CN112298616B - Lunar landing whole-course guidance time optimization method based on allowable control set - Google Patents
Lunar landing whole-course guidance time optimization method based on allowable control set Download PDFInfo
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Abstract
The invention discloses a lunar emergency rescue task oriented spacecraft orbit transfer allowable control set construction method and a whole-course time optimal guidance method, which comprise the following steps: determining the initial and final states of orbit transfer of the rescue spacecraft according to the rescue spacecraft and the landing point position when the fixed-point landing instruction is sent out; constructing an allowable control set obtained after optimization into an allowable control database by adopting a network graph mode; and processing the optimized allowable control database of each section by adopting a dynamic programming method, and obtaining an optimal control result of the whole time by adopting the optimal whole time as an index. The method is used for constructing the allowable control set of each segment, so that the optimal track of the whole task is determined by adopting a dynamic programming method.
Description
Technical Field
The invention relates to spacecraft orbit transfer in the field of spaceflight, in particular to a spacecraft multi-stage task planning and guidance control method with optimal performance.
Background
The general spacecraft orbit transfer only considers the fuel or energy optimization, the prior art adopts a pseudo-spectrum method to obtain the fuel optimal orbit of the spacecraft orbit transfer, the time required for the lunar emergency rescue task is usually optimal, and the performance index of the more complex multi-stage orbit transfer task is more complex. The global optimization method aiming at the multi-stage task currently has an heuristic intelligent optimization method and a dynamic programming method. The heuristic algorithm has the characteristics of high algorithm design difficulty, high algorithm complexity and the like, is easy to fall into a local optimal solution, and is not easy to apply in the aerospace field. Dynamic programming is essentially a search-like algorithm, without a uniform format and requiring a large computer storage space.
Disclosure of Invention
Aiming at the problems of the existing guidance theory: only aiming at a single stage, only local optimization can be carried out, and the optimal solution of the whole multi-stage task process cannot be obtained. The invention discloses a method for constructing an allowable control set for spacecraft orbit transfer for a lunar emergency rescue task, which is used for constructing the allowable control set of each section so as to determine the optimal track of the whole task by adopting a dynamic programming method.
The technical scheme of the invention is as follows:
a lunar surface landing full-course guidance time optimization method based on an allowable control set comprises the following steps:
s100, dividing the whole task into four stages, namely an initial orbit stage, an orbit transfer stage, a task orbit phase modulation stage and a power descending stage, and determining the initial and final states of orbit transfer of the rescue spacecraft according to the positions of the rescue spacecraft and a landing point when a fixed-point landing instruction is sent out, namely: the position and the speed of the spacecraft at the initial moment and the position and the speed of the spacecraft at the target place;
s200, in the track transfer section, obtaining the minimum value of the given transfer time under the multi-constraint condition by changing the track inclination angle difference, the ascension point declination difference and the true approach point angle of the mission track, and taking the set of the minimum time of each state and the corresponding transfer state as an allowable control set of the track transfer section;
s300, in a power descending section, by changing the position of the rescue spacecraft starting to descend on the mission orbit, under the condition of giving a point to be landed, the shortest transfer time of each initial state is obtained and is used as an allowable control set of the power descending section;
s400, constructing an allowable control set obtained after the optimization in the steps S200 and S300 into an allowable control database by adopting a network graph mode;
and S500, processing the allowable control database of each section after the optimization of the S400 by adopting a dynamic programming method, and obtaining an optimal control result of the whole time by adopting the optimal whole time as an index.
As a further improvement of the present invention, in S300, the shortest transition time of each initial state is obtained by an explicit guidance method.
As a further improvement of the present invention, in S400, the scope of the allowable control set is narrowed down in building the allowable control database.
As a further improvement of the present invention, in S500, the whole process time optimal control result refers to selecting control of each stage so as to optimize the whole process time of the task.
Compared with the prior art, the invention has the following technical effects:
compared with the traditional staged independent control, the method considers each stage of the task, and obtains the optimal time of the whole process of the task by adopting a method of bringing each stage into a unified optimization system. Compared with the traditional search method, the optimization adopted by the invention allows the control database to occupy smaller storage space and shorter calculation time, and the time complexity is reduced to O (n)2). The admission control database adopted by the invention is a global search method which can obtain the global optimal solution, and the method is not a trap which is difficult to fall into the local optimal solution by a heuristic algorithm.
Drawings
FIG. 1: a lunar emergency rescue task flow chart;
FIG. 2: the track transfer section allows control of the collection;
FIG. 3: allowing a control set in a power descending section;
FIG. 4: a full control network diagram.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be noted that the embodiments and features of the embodiments in the present application may be arbitrarily combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced otherwise than as specifically described herein, and thus the scope of the present invention is not limited by the specific embodiments disclosed below.
The invention discloses a whole-course time optimization guidance method for a multi-stage lunar surface fixed point soft landing task.
The invention mainly solves the problem of multi-constraint quick optimization of the whole-course guidance problem. Because the problem models of all phases of the whole-course guidance process are different, coupling constraints exist among all phases (the previous phase prepares initial conditions for the next phase). How to minimize the whole-course time consumption under the time constraint, the invention adopts a method of allowing a control set to establish a feasible control database capable of realizing the whole-course guidance, and then solves the problem by establishing an optimization model and adopting a dynamic programming method.
The method comprises the following steps: and determining initial and final states according to the rescue spacecraft and the landing point position when the fixed-point landing instruction is sent out. The whole task process is divided into four stages, namely an initial rail section, a rail transfer section, a task rail phase modulation section and a power descending section, and storage space is allocated in a computer according to the possible length of each section in advance. The orbit transfer section is used for the orbit changing of the spacecraft but does not change the original orbit height, and the power descending section is used for decelerating and descending the spacecraft to the target.
Step two: and constructing an allowance control set in the track transfer section.
Obtaining a given transfer time (t) by changing the track inclination angle difference (delta i), the ascent point declination difference (delta omega) and the true approach point angle (delta phi) of the mission track in the track transfer sectionf) Minimum value under multiple constraint conditions, and minimum t of each statefAnd the corresponding set of transition states as the set of allowable controls.
Step three: and constructing an allowable control set in the power descending section.
And in the power descending stage, the shortest transition time of each initial state is obtained by an explicit guidance method under the condition of a given to-be-landed point by changing the position of the rescue spacecraft starting power descending on the mission orbit and is taken as an allowable control set.
Step four: and designing a whole-course time optimal soft landing control method.
The 1 st and 3 rd sections of the task process do not consume fuel, and the two sections of time are naturally determined according to the two-body orbital mechanics, so that the task can meet the non-aftereffect in the whole process. The phase end point which can be reached by adopting the corresponding control method at any starting position of each phase 1, 2 and 3 is not limited. Therefore, an optimization model of multi-stage control can be constructed, the allowable control sets obtained in the second step and the third step are constructed into an allowable control database by adopting a network diagram mode, the range of the allowable control sets is narrowed in the construction process, and unnecessary storage space consumption is avoided.
Step five: and (4) adopting a dynamic programming method, adopting a reverse gear building and forward gear checking method in the allowable control database of each section after the optimization in the step four, and selecting the control of each stage by taking the optimal whole-process time as an index so as to optimize the whole-process time of the task.
The method of the present invention is described in detail below with reference to specific embodiments and the accompanying drawings.
Examples
The initial condition of the given numerical simulation is that the moon gravitation constant mu is 4903km3/s2R 1738km, total mass of the rescue spacecraft 3000kg, and fuel quality factor of the rescue spacecraft in the orbit transfer section is muF10.3, engine specific impulse Isp350s, an initial orbit is a circular orbit with the height of 120km and the height of I0, the initial position is positioned under a lunar longitude and latitude coordinate system (0 degrees N,100 degrees W), the height of a mission orbit is assumed to be 15km, the mass of a rescue capsule for releasing power descent is 1000kg, and the specific impulse I of an engine issp2300s, fuel quality factor μF20.4. The sensor is constrained to have the whole-course speed less than 3km/s, the safety is constrained to have the whole-course height greater than 0.5km according to the lunar surface, and an astronaut sends out a rescue signal at a position (10 degrees N and 20 degrees E) of a lunar longitude and latitude coordinate system.
According to the first step, the initial position of the whole task is determined to be (0 degrees N,100 degrees W), and the terminal position of the point to be rescued is determined to be (10 degrees N,20 degrees E).
According to the second step, obtaining a transfer section permission control set as shown in FIG. 2;
according to the third step, obtaining a power descending section permission control set as shown in the figure 3;
and according to the fourth step, establishing a network diagram of the whole-process control, and solving by adopting a dynamic programming method to obtain the following whole-process time optimal control result.
The method is simple and reliable, has strong robustness, does not fall into local optimum, and obtains the optimal solution of the whole time.
All articles and references disclosed above, including patent applications and publications, are hereby incorporated by reference for all purposes. The term "consisting essentially of …" describing a combination shall include the identified element, ingredient, component or step as well as other elements, ingredients, components or steps that do not materially affect the basic novel characteristics of the combination. The use of the terms "comprising" or "including" to describe combinations of elements, components, or steps herein also contemplates embodiments that consist essentially of such elements, components, or steps. By using the term "may" herein, it is intended to indicate that any of the described attributes that "may" include are optional.
A plurality of elements, components, parts or steps can be provided by a single integrated element, component, part or step. Alternatively, a single integrated element, component, part or step may be divided into separate plural elements, components, parts or steps. The disclosure of "a" or "an" to describe an element, ingredient, component or step is not intended to foreclose other elements, ingredients, components or steps.
It is to be understood that the above description is intended to be illustrative, and not restrictive. Many embodiments and many applications other than the examples provided would be apparent to those of skill in the art upon reading the above description. The scope of the present teachings should, therefore, be determined not with reference to the above description, but should instead be determined with reference to the appended claims, along with the full scope of equivalents to which such claims are entitled. For the sake of completeness, all publications, including patent applications and publications, are incorporated by reference herein. The omission in the foregoing claims of any aspect of subject matter that is disclosed herein is not intended to forego such subject matter, nor should the applicant consider that such subject matter is not considered part of the disclosed subject matter.
Claims (3)
1. A lunar surface landing full-course guidance time optimization method based on an allowable control set is characterized by comprising the following steps:
s100, dividing the whole task into four stages, namely an initial orbit stage, an orbit transfer stage, a task orbit phase modulation stage and a power descending stage, and determining the initial and final states of orbit transfer of the rescue spacecraft according to the positions of the rescue spacecraft and a landing point when a fixed-point landing instruction is sent out, namely: the position and the speed of the spacecraft at the initial moment and the position and the speed of the spacecraft at the target place;
s200, in the track transfer section, obtaining the minimum value of the given transfer time under the multi-constraint condition by changing the track inclination angle difference, the ascension point declination difference and the true approach point angle of the mission track, and taking the set of the minimum time of each state and the corresponding transfer state as an allowable control set of the track transfer section;
s300, in a power descending section, by changing the position of the rescue spacecraft starting to descend on the mission orbit, under the condition of giving a point to be landed, the shortest transfer time of each initial state is obtained and is used as an allowable control set of the power descending section;
s400, constructing an allowable control set obtained after the optimization in the steps S200 and S300 into an allowable control database by adopting a network graph mode;
s500, processing the allowable control database of each section after the optimization of the S400 by adopting a dynamic programming method, and obtaining an optimal control result of the whole-process time by adopting the optimal whole-process time as an index;
in S300, the shortest transition time of each initial state is obtained by an explicit guidance method.
2. The lunar landing full guidance time optimization method based on the allowable control set according to claim 1, wherein in S400, the range of the allowable control set is narrowed in the process of constructing the allowable control database.
3. The method for optimizing the lunar landing whole-course guidance time based on the allowable control set as claimed in claim 1, wherein in S500, the whole-course time optimal control result means that the control of each stage is selected to optimize the whole process time of the task.
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