【摘要】 针对恒定推力和未配置辅助动力系统的运载火箭,提出了一种基于联立框架的直接法("联立法")来求解带大姿态终端约束的动态在线轨迹规划问题,解决了传统迭代制导方法中飞行轨迹线性规划的不足,并可根据姿态跟踪精度的需求来控制程序角速率,从而同时满足各种约束条件。该联立法结合了直接配点法和伪谱法的特点,采用有限元正交配置法将状态变量和控制变量进行离散化;结果表明与伪谱法相比,计算效率得到了大幅提升。在此基础上,提出了通过合理选择初值、调整入轨精度偏差、自适应有限元分段等提升计算速度的措施,进一步提高了这一算法的实时性,为未来解决更复杂多样的制导任务提供了基础。更多还原

【Abstract】 For launch vehicles with constant thrust and without auxiliary propulsion system,a direct method on simultaneous framework( simultaneous method) is presented to solve the dynamic online trajectory planning problem with large terminal attitude constraint,making up for the deficiency of linear programming in the traditional iterative guidance method,meanwhile,the angular rate of the trajectory can be limited according to the requirement of the attitude tracking error,so as to satisfy all constraint conditions. By combing the characteristics of the direct collocation method and pseudo-spectral method,and based on orthogonal collocation on finite element,this paper adopts the simultaneous method and discretized state variables and control variables to solve this problem,which is much more efficient than the pseudo-spectral method. On this basis, the paper puts forward some measures to increase the calculation efficiency,such as initial value selection,orbit precision error adjustment,and adaptive finite element configuration,further improving the real-time performance and providing feasible solutions to more complex and diverse guidance tasks in the future.更多还原