include:
the second parameter obtaining module is configured to obtain controllable parameters and characteristic parameters corresponding to landing trajectory schemes from a preset landing parameter set, where the landing parameter set is used to store the controllable parameters and the characteristic parameters corresponding to different landing trajectory schemes.
In one embodiment, the apparatus may further include:
the first maximum controllability determining module is used for determining the maximum controllability from the degrees of controllability corresponding to the landing trajectory schemes;
and the second optimal landing scheme determining module is used for determining the landing trajectory scheme corresponding to the maximum controllability as the optimal landing scheme.
In one embodiment, the apparatus may further include:
a judgment result obtaining module, configured to input the controllable parameters and the characteristic parameters into a preset controllable judgment model to obtain a judgment result; the controllable judging model is used for judging whether the landing track scheme is controllable; and if the judgment result represents that the landing track scheme is controllable, triggering a controllability obtaining module.
In an embodiment, the landing trajectory scenario with the controllable result as the controllable execution scenario, and after obtaining the controllability of the controllable execution scenario in the controllable parameter set, the apparatus may further include:
the second maximum controllability determining module is used for determining the maximum controllability from the degrees of controllability corresponding to the controllable execution schemes;
and the second optimal landing scheme determining module is used for determining the controllable execution scheme corresponding to the maximum controllability as the optimal landing scheme.
In one embodiment, the controllable parameters include atmospheric density of the altitude at which the aircraft is located, lift coefficient, drag coefficient, longitude coordinate information of the aircraft at the current time, latitude coordinate information of the aircraft at the current time, sagittal diameter from the center of mass of the planet to the center of mass of the aircraft, motion speed of the aircraft, flight path angle of motion of the aircraft, flight course angle of motion of the aircraft, gravitational acceleration of the aircraft at the current altitude, resistive acceleration acting on the aircraft, and lift acceleration acting on the aircraft.
In one embodiment, the inputting the obtained controllable parameters and the obtained characteristic parameters into a preset controllability determination model to obtain the controllability of the landing trajectory plan includes:
inputting the acquired controllable parameters and characteristic parameters into a controllability determination model of a first expression to obtain the controllability of the landing trajectory scheme;
the first expression is:
wherein, W k Is the controllability of the kth time point in the landing trajectory scheme, i is the time point, n is the system dimension, Φ k+n,k+1+i A dynamic model of the aircraft landing process after dispersion;
t is the sampling time, V h To represent the intermediate quantity of the deviation of the speed of motion of the aircraft from its altitude,
D * change of drag and acceleration value of nominal track, h s Is the planet atmospheric elevation, g is the gravitational acceleration of the planet at the current altitude, gamma * For the flight path angle of the aircraft motion in the nominal trajectory, r * Is the sagittal diameter from the center of mass of the planet to the center of mass of the aircraft in the nominal trajectory; v V For representing the intermediate quantity of the deviation of the speed of motion of the aircraft from its own speed,
V * is the speed of motion of the aircraft in the nominal trajectory; v γ For representing the intermediate quantity, V, of the angular deviation of the flight path of the aircraft from the speed of motion γ ＝-gcosγ * ，γ h To represent the intermediate quantity of the aircraft flight path angle versus altitude deviation of the aircraft itself,
u * control input variables in the nominal trajectory; gamma ray V To represent the intermediate quantity of the flight path angle versus flight speed deviation,
γ γ to represent the intermediate quantity of the aircraft flight path angle deviation from its own flight path angle,
Γ k is the input gain at the kth time point in the landing trajectory scenario.
In one embodiment, the inputting the controllable parameters and the characteristic parameters into a preset controllable judgment model to obtain a judgment result includes:
inputting the controllable parameters and the characteristic parameters into a controllable judgment model represented by a second expression to obtain a judgment result,
the second expression is: d k ＝1/cond(W k )；
Wherein D is k Is the judgment result of the kth time point in the landing trajectory plan, cond (W) k ) Condition number, cond (W), of a time-varying gram matrix k )＝σ max /σ min ，σ min Is the minimum singular value, σ max Is the largest singular value.
Therefore, in the technical scheme provided by the embodiment of the invention, the controllable degree of the landing track scheme can be obtained by acquiring the controllable parameters and the characteristic parameters corresponding to the landing track scheme and inputting the controllable parameters and the characteristic parameters into the preset controllable degree determination model. Compared with the prior art, the technical scheme provided by the embodiment of the invention can determine the controllability of the landing trajectory scheme, and further can directly determine the controllable degree of the aircraft controlled in the landing process.
The embodiment of the present invention further provides an electronic device, as shown in fig. 10, which includes a processor 1001, a communication interface 1002, a memory 1003 and a communication bus 1004, wherein the processor 1001, the communication interface 1002 and the memory 1003 complete mutual communication through the communication bus 1004,
a memory 1003 for storing a computer program;
the processor 1001 is configured to implement the method for determining that the landing trajectory plan is controllable according to the embodiment of the present invention when executing the program stored in the memory 803.
Specifically, the method for determining controllable landing trajectory plan includes:
obtaining controllable parameters and characteristic parameters corresponding to a landing trajectory scheme, wherein the controllable parameters are parameters for influencing the executable degree of the landing trajectory scheme;
and inputting the acquired controllable parameters and the acquired characteristic parameters into a preset controllability determination model to obtain the controllability of the landing trajectory scheme, wherein the controllability determination model is a model for determining the controllability of the landing trajectory scheme.
Therefore, the electronic device provided by the embodiment is executed, and the controllable degree of the landing trajectory scheme is obtained by obtaining the controllable parameters and the characteristic parameters corresponding to the landing trajectory scheme and inputting the controllable parameters and the characteristic parameters into the preset controllable degree determination model. Compared with the prior art, the technical scheme provided by the embodiment of the invention can determine the controllability of the landing trajectory scheme, and further can directly determine the controllable degree of the aircraft controlled in the landing process.
The implementation of the above related content file operation method is the same as the management of the determining method for determining controllable landing trajectory plan provided in the foregoing method embodiment, and is not described here again.
The communication bus mentioned in the electronic device may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The communication bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown, but this does not mean that there is only one bus or one type of bus.
The communication interface is used for communication between the electronic equipment and other equipment.
The Memory may include a Random Access Memory (RAM) or a Non-Volatile Memory (NVM), such as at least one disk Memory. Alternatively, the memory may be at least one memory device located remotely from the processor.
The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), application Specific Integrated Circuits (ASICs), field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components.
In yet another embodiment of the present invention, a computer-readable storage medium is further provided, which stores instructions that, when executed on a computer, cause the computer to execute any one of the above-mentioned controllable landing trajectory planning determination methods.
In yet another embodiment of the present invention, there is also provided a computer program product containing instructions which, when run on a computer, cause the computer to execute the method for determining a landing trajectory plan controllable as described in any of the above embodiments.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. The procedures or functions described in accordance with the embodiments of the invention are all or partially effected when the above-described computer program instructions are loaded and executed on a computer. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, from one website site, computer, server, or data center to another website site, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that incorporates one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid State Disk (SSD)), among others.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element in a process, method, article, or apparatus that comprises the element.
All the embodiments in the present specification are described in a related manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the apparatus, electronic device, storage medium, and program product embodiments, as they are substantially similar to the method embodiments, the description is relatively simple, and reference may be made to some descriptions of the method embodiments for relevant points.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.
Claims (8)
1. A method for determining controllable landing trajectory scheme is applied to a control system, and comprises the following steps:
acquiring controllable parameters and characteristic parameters corresponding to a landing trajectory scheme, wherein the controllable parameters are parameters for influencing the executable degree of the landing trajectory scheme;
inputting the acquired controllable parameters and the acquired characteristic parameters into a preset controllability determination model to obtain the controllability of the landing trajectory scheme, wherein the controllability determination model is a model for determining the controllability of the landing trajectory scheme;
after the obtaining of the controllable parameters and the characteristic parameters corresponding to the landing trajectory plan, the method further includes:
inputting the controllable parameters and the characteristic parameters into a preset controllable judgment model to obtain a judgment result; the controllable judging model is used for judging whether the landing track scheme is controllable;
if the judgment result represents that the landing trajectory scheme is controllable, the step of inputting the acquired controllable parameters and the acquired characteristic parameters into a preset controllability determination model to obtain the controllability of the landing trajectory scheme is executed;
the step of inputting the acquired controllable parameters and the characteristic parameters into a preset controllability determination model to obtain the controllability of the landing trajectory scheme includes:
inputting the acquired controllable parameters and characteristic parameters into a controllability determination model of a first expression to obtain the controllability of the landing trajectory scheme;
the first expression is as follows:
wherein, W k Is the controllability of the kth time point in the landing trajectory scheme, i is the time point, n is the system dimension, Φ k+n,k+1+i A dynamic model of the aircraft landing process after dispersion;
t is the sampling time, V h To represent the intermediate quantity of the deviation of the speed of motion of the aircraft from its altitude,
D * change in resistance and acceleration, h, for a nominal trajectory s Is the planet atmospheric elevation, g is the gravitational acceleration of the planet at the current altitude, gamma * Angle of flight path in nominal trajectory for aircraft motion, r * Is the sagittal diameter from the center of mass of the planet to the center of mass of the aircraft in the nominal trajectory; v V For representing the intermediate quantity of the deviation of the speed of motion of the aircraft from its own speed,
V * is the speed of motion of the aircraft in the nominal trajectory; v γ For representing an intermediate quantity, V, of the angular deviation of the flight path of the aircraft from the speed of motion γ ＝-gcosγ * ，γ h To represent the intermediate quantity of the aircraft flight path angle versus altitude deviation of the aircraft itself,
u * control input variables in the nominal trajectory; gamma ray V For the purpose of representing the intermediate quantity of the flight path angle versus the flight speed deviation,
γ γ to represent the intermediate quantity of the aircraft flight path angle deviation from its own flight path angle,
Γ k is the input gain at the kth time point in the landing trajectory scenario.
2. The method according to claim 1, further comprising, before the obtaining the controllable parameters and the characteristic parameters corresponding to the landing trajectory plan:
the method comprises the steps of obtaining controllable parameters and characteristic parameters corresponding to landing trajectory schemes from a preset landing parameter set, wherein the landing parameter set is used for storing the controllable parameters and the characteristic parameters corresponding to different landing trajectory schemes.
3. The method of claim 2, wherein after obtaining the degree of controllability of each landing trajectory plan in the set of controllable parameters, the method further comprises:
determining the maximum controllability from the degrees of controllability corresponding to the landing trajectory schemes;
and determining the landing track scheme corresponding to the maximum controllability as the optimal landing scheme.
4. The method according to claim 1, wherein the landing trajectory plan determined as controllable as a result of the determination is taken as a controllable execution plan, and after obtaining the controllability of the controllable execution plan in the controllable parameter set, the method further comprises:
determining the maximum controllable degree from the controllable degrees corresponding to the controllable execution schemes;
and determining the controllable execution scheme corresponding to the maximum controllability as the optimal landing scheme.
5. The method of claim 1, wherein the controllable parameters comprise atmospheric density at the altitude of the aircraft, lift coefficient, drag coefficient, longitude coordinate information of the aircraft at the current time, latitude coordinate information of the aircraft at the current time, sagittal diameter from the center of mass of the planet to the center of mass of the aircraft, moving speed of the aircraft, flying path angle of the aircraft in motion, flying course angle of the aircraft in motion, gravitational acceleration of the aircraft at the current altitude, resistive acceleration acting on the aircraft, and lift acceleration acting on the aircraft.
6. The method according to claim 1, wherein the inputting the controllable parameters and the characteristic parameters into a preset controllable judgment model to obtain a judgment result comprises:
inputting the controllable parameters and the characteristic parameters into a controllable judgment model represented by a second expression to obtain a judgment result,
the second expression is: d k ＝1/cond(W k )；
Wherein D is k Cond (W) as a result of the determination of the kth time point in the landing trajectory scenario k ) Is the condition number of the time-varying gram matrix, cond (W) k )＝σ max /σ min ，σ min Is the maximum singular value, σ min Is the smallest singular value.
7. A determining device with controllable landing trajectory scheme is applied to a control system, and comprises:
the landing trajectory planning system comprises a first parameter acquisition module, a second parameter acquisition module and a third parameter acquisition module, wherein the first parameter acquisition module is used for acquiring controllable parameters and characteristic parameters corresponding to a landing trajectory plan, and the controllable parameters are parameters for influencing the executable degree of the landing trajectory plan;
the controllable degree obtaining module is used for inputting the obtained controllable parameters and the obtained characteristic parameters into a preset controllable degree determining model to obtain the controllable degree of the landing track scheme, wherein the controllable degree determining model is used for determining the controllable degree of the landing track scheme;
after the obtaining of the controllable parameters and the characteristic parameters corresponding to the landing trajectory plan, the method further includes:
inputting the controllable parameters and the characteristic parameters into a preset controllable judgment model to obtain a judgment result; the controllable judging model is used for judging whether the landing track scheme is controllable or not;
if the judgment result represents that the landing trajectory scheme is controllable, the step of inputting the acquired controllable parameters and the acquired characteristic parameters into a preset controllability determination model to obtain the controllability of the landing trajectory scheme is executed;
inputting the acquired controllable parameters and characteristic parameters into a controllability determination model of a first expression to obtain the controllability of the landing trajectory scheme;
the first expression is:
wherein, W k Is the controllability of the kth time point in the landing trajectory scheme, i is the time point, n is the system dimension, Φ k+n,k+1+i A dynamic model of the aircraft landing process after dispersion is obtained;
t is the sampling time, V h To represent the intermediate quantity of the deviation of the speed of motion of the aircraft from the altitude at which it is located,
D * change in resistance and acceleration, h, for a nominal trajectory s Is the planet atmospheric elevation, g is the gravitational acceleration of the planet at the current altitude, gamma * For the flight path angle of the aircraft motion in the nominal trajectory, r * Is the sagittal diameter from the center of mass of the planet to the center of mass of the aircraft in the nominal trajectory; v V For representing the intermediate quantity of the deviation of the speed of motion of the aircraft from its own speed,
V * is the speed of motion of the aircraft in the nominal trajectory; v γ For representing the intermediate quantity, V, of the angular deviation of the flight path of the aircraft from the speed of motion γ ＝-gcosγ * ，γ h To represent the intermediate quantity of the aircraft flight path angle versus altitude deviation of the aircraft itself,
u * control input variables in the nominal trajectory; gamma ray V For the purpose of representing the intermediate quantity of the flight path angle versus the flight speed deviation,
γ γ to represent the intermediate quantity of the aircraft flight path angle deviation from its own flight path angle,
Γ k is the input gain at the kth time point in the landing trajectory scenario.
8. An electronic device is characterized by comprising a processor, a communication interface, a memory and a communication bus, wherein the processor and the communication interface are used for realizing mutual communication by the memory through the communication bus;
a memory for storing a computer program;
a processor for implementing the method steps of any of claims 1-6 when executing a program stored in the memory.
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