WO2022095643A1 - 航天运载器的自适应迭代制导方法及制导装置 - Google Patents
航天运载器的自适应迭代制导方法及制导装置 Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/002—Launch systems
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/0205—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric not using a model or a simulator of the controlled system
- G05B13/024—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric not using a model or a simulator of the controlled system in which a parameter or coefficient is automatically adjusted to optimise the performance
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
- B64G1/242—Orbits and trajectories
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
- B64G1/244—Spacecraft control systems
- B64G1/245—Attitude control algorithms for spacecraft attitude control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
- B64G1/244—Spacecraft control systems
- B64G1/247—Advanced control concepts for autonomous, robotic spacecraft, e.g. by using artificial intelligence, neural networks or autonomous agents
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
- B64G1/36—Guiding or controlling apparatus, e.g. for attitude control using sensors, e.g. sun-sensors, horizon sensors
Definitions
- the application belongs to the technical field of aerospace vehicle control, and in particular relates to an adaptive iterative guidance method and a guidance device for an aerospace vehicle.
- the iterative guidance method takes the current state as the initial value, the state of the entry point as the goal, and the optimal control method with the least propellant consumption as the performance index. It can adjust the flight path in real time according to the flight state of the spacecraft, and has a certain adaptive capability.
- the parameters related to the engine use constant values.
- the key parameters of the engine often change greatly. Therefore, the traditional iterative guidance method using constant parameters has certain limitations, and insufficient adaptability to engine thrust drop failures.
- the present application provides an adaptive iterative guidance method and a guidance device for a space vehicle.
- the present application provides an adaptive iterative guidance method for a space vehicle, which includes the following steps:
- the parameters related to the working state of the engine in the iterative guidance algorithm are adaptively adjusted by using the real-time updated equivalent specific impulse of the engine to obtain the flight procedure angle suitable for the failure of the engine thrust drop.
- the equivalent specific impulse and equivalent second consumption of the current cycle are updated by using the equivalent specific impulse deviation and equivalent second consumption of the current cycle and the specific impulse and second consumption of the engine in normal state.
- the process of calculating the estimated equivalent specific impulse is as follows:
- ⁇ W [lnm 0 -ln(m 0 -m c t)] ⁇ u e +u e t/(m 0 -m c t) ⁇ m c ,
- W is the apparent velocity
- ue is the equivalent specific impulse
- ⁇ u e is the equivalent specific impulse deviation
- m c is the equivalent second consumption
- ⁇ m c is the equivalent second consumption deviation
- the coefficients a and b are:
- the apparent velocity increment of the k-ith cycle is calculated as:
- ⁇ W(ki) a(ki) ⁇ u e +b(ki) ⁇ m c ;
- the equivalent specific impulse estimation coefficients a(k-i) and b(k-i) of the k-i th cycle are calculated as:
- m c (ki) represents the equivalent second consumption of the current cycle.
- ⁇ W(k) represents the deviation between the apparent velocity of the space vehicle and the standard ballistic apparent velocity during the flight
- W(k) represents the navigation apparent velocity of the kth cycle
- Represents the standard ballistic apparent velocity of the kth period, where k 1, 2, L.
- the equivalent specific impulse deviation and the equivalent second consumption deviation are estimated online using the apparent velocity increments of the last n cycles, where the estimated index is:
- ⁇ u e (k) represents the equivalent specific impulse deviation of the kth cycle
- ⁇ m c (k) represents the equivalent second consumption of the kth cycle
- the specific impulse representing the normal state of the engine Represents the second consumption in the normal state of the engine
- u e (k) represents the equivalent specific impulse of the kth cycle
- m c (k) represents the equivalent second consumption of the kth cycle
- ⁇ u represents the allowable specific impulse of the normal operation of the engine Deviation percentage
- ⁇ m represents the per-second consumption deviation permissible for the normal operation of the engine.
- the iterative guidance procedure angle is obtained according to the updated equivalent specific impulse of the current cycle, the complete combustion time, the remaining flight time, the integral parameters required for the iterative guidance, and the iterative guidance algorithm.
- the updated remaining flight time t g (k) is:
- ⁇ (k) represents the updated complete combustion time
- ⁇ V represents the speed to be increased
- the integration parameters A 0 (k), A 1 (k), A 2 (k), and A 3 (k) required for the updated iterative guidance are:
- the iterative guidance program angle is obtained.
- the guidance program angle is the pitch program angle
- Y(k) represents the component of the current position on the y-axis of the track coordinate system
- T represents the iterative guidance calculation period
- Pitch program angle Carry out coordinate transformation and limit processing, and obtain the program angle command output by the guidance system for use by the attitude control system.
- the present application further provides an adaptive iterative guidance device for a space vehicle, comprising a memory and a processor, the processor being configured to be based on instructions stored in the memory , and perform the steps in the adaptive iterative guidance method for a space vehicle described in any one of the above.
- the present application updates the equivalent specific impulse of the engine in real time, and uses the updated equivalent specific impulse of the engine to adaptively adjust the complete combustion in the iterative guidance algorithm Time, remaining flight time and other parameters related to the working state of the engine, to obtain the flight procedure angle suitable for the failure of the engine thrust drop, which can improve the adaptability of the iterative guidance algorithm to the engine thrust drop failure, improve the guidance accuracy, and improve the engine thrust of the aerospace vehicle.
- the online real-time update of the equivalent specific impulse of the engine can be used to estimate the working performance of the engine online by using inertial navigation information.
- FIG. 1 is a flowchart of an adaptive iterative guidance method for a space vehicle according to an embodiment of the present application.
- FIG. 2 is a flowchart of real-time updating of the equivalent specific impulse of an engine in an adaptive iterative guidance method for a space vehicle provided by an embodiment of the present application.
- FIG. 3 is a flowchart of obtaining a flight procedure angle adapted to an engine thrust drop failure in an adaptive iterative guidance method for a space vehicle according to an embodiment of the present application.
- a plurality includes “two” and “two or more”; as used herein, “a plurality of groups” includes “two groups” and “two or more groups.”
- the application uses the measurement information of the inertial measurement combination (referred to as the inertial group) to obtain the deviation between the apparent velocity and the standard apparent velocity of the aerospace vehicle through navigation calculation, and uses the deviation to update the equivalent specific impulse of the engine in real time, Then the parameters related to the engine working state such as the complete combustion time and the remaining flight time in the iterative guidance algorithm are adaptively adjusted to obtain the flight procedure angle suitable for the failure of the engine thrust drop.
- the inertial group uses the measurement information of the inertial measurement combination to obtain the deviation between the apparent velocity and the standard apparent velocity of the aerospace vehicle through navigation calculation, and uses the deviation to update the equivalent specific impulse of the engine in real time, Then the parameters related to the engine working state such as the complete combustion time and the remaining flight time in the iterative guidance algorithm are adaptively adjusted to obtain the flight procedure angle suitable for the failure of the engine thrust drop.
- FIG. 1 is a flowchart of an adaptive iterative guidance method for a space vehicle according to an embodiment of the present application.
- the adaptive iterative guidance method for a space vehicle includes the following steps:
- formula (1) represents the specific impulse of the normal state of the engine
- formula (2) Indicates the consumption per second in the normal state of the engine.
- the value of the estimated period n of the equivalent specific impulse is: 25 ⁇ n ⁇ 200.
- the current period k is greater than or equal to the estimated equivalent specific impulse period number n, that is, when k ⁇ n, calculate the equivalent specific impulse estimate according to the initial mass m 0 of the spacecraft, the current period and the equivalent second consumption of the current period Coefficients a(ki) and b(ki), the specific process is:
- ⁇ W [lnm 0 -ln(m 0 -m c t)] ⁇ u e +u e t/(m 0 -m c t) ⁇ m c (3)
- Equation (3) can be simplified as:
- W represents the apparent velocity
- ue represents the equivalent specific impulse
- ⁇ u e represents the equivalent specific impulse deviation
- m c represents the equivalent second consumption
- ⁇ m c represents the equivalent second consumption deviation.
- W(k) represents the apparent navigation velocity of the kth cycle
- Represents the standard ballistic apparent velocity of the kth period, where k 1, 2, L.
- the equivalent specific impulse deviation and the equivalent second consumption deviation are estimated online using the apparent velocity increments of the last n cycles, where the estimated index is:
- ⁇ u represents the allowable percentage of specific impulse deviation in the normal operation of the engine
- ⁇ m represents the per-second consumption deviation permissible in the normal operation of the engine.
- the parameters related to the engine working state in the iterative guidance algorithm are adaptively adjusted by using the real-time updated equivalent specific impulse of the engine to obtain the flight procedure angle adapted to the engine thrust drop failure.
- the specific process is as follows:
- the updated complete combustion time ⁇ (k) is:
- the updated remaining flight time t g (k) is:
- ⁇ V represents the speed to be increased
- the integration parameters A 0 (k), A 1 (k), A 2 (k), and A 3 (k) required for the updated iterative guidance are:
- Step S24 will be specifically described below by taking the calculation of the pitch program angle as an example.
- the position of the track entry point is the component of the y-axis of the track coordinate system
- Y(k) represents the component of the current position on the y-axis of the track coordinate system.
- T represents the iterative guidance calculation period.
- Pitch program angle Carry out coordinate transformation and limit processing, and obtain the program angle command output by the guidance system for use by the attitude control system.
- the adaptive iterative guidance method of the aerospace vehicle of the present application can improve the performance of the iterative guidance algorithm against the failure of the engine thrust drop by performing online real-time updating of the equivalent specific impulse of the engine, and then using the updated equivalent specific impulse of the engine to adaptively adjust the iterative guidance parameters. adaptability and improve guidance accuracy.
- an embodiment of the present application further provides an adaptive iterative guidance device for a space vehicle, which includes a memory and a processor, and the processor is configured to execute the instructions in the present application based on the instructions stored in the memory.
- An adaptive iterative guidance method for a spacecraft in any of the embodiments.
- the memory may be a system memory or a fixed non-volatile storage medium, etc., and the system memory may store an operating system, an application program, a boot loader, a database, and other programs.
- the embodiment of the present application also provides a computer storage medium, which is a computer-readable storage medium, for example, a memory including a computer program, and the above computer program can be executed by a processor to complete any one of the present application.
- a computer storage medium which is a computer-readable storage medium, for example, a memory including a computer program, and the above computer program can be executed by a processor to complete any one of the present application.
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Abstract
Description
Claims (10)
- 一种航天运载器的自适应迭代制导方法,其特征在于,包括以下步骤:根据惯性测量组合的测量信息实时更新发动机的等效比冲,其过程为:选取等效比冲估计周期数,当前周期小于等效比冲估计周期数时,将发动机正常状态的比冲作为当前周期的等效比冲,将发动机正常状态的秒耗量作为当前周期的等效秒耗量;当前周期大于或等于等效比冲估计周期数时,根据航天运载器的初始质量、当前周期以及当前周期的等效秒耗量,计算等效比冲估计系数;利用惯性测量组合的测量信息进行导航计算,得到航天运载器飞行过程中的视速度与标准弹道视速度的偏差;利用等效比冲估计系数以及航天运载器飞行过程中的视速度与标准弹道视速度的偏差对当前周期的等效比冲偏差和等效秒耗量进行估计;利用当前周期的等效比冲偏差和等效秒耗量以及发动机正常状态的比冲和秒耗量对当前周期的等效比冲和等效秒耗量进行更新;利用实时更新的发动机的等效比冲自适应调整迭代制导算法中与发动机工作状态相关的参数,获得适应发动机推力下降故障的飞行程序角。
- 根据权利要求1所述的航天运载器的自适应迭代制导方法,其特征在于,所述当前周期大于或等于等效比冲估计周期数时,根据航天运载器的初始质量、当前周期以及当前周期的等效秒耗量,计算等效比冲估计系数的过程为:对齐奥尔科夫斯基公式W=u eln[m 0/(m 0-m ct)]进行泰勒展开,得到视速度增量为:ΔW=[lnm 0-ln(m 0-m ct)]Δu e+u et/(m 0-m ct)Δm c,对视速度增量的表达式进行简化,得到:ΔW=aΔu e+bΔm c,式中,W表示视速度,u e表示等效比冲,Δu e表示等效比冲偏差,m c表示等效秒耗量,Δm c表示等效秒耗量偏差;系数a和b为:根据简化后的视速度增量的表达式,计算得到第k-i周期的视速度增量,为:ΔW(k-i)=a(k-i)Δu e+b(k-i)Δm c;根据系数a和b的表达式计算得到第k-i周期的等效比冲估计系数a(k-i)和b(k-i)为:式中,i=0,1,2,L,n-1,t(k-i)表示第k-i周期对应的时间,m c(k-i)表示当前周期的等效秒耗量。
- 根据权利要求1所述的航天运载器的自适应迭代制导方法,其特征在于,所述利用实时更新的发动机的等效比冲自适应调整迭代制导算法中与发动机工作状态相关的参数,获得适应发动机推力下降故障的飞行程序角的过程为:利用发动机的等效比冲更新完全燃烧时间;利用更新后的当前周期的等效比冲和完全燃烧时间对剩余飞行时间进行更新;利用更新后的当前周期的等效比冲、完全燃烧时间和剩余飞行时间对迭代制导所需的积分参数进行更新;根据更新后的当前周期的等效比冲、完全燃烧时间、剩余飞行时间和迭代制导所需的积分参数以及迭代制导算法,得到迭代制导程序角。
- 根据权利要求8所述的航天运载器的自适应迭代制导方法,其特征 在于,所述根据更新后的当前周期的等效比冲、完全燃烧时间、剩余飞行时间和迭代制导所需的积分参数以及迭代制导算法,得到迭代制导程序角的过程中,所述迭代制导程序角为俯仰程序角时,式中,T表示迭代制导计算周期;
- 一种航天运载器的自适应迭代制导装置,其特征在于,包括存储器和处理器,所述处理器被配置为基于存储在所述存储器中的指令,执行如权利要求1-9任一项所述的航天运载器的自适应迭代制导方法中的步骤。
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CN112810834B (zh) * | 2020-12-23 | 2022-11-11 | 北京航天自动控制研究所 | 一种同时考核惯性导航和模拟飞行的地面试验方法 |
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CN115309059B (zh) * | 2022-10-10 | 2023-02-03 | 北京航天自动控制研究所 | 一种考虑引力补偿的直接制导方法 |
CN116382124A (zh) * | 2023-05-29 | 2023-07-04 | 东方空间技术(山东)有限公司 | 一种运载火箭的姿态控制仿真方法和系统 |
CN116382124B (zh) * | 2023-05-29 | 2023-08-18 | 东方空间技术(山东)有限公司 | 一种运载火箭的姿态控制仿真方法和系统 |
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CN112034703B (zh) | 2021-03-19 |
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