CN114370793A - Rocket sublevel return and vertical landing guidance method - Google Patents
Rocket sublevel return and vertical landing guidance method Download PDFInfo
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- CN114370793A CN114370793A CN202111665171.2A CN202111665171A CN114370793A CN 114370793 A CN114370793 A CN 114370793A CN 202111665171 A CN202111665171 A CN 202111665171A CN 114370793 A CN114370793 A CN 114370793A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
- F42B15/00—Self-propelled projectiles or missiles, e.g. rockets; Guided missiles
- F42B15/01—Arrangements thereon for guidance or control
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/107—Simultaneous control of position or course in three dimensions specially adapted for missiles
Abstract
The invention provides a rocket sublevel return and vertical landing guidance method which can ensure that a rocket meets the requirement of falling speed under thrust constraint and aerodynamic resistance. The invention provides a rocket return vertical soft landing online guidance method based on bias proportion guidance and rolling convex optimization, which obviously reduces the time consumption of single optimization calculation, obviously improves the optimization solving efficiency and the guidance precision, and has wider engineering applicability.
Description
Technical Field
The invention relates to the technical field of rocket guidance, in particular to a rocket sublevel return and vertical landing guidance method.
Background
In recent years, the vertical take-off and landing reusable carrier rocket sublevel return technology has attracted wide attention of domestic and foreign scholars due to the fact that the space launching cost can be greatly reduced and the space launching period is shortened. In the rocket sublevel return process, the limited control capability is required to be utilized to realize large-scale speed reduction, and the process constraint and the harsh fixed-point vertical landing terminal constraint (such as position, speed, track angle and the like) are met. Meanwhile, the fuel consumption is reduced as much as possible to improve the carrying capacity of the rocket and cope with emergencies. In addition, the minimum thrust of the rocket during landing and returning is usually far greater than the gravity of the rocket, so that the rocket cannot adjust the position and the attitude by actions such as hovering and the like, and must be decelerated continuously, which also puts higher requirements on guidance control.
Disclosure of Invention
In view of the above, the invention provides a rocket sublevel return and vertical landing guidance method which can ensure that a rocket meets the requirement of falling speed under thrust constraint and aerodynamic resistance.
In order to achieve the purpose, the technical scheme of the invention is as follows:
the invention relates to a rocket substage return and vertical landing guidance method, which decomposes the rocket landing problem along the normal direction and the tangential direction of the speed, and introduces bias proportion guidance with falling angle constraint into the tangential guidance of a rocket vertical return guidance task; the velocity tangential control of the rocket is constructed into a one-dimensional thrust planning problem related to thrust, velocity, mass and distance, a cubic approximation curve method is introduced to predict partial missing data, and closed-loop guidance is realized by combining rolling time domain control.
The method comprises the following steps:
establishing a dynamic model of a powered landing section of the rocket, and describing rocket-target relative kinematics and rocket vertical landing constraint;
step two, establishing a normal guidance scheme based on bias proportion guidance;
simplifying a tangential motion model, solving the residual flight time and generating a reference track;
establishing optimal control problem description for solving thrust, and carrying out convex processing on nonlinear constraint;
establishing a guidance algorithm based on online optimization of a rolling time domain;
and step six, establishing guidance simulation based on bias proportion guidance and convex optimization according to the step two and the step five, and realizing closed-loop guidance.
In the second step, for tangential control, convex optimization solution under terminal speed constraint is carried out at the beginning of each guidance period, an optimal thrust sequence is obtained, meanwhile, the thrust sequence of a corresponding time domain acts on rocket dynamics in the current guidance period, and the predicted required state is transferred to normal control; when the next guidance period comes, updating the current flight state parameters of the rocket, and starting the prediction and control of a new guidance period; for normal control, acquiring a current actual measurement state and a state quantity which cannot be directly measured and needs to be predicted by convex optimization, generating a required attack angle, and controlling the rocket to land at a specified point by the required landing angle;
in the third step, a sequential convex optimization method is adopted to optimize the thrust; a bias proportion guidance method for restricting a falling angle is adopted in the velocity direction of the rocket vertical return task; calculating the flight time of the predicted arrival and landing point and the residual flight time based on the idea of rolling time domain control; the reference track is approximated by a cubic polynomial, and under the premise that the track is smoother, the track x is f (y) in each guidance period of the rolling time domain control0，y0) Angle theta with track0And the end point position (x)f，yf) Angle theta with trackfAnd (4) determining.
In the second step, a falling angle constraint proportion guidance law based on a polynomial function is adopted, and the guidance instruction needs current state information including a speed V, a mass m and a thrust P in the execution process, wherein the speed is measured in real time through a sensor; the mass m, thrust P and remaining flight time tgo are solved in the current guidance cycle by tangential rolling time domain convex optimization.
Has the advantages that:
the invention provides a rocket return vertical soft landing online guidance method based on bias proportion guidance and rolling convex optimization, which obviously reduces the time consumption of single optimization calculation, obviously improves the optimization solving efficiency and the guidance precision, and has wider engineering applicability.
Drawings
FIG. 1 is an on-line guidance strategy based on bias ratio guidance and rolling convex optimization according to the invention.
FIG. 2 is a two-dimensional geometric relationship diagram of the "arrow-eye" relative motion of the present invention.
FIG. 3 is a flow chart of the rocket vertical landing guidance scheme of the present invention.
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
The method is based on bias proportion guidance and rolling convex optimization, realizes the rocket return to vertical soft landing on-line guidance, decomposes the rocket landing problem along the normal direction and the tangential direction of the speed, introduces bias proportion guidance with falling angle constraint into the tangential guidance of the rocket vertical return guidance task, and solves the problems of falling point and falling angle constraint of the rocket landing by using the method; the velocity tangential control of the rocket is constructed into a one-dimensional thrust planning problem related to thrust, velocity, mass and distance, tangential motion returned to a guidance model is separated from the model, and a cubic approximation curve method is introduced to predict part of missing data, so that the simplified problem can be quickly and efficiently solved by utilizing convex optimization, closed-loop guidance is realized by combining rolling time domain control, and the rocket is ensured to meet the requirement of falling speed under thrust constraint and aerodynamic resistance. The method of the invention comprises the following steps:
establishing a dynamic model of a powered landing section of the rocket, and describing rocket-target relative kinematics and rocket vertical landing constraint;
step two, establishing a normal guidance scheme based on bias proportion guidance;
simplifying a tangential motion model, solving the residual flight time and generating a reference track;
establishing optimal control problem description for solving thrust, and carrying out convex processing on nonlinear constraint;
and fifthly, establishing a guidance algorithm based on online optimization of the rolling time domain.
And step six, establishing guidance simulation based on bias proportion guidance and convex optimization according to the step two and the step five.
Specifically, a rocket dynamic landing section dynamic model is established, and rocket-target relative kinematics and rocket vertical landing constraint are described.
FIG. 1 is a two-dimensional geometric relationship diagram of a rocket sublevel landing section, in which OXY is inertiaCoordinate system, M is the rocket return body. The rocket return position is (x, y), the speed is V, the path passed by the return is r, the track angle is theta (the included angle between the speed direction and the horizontal direction), and the attack angle is alpha (the included angle between the rocket speed direction and the rocket axial direction). T is rocket expected landing point (x)t,yt) And P is rocket thrust and the direction of the rocket thrust is opposite to the axial direction of the rocket. Thereby establishing a longitudinal plane particle dynamics model of the rocket return body landing segment.
The problem of guidance for returning the rocket to the fixed-point landing relates to relative motion of the rocket and a target landing point, and fig. 2 is a two-dimensional geometric relation diagram of arrow-eye relative motion in a longitudinal plane, wherein an arrow-eye line angle is q, an included angle between the speed of the rocket and an arrow-eye connecting line is eta, and an arrow-eye distance is s.
The rocket is controlled by adjusting the thrust of an engine and the attack angle of an rocket body in the vertical return landing guidance of the rocket, so that the rocket meets various constraints under the condition of reducing fuel consumption as much as possible, such as: initial position and speed, terminal speed and track angle, etc., landing to a predetermined landing site, and being able to withstand certain disturbances. The direction of the thrust is determined by the attack angle and the flight path angle, so the control quantity is the magnitude P of the thrust and the attack angle alpha. The constraints to be met in the guidance process comprise initial end constraint, terminal constraint, control constraint and the like.
And step two, establishing a normal guidance scheme based on bias proportion guidance.
FIG. 3 is a flow chart of a rocket vertical landing guidance scheme. For tangential control, at the beginning of each guidance period, convex optimization solution under terminal speed constraint is carried out, an optimal thrust sequence (prediction) is obtained, meanwhile, a thrust sequence in a corresponding time domain acts on rocket dynamics (control) in the current guidance period, and predicted required states (thrust P, mass m and residual flight time t) are usedgo) Transmitting to normal control; and when the next guidance period comes, updating the current flight state parameters of the rocket, and starting the prediction and control of the new guidance period. For normal control, the current measured state (speed V, atmospheric density rho) and the state which can not be directly measured and needs to depend on convex optimization prediction are obtainedQuantities of state (thrust P, mass m, residual time of flight t)go) And generating a required attack angle, and controlling the rocket to land at a specified point at the required landing angle. On the basis, a falling angle constraint proportion guidance law based on a polynomial function is adopted:
the guidance instruction needs current state information such as speed V, mass m, thrust P and the like in the execution process, wherein the speed can be measured in real time through a sensor; mass m, thrust P and remaining flight time tgoAnd solving the current guidance period through tangential rolling time domain convex optimization. The method can enable the rocket to obtain an actual attack angle instruction, and control the rocket to land at a specified position while meeting the falling angle constraint.
And step three, simplifying the tangential motion model, solving the residual flight time and generating a reference track.
In order to control the thrust to enable the speed to be just reduced to be close to 0 during landing, the tangential motion guidance which is vertically returned by the rocket is stripped from a rocket guidance dynamic model, a sequence convex optimization method is adopted to carry out rapid optimization on the thrust, and a rolling time domain control method is combined to carry out multi-period state updating and re-planning in the guidance flight process so as to eliminate errors and interference. The quantities related to the speed V include thrust P, path r and mass m, the simplified model being
And the vertical return task of the rocket adopts a bias proportion guidance method for restricting the falling angle in the velocity direction. It can be noted that t is required in the offset proportional steeringgoIs unknown, tgoThe accuracy of the estimate of (d) directly determines whether the end fall angle can converge to the desired fall angle. Time of flight t remaininggoIs determined by the tangential motion of rocket speed, and the motion is solved by the convex optimization of sequenceThe inverse of the variable t indicates that the remaining time of flight at any point in the flight is readily available. Based on the idea of the rolling time domain control, the initial time t is 0 at each state update point on the path, and the estimated flight time to the landing point can be obtained from equation (3) as
In the formula (I), the compound is shown in the specification,
to solve for the time-of-flight from the current guidance cycle state update point to the drop point, then the remaining time-of-flight should be
The reference track can be approximated by a cubic polynomial, and under the premise that the track is smoother, the track x is f (y) in each guidance period of the rolling time domain control, and the position of the initial point (x) can be determined0，y0) Angle theta with track0(these initial states are determined by the rocket's current state), the end position (x)f，yf) Angle theta with trackf(these terminal states are the constraint values for rocket landing) are roughly determined.
And step four, establishing optimal control problem description for solving thrust, and carrying out convex processing on nonlinear constraint.
Establishing an optimal control problem P with final speed constraint based on the third step and the fourth step1：
P1:Find P(r)
The optimization goal in equation (5) has no clear practical physical significance, but is consistent with the goal of rocket-guided energy-saving. Moreover, for the convex optimization solution of the project, all the constraints in the convex optimization solution are converted into linear constraints, and the objective function is dispersed into a quadratic function, which is beneficial to obtaining smoother control quantity convenient for practical engineering application.
Then carrying out first-order Taylor expansion after carrying out convex treatment on the constraint formula (2) of the nonlinear kinetic equation to obtain
In the formula: x ═ V, m],U＝[P]. The second-order cone programming problem P is formed through the good treatment of the convexity and the discretization2I.e. by
P2:Find P(r)
And fifthly, establishing a guidance algorithm based on online optimization of the rolling time domain.
The above optimization model (equation (7)) is subjected to several simplifications and approximations in the derivation construction, such as: the method comprises small processing of an attack angle, flight track approximation based on a cubic polynomial, sequential linear approximation of a dynamic equation in the process of convexity and the like, which inevitably causes certain deviation between an optimization model and an original problem model. In addition, there are many random uncertainty factors in the rocket return process, such as: thrust bias, aerodynamic data bias, wind disturbance, etc. The open-loop guidance mode which only carries out the sequence convex optimization solution once cannot cope with the model error and uncertainty factors, and further larger guidance errors are caused. Therefore, convex optimization and rolling time domain control are combined to form closed-loop optimization guidance. In each guidance period, rapidly planning the thrust by utilizing convex optimization to obtain thrust instructions at all future times, and applying the instructions in the next period; and after reaching a guidance period node, updating the current flight state as an optimized initial state, rapidly performing a new sequence convex optimization solution in the next period by using the updated initial state, solving a new thrust instruction at all future times, and so on until the rocket lands.
And step six, establishing guidance simulation based on bias proportion guidance and convex optimization according to the step two and the step five.
In summary, the above description is only a 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 should be included in the protection scope of the present invention.
Claims (5)
1. A rocket substage return and vertical landing guidance method is characterized in that a rocket landing problem is decomposed along a speed normal direction and a tangential direction, and bias proportion guidance with a falling angle constraint is introduced into tangential guidance of a rocket vertical return guidance task; the velocity tangential control of the rocket is constructed into a one-dimensional thrust planning problem related to thrust, velocity, mass and distance, a cubic approximation curve method is introduced to predict partial missing data, and closed-loop guidance is realized by combining rolling time domain control.
2. The method of claim 1, comprising the steps of:
establishing a dynamic model of a powered landing section of the rocket, and describing rocket-target relative kinematics and rocket vertical landing constraint;
step two, establishing a normal guidance scheme based on bias proportion guidance;
simplifying a tangential motion model, solving the residual flight time and generating a reference track;
establishing optimal control problem description for solving thrust, and carrying out convex processing on nonlinear constraint;
establishing a guidance algorithm based on online optimization of a rolling time domain;
and step six, establishing guidance simulation based on bias proportion guidance and convex optimization according to the step two and the step five, and realizing closed-loop guidance.
3. The method according to claim 2, wherein in the second step, for tangential control, at the beginning of each guidance period, convex optimization solution under terminal speed constraint is carried out to obtain an optimal thrust sequence, and simultaneously, a thrust sequence in a corresponding time domain is acted on rocket dynamics in the current guidance period, and a predicted required state is transferred to normal control; when the next guidance period comes, updating the current flight state parameters of the rocket, and starting the prediction and control of a new guidance period; and for normal control, acquiring the current actual measurement state and the state quantity which cannot be directly measured and needs to be predicted by convex optimization, generating a required attack angle, and controlling the rocket to land at a specified point by the required landing angle.
4. The method of claim 2, wherein in step three, the thrust is optimized using a sequential convex optimization method; a bias proportion guidance method for restricting a falling angle is adopted in the velocity direction of the rocket vertical return task; calculating the flight time of the predicted arrival and landing point and the residual flight time based on the idea of rolling time domain control; the reference track is approximated by a cubic polynomial, and under the premise that the track is smoother, the track x is f (y) in each guidance period of the rolling time domain control0，y0) Angle theta with track0And the end point position (x)f，yf) Angle theta with trackfAnd (4) determining.
5. The method as claimed in claim 3, wherein in the second step, a falling angle constraint proportion guidance law based on a polynomial function is adopted, and the guidance instruction needs current state information including speed V, mass m and thrust P in the process of execution, wherein the speed is measured in real time by a sensor; the mass m, thrust P and remaining flight time tgo are solved in the current guidance cycle by tangential rolling time domain convex optimization.
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| CN116594309A (en) * | 2023-07-19 | 2023-08-15 | 东方空间技术(山东)有限公司 | Rocket sublevel vertical recovery control method, computing equipment and storage medium |
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