高超声速飞行器再入段预测校正制导研究
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摘要
升力式高超声速飞行器具备较大的机动能力,可实现远程快速精确打击任务。由于再入环境复杂,再入轨迹具有非线性、强约束的特点,设计精度高、鲁棒性强的制导律有一定的难度。本文以研究升力式高超声速飞行器的再入制导技术为目标,以通用航空飞行器(CAV-H)为研究对象,在改进的气动模型下,研究了利用预测校正方法的再入制导律设计问题。
论文首先根据再入过程的特点,在半速度坐标系下建立了三维再入运动方程,并分析了再入过程中所要满足的约束条件。
为使仿真更加接近实际,气动模型需要有较高的精度。本文利用气动实验数据,在同时考虑攻角与速度因素的情况下,通过辨识得到了一种改进的气动模型,并与一般的攻角多项式模型进行了对比。
利用改进的气动模型,本文进行了再入走廊及初始下降段的仿真。由于改进气动模型的引入,对比于一般的气动模型,本文分析了再入走廊和初始段轨迹的变化情况。针对再入走廊约束的施加问题,本文采取一种将再入走廊约束转化为控制变量约束的间接施加方法。
本文为寻求较高的落点精度,将制导律的设计分两段进行。第I段,在纵向利用再入航程进行预测制导,在侧向设计横程边界使飞行器向目标飞行;第II段,纵向利用高度进行预测制导,侧向设计横程边界使飞行器到达目标点。最后通过仿真证明,该制导方法可在不同的初始条件下到达同一目标,并达到预定的落点精度。
The lifting hypersonic vehicle has a high maneuverablity for the long-range precise strike mission. Due to the reentry environmental complexity and the trajectory’s nonlinearity and hard constraints, it is difficult to design a guidance law with high accuracy and robustness. In order to develop reentry guidance technology of the lifting hypersonic vehicle, based on the Common Aero Vehicle(CAV-H), this dissertation designs a guidance law using the predictor-corrector algorithm.
First, according to the character of reentry process, this dissertation builds the 3DOF equations of motion and analyzes the path constrains.
In order to make the simulation close to reality, an improved aerodynamic model as a function of velocity and angle of attack is identified based on aero database. To illustrate the accuracy, the comparison with the commen model is made.
By using the improved aerodynamic model, the reentry corridor and the trajectory in initial descent are simulated. The changes of them under different models are also analyzed. To enforce the path contrains on designing the guidance law, an indirect inforcement method is utilized to convert the path constraints into control variables’constraints.
The process of designing the guidance law is divided into two phases in order to seek for high impact point precision. In phase I, the predictor-corrector using downrange is applied in longitudinal guidance, and in lateral guidance, the crossrange threshold is designed to constrain the vehicle to fly to the destination approximately. In phase II, the height is used in the predictor-corrector for longitudinal guidance, and the lateral crossrange threshold is designed to make the vehicle reach the destination. Finally, the simulations confirm that the vehicle can reach the same destination with different initial conditions and meet the intended accuracy.
论文首先根据再入过程的特点,在半速度坐标系下建立了三维再入运动方程,并分析了再入过程中所要满足的约束条件。
为使仿真更加接近实际,气动模型需要有较高的精度。本文利用气动实验数据,在同时考虑攻角与速度因素的情况下,通过辨识得到了一种改进的气动模型,并与一般的攻角多项式模型进行了对比。
利用改进的气动模型,本文进行了再入走廊及初始下降段的仿真。由于改进气动模型的引入,对比于一般的气动模型,本文分析了再入走廊和初始段轨迹的变化情况。针对再入走廊约束的施加问题,本文采取一种将再入走廊约束转化为控制变量约束的间接施加方法。
本文为寻求较高的落点精度,将制导律的设计分两段进行。第I段,在纵向利用再入航程进行预测制导,在侧向设计横程边界使飞行器向目标飞行;第II段,纵向利用高度进行预测制导,侧向设计横程边界使飞行器到达目标点。最后通过仿真证明,该制导方法可在不同的初始条件下到达同一目标,并达到预定的落点精度。
The lifting hypersonic vehicle has a high maneuverablity for the long-range precise strike mission. Due to the reentry environmental complexity and the trajectory’s nonlinearity and hard constraints, it is difficult to design a guidance law with high accuracy and robustness. In order to develop reentry guidance technology of the lifting hypersonic vehicle, based on the Common Aero Vehicle(CAV-H), this dissertation designs a guidance law using the predictor-corrector algorithm.
First, according to the character of reentry process, this dissertation builds the 3DOF equations of motion and analyzes the path constrains.
In order to make the simulation close to reality, an improved aerodynamic model as a function of velocity and angle of attack is identified based on aero database. To illustrate the accuracy, the comparison with the commen model is made.
By using the improved aerodynamic model, the reentry corridor and the trajectory in initial descent are simulated. The changes of them under different models are also analyzed. To enforce the path contrains on designing the guidance law, an indirect inforcement method is utilized to convert the path constraints into control variables’constraints.
The process of designing the guidance law is divided into two phases in order to seek for high impact point precision. In phase I, the predictor-corrector using downrange is applied in longitudinal guidance, and in lateral guidance, the crossrange threshold is designed to constrain the vehicle to fly to the destination approximately. In phase II, the height is used in the predictor-corrector for longitudinal guidance, and the lateral crossrange threshold is designed to make the vehicle reach the destination. Finally, the simulations confirm that the vehicle can reach the same destination with different initial conditions and meet the intended accuracy.
引文
1 George Richie. The Common Aero Vehicle-Space delivery system of the future[C]. In.AIAA Space Technology Conference&Exposition, Albuquerque, NM, 1999.
2 T. H. Phillips. A Common Aero Vehicle (CAV) Model, Description, and Employment Guide, Technical Report, Schafer Corporation for AFRL and AF-SPC, 27 January 2003.
3 John D. Leslie and Dan E. Marren. Hypersonic Test Capabilities Overview[C]. AIAA, U.S. Air Force T&E Days 2009, Albuquerque, New Mexico, Feb.10-12, 2009.
4 Sang Bum Choi. Investigation of the aerodynamic characteristics of the Generic Hypersonic Vehicle. Winged-Cone Configuration, by STARS CFD codes, MFDCLAB, Los Angeles, California, 2005.
5 Eric N. Johnson,Anthony J. Calise, Michael D. Curry. Adaptive Guidance and Control for Autonomous Hypersonic Vehicles[J]. Journal of Guidance,Control and Dynamics, 2006, 29(3):725-737.
6 Quang M. Lam, Michael B. McFarland, Michael Ruth. Adaptive Guidance and Control for Space Access Vehicle Subject to Control Surface Failures[C]. AIAA Guidance, Navigation and Control Conference and Exhibit, Aug.18-21, 2008, Honolulu, Hawaii.
7 Wingrove Rodney C.. Survey of Atmosphere Re-entry Guidance and Control Methods[J]. AIAA Journal, 1998, 1(9):2019-2029.
8曾春平,胡军,孙承启.反馈线性化方法在再入制导中的应用.第十二届空间及运动体控制技术学术会议, 2006, 280-287.
9汤国建,赵汉元.飞船再入制导最佳反馈增益系数规律.国防科技大学学报, 2000, 22(3):53-56.
10 C. A. Kluever. Entry Guidance Using Analytical Atmospheric Skip Trajectories[J]. Journal of Guidance, Control and Dynamics, 2008, 31(5):1531-1534.
11张军,梁建,邵晓巍,毕贞法.基于LMI约束优化的再入飞行器预测控制.动力学与控制学报, 2008, 6(4):372-376.
12 Tang Guojian, Zhao Hanyuan. A study of the optimal feedback gain coefficients of reentry guidance for spacecraft. Journal National University of Defense Technology, 2000, 22(3) : 53-56.
13杨俊春,倪茂林.基于Riccati方程解的再入飞行器制导律设计.航天控制,2006, 24(4):31-34.
14胡建学,陈克俊,赵汉元,余梦伦. RLV再入标准轨道制导与轨道预测制导方法比较分析.国防科技大学学报, 2007, 29(1):26-34.
15 Dukeman Greg A. Profile-following entry guidance using linear quadratic regulator theory[C]. AIAA Guidance, Navigation, and Control Conference and Exhibit, Monterey, CA, 2002.
16 Zimmerman C., Dukeman G.A., Hanson J.M. Automated Method to Compute Orbital Reentry Trajectories with Heating Constraints[J]. Journal of Guidance, Control and Dynamics, 2003, 26(4):523-529.
17 Kevin P. Bollino and I. Michael Ross.Optimal Nonlinear Feedback Guidance for Reentry Vehicles [C]. AIAA Guidance, Navigation, and Control Conference and Exhibit, 21-24 August 2006.
18 Baljeet Singh, Raktim Bhattacharya. Optimal Guidance of Hypersonic Vehicles Using B-Splines and Galerkin Projection[C]. AIAA Guidance, Navigation and Control Conference and Exhibit, Honolulu, Hawaii, Aug.18-21, 2008.
19 Ning Guodong, Zhang Shuguang, Fang Zhenping. Integrated Entry Guidance for Reusable Launch Vehicle[J]. Chinese Journal of Aeronautics, 2006, 20(1):1-8.
20方群,李新三.临近空间高超声速无动力滑翔飞行器最优轨迹设计及制导研究.宇航学报, 2008, 29(5):1485-1491.
21陈敬志,杨一栋.一种新的空间飞行器再入制导律研究.飞行力学, 2007, 25(3):58-61.
22赵汉元.载人飞船再入轨道和制导规律设计及六自由度弹道仿真.航天返回与遥感, 2001, 22(1): 38-42.
23 K. D. Mease and D. T. Chen. A Three-Dimensional Predictive Entry Guidance Approach[C]. AIAA Guidance, Navigation, and Control Conference and Exhibit, Denver, CO, Aug.14-17, 2000.
24 Joel Benito and Kenneth D. Mease. Nonlinear Predictive Controller for Drag Tracking in Entry Guidance[C]. AIAA/AAS Astrodynamics Specialist Conference and Exhibit, 18-21 August, 2008, Honolulu, Hawaii.
25 Sivan K., Amma S.Savithri, Joshi Ashok, et al. An adaptive reentry guidance[R]. Indian:Indian Institute of Technology Bombay, 2004.
26 Youssef Hussein, Chowdhry Rajiv S., Lee Howard. Predictor-corrector entry guidance for reusable launch vehicles[A]. In.AIAA Guidance, Navigation, and Control Conference and Exhibit, Montreal, Canada, 2001.
27 Joshi Ashok, Sivan K., Amma S. Savithri.Predictor-Corrector Reentry Guidance Algorithm with Path Constraints for Atmospheric Entry Vehicles[J]. Journal of Guidance, Control and Dynamics, 2007, 30(5):1307-1318.
28 Christopher W. Brunner and Ping Lu. Skip Entry Trajectory Planning and Guidance[J]. Journal of Guidance, Control and Dynamics, 2008, 31(5):1210-1219.
29 Ashok Joshi and K. Sivan. Predictor Corrector Reentry Guidance Algorithm with Path Constraints for Atmospheric Entry Vehicles[J]. Journal of Guidance, Control and Dynamics, 2007, 30(5):1307-1318.
30 Shen Zuojun and Lu Ping. Onboard Generation of Three-Dimensional Constrained Entry Trajectories[J]. Journal of Guidance, Control and Dynamics, 2003, 26(1):111-121.
31 Lu Ping. Asymptotic Analysis of Quasi-Equilibrium Glide in Lifting Entry Flight[J]. AIAA Atmospheric Flight Mechanics Conference and Exhibit, San Francisco, California, Aug.15-18, 2005.
32 Lu Ping. Predictor-Corrector Entry Guidance for Low-Lifting Vehicles[J]. Journal of Guidance, Control and Dynamics, 2008, 31(4):1067-1075.
33 Songbai Xue, Lu Ping. Constrained Predictor-Corrector Entry Guidance[C]. In.AIAA Guidance, Navigation, and Control Conference, Chicago, Illinois, Aug.10-13, 2009.
34 Shen Z, Lu Ping. Dynamic Lateral Entry Guidance Logic[J]. Journal of Guidance, Control and Dynamics, 2004, 27(6):949-959.
35 Youssef Hussein,Chowdhry Rajiv S., Lee Howard,et al. Predictor-corrector entry guidance for reusable launch vehicles[C]. In.AIAA Guidance, Navigation, and Control Conference and Exhibit, Montreal, Canada, 2001.
36 Bharadwaj Sanjay, Rao Anil V., Mease Kenneth D.. Entry Trajectory Tracking Law via Feedback Linearization[J]. Journal of Guidance, Control and Dynamics, 1998, 21(5):726-732.
37 Lu Ping. Regulation about Time-Varying Trajectories: Precision Entry Guidance Illustrated[J]. Journal of Guidance, Control and Dynamics, 1999, 22(6):784-790.
38 Sudhir M., Tewari Ashish. Adaptive maneugering entry guidance with ground-track control[J]. Aerospace Science and Technology, 2007, 11(2):419-431.
39 Christopher L. Ranieri. Path-Constrained Trajectory Optimization for Proximity Operations[J]. AIAA/AAS Astrodynamics Specialist Conference and Exhibit, Honolulu, Hawaii, Aug.18-21, 2008.
40 E. Mooij, Robustness Analysis of an Adaptive Re-entry Guidance System[C]. AIAA Guidance, Navigation, and Control Conference and Exhibit, Aug.15-18, 2005, San Francisco, California.
41 C. A. Kluever. Entry Guidance Performance for Mars Precision Landing[J]. Journal of Guidance, Control and Dynamics, 2008, 31(6):1537-1544.
2 T. H. Phillips. A Common Aero Vehicle (CAV) Model, Description, and Employment Guide, Technical Report, Schafer Corporation for AFRL and AF-SPC, 27 January 2003.
3 John D. Leslie and Dan E. Marren. Hypersonic Test Capabilities Overview[C]. AIAA, U.S. Air Force T&E Days 2009, Albuquerque, New Mexico, Feb.10-12, 2009.
4 Sang Bum Choi. Investigation of the aerodynamic characteristics of the Generic Hypersonic Vehicle. Winged-Cone Configuration, by STARS CFD codes, MFDCLAB, Los Angeles, California, 2005.
5 Eric N. Johnson,Anthony J. Calise, Michael D. Curry. Adaptive Guidance and Control for Autonomous Hypersonic Vehicles[J]. Journal of Guidance,Control and Dynamics, 2006, 29(3):725-737.
6 Quang M. Lam, Michael B. McFarland, Michael Ruth. Adaptive Guidance and Control for Space Access Vehicle Subject to Control Surface Failures[C]. AIAA Guidance, Navigation and Control Conference and Exhibit, Aug.18-21, 2008, Honolulu, Hawaii.
7 Wingrove Rodney C.. Survey of Atmosphere Re-entry Guidance and Control Methods[J]. AIAA Journal, 1998, 1(9):2019-2029.
8曾春平,胡军,孙承启.反馈线性化方法在再入制导中的应用.第十二届空间及运动体控制技术学术会议, 2006, 280-287.
9汤国建,赵汉元.飞船再入制导最佳反馈增益系数规律.国防科技大学学报, 2000, 22(3):53-56.
10 C. A. Kluever. Entry Guidance Using Analytical Atmospheric Skip Trajectories[J]. Journal of Guidance, Control and Dynamics, 2008, 31(5):1531-1534.
11张军,梁建,邵晓巍,毕贞法.基于LMI约束优化的再入飞行器预测控制.动力学与控制学报, 2008, 6(4):372-376.
12 Tang Guojian, Zhao Hanyuan. A study of the optimal feedback gain coefficients of reentry guidance for spacecraft. Journal National University of Defense Technology, 2000, 22(3) : 53-56.
13杨俊春,倪茂林.基于Riccati方程解的再入飞行器制导律设计.航天控制,2006, 24(4):31-34.
14胡建学,陈克俊,赵汉元,余梦伦. RLV再入标准轨道制导与轨道预测制导方法比较分析.国防科技大学学报, 2007, 29(1):26-34.
15 Dukeman Greg A. Profile-following entry guidance using linear quadratic regulator theory[C]. AIAA Guidance, Navigation, and Control Conference and Exhibit, Monterey, CA, 2002.
16 Zimmerman C., Dukeman G.A., Hanson J.M. Automated Method to Compute Orbital Reentry Trajectories with Heating Constraints[J]. Journal of Guidance, Control and Dynamics, 2003, 26(4):523-529.
17 Kevin P. Bollino and I. Michael Ross.Optimal Nonlinear Feedback Guidance for Reentry Vehicles [C]. AIAA Guidance, Navigation, and Control Conference and Exhibit, 21-24 August 2006.
18 Baljeet Singh, Raktim Bhattacharya. Optimal Guidance of Hypersonic Vehicles Using B-Splines and Galerkin Projection[C]. AIAA Guidance, Navigation and Control Conference and Exhibit, Honolulu, Hawaii, Aug.18-21, 2008.
19 Ning Guodong, Zhang Shuguang, Fang Zhenping. Integrated Entry Guidance for Reusable Launch Vehicle[J]. Chinese Journal of Aeronautics, 2006, 20(1):1-8.
20方群,李新三.临近空间高超声速无动力滑翔飞行器最优轨迹设计及制导研究.宇航学报, 2008, 29(5):1485-1491.
21陈敬志,杨一栋.一种新的空间飞行器再入制导律研究.飞行力学, 2007, 25(3):58-61.
22赵汉元.载人飞船再入轨道和制导规律设计及六自由度弹道仿真.航天返回与遥感, 2001, 22(1): 38-42.
23 K. D. Mease and D. T. Chen. A Three-Dimensional Predictive Entry Guidance Approach[C]. AIAA Guidance, Navigation, and Control Conference and Exhibit, Denver, CO, Aug.14-17, 2000.
24 Joel Benito and Kenneth D. Mease. Nonlinear Predictive Controller for Drag Tracking in Entry Guidance[C]. AIAA/AAS Astrodynamics Specialist Conference and Exhibit, 18-21 August, 2008, Honolulu, Hawaii.
25 Sivan K., Amma S.Savithri, Joshi Ashok, et al. An adaptive reentry guidance[R]. Indian:Indian Institute of Technology Bombay, 2004.
26 Youssef Hussein, Chowdhry Rajiv S., Lee Howard. Predictor-corrector entry guidance for reusable launch vehicles[A]. In.AIAA Guidance, Navigation, and Control Conference and Exhibit, Montreal, Canada, 2001.
27 Joshi Ashok, Sivan K., Amma S. Savithri.Predictor-Corrector Reentry Guidance Algorithm with Path Constraints for Atmospheric Entry Vehicles[J]. Journal of Guidance, Control and Dynamics, 2007, 30(5):1307-1318.
28 Christopher W. Brunner and Ping Lu. Skip Entry Trajectory Planning and Guidance[J]. Journal of Guidance, Control and Dynamics, 2008, 31(5):1210-1219.
29 Ashok Joshi and K. Sivan. Predictor Corrector Reentry Guidance Algorithm with Path Constraints for Atmospheric Entry Vehicles[J]. Journal of Guidance, Control and Dynamics, 2007, 30(5):1307-1318.
30 Shen Zuojun and Lu Ping. Onboard Generation of Three-Dimensional Constrained Entry Trajectories[J]. Journal of Guidance, Control and Dynamics, 2003, 26(1):111-121.
31 Lu Ping. Asymptotic Analysis of Quasi-Equilibrium Glide in Lifting Entry Flight[J]. AIAA Atmospheric Flight Mechanics Conference and Exhibit, San Francisco, California, Aug.15-18, 2005.
32 Lu Ping. Predictor-Corrector Entry Guidance for Low-Lifting Vehicles[J]. Journal of Guidance, Control and Dynamics, 2008, 31(4):1067-1075.
33 Songbai Xue, Lu Ping. Constrained Predictor-Corrector Entry Guidance[C]. In.AIAA Guidance, Navigation, and Control Conference, Chicago, Illinois, Aug.10-13, 2009.
34 Shen Z, Lu Ping. Dynamic Lateral Entry Guidance Logic[J]. Journal of Guidance, Control and Dynamics, 2004, 27(6):949-959.
35 Youssef Hussein,Chowdhry Rajiv S., Lee Howard,et al. Predictor-corrector entry guidance for reusable launch vehicles[C]. In.AIAA Guidance, Navigation, and Control Conference and Exhibit, Montreal, Canada, 2001.
36 Bharadwaj Sanjay, Rao Anil V., Mease Kenneth D.. Entry Trajectory Tracking Law via Feedback Linearization[J]. Journal of Guidance, Control and Dynamics, 1998, 21(5):726-732.
37 Lu Ping. Regulation about Time-Varying Trajectories: Precision Entry Guidance Illustrated[J]. Journal of Guidance, Control and Dynamics, 1999, 22(6):784-790.
38 Sudhir M., Tewari Ashish. Adaptive maneugering entry guidance with ground-track control[J]. Aerospace Science and Technology, 2007, 11(2):419-431.
39 Christopher L. Ranieri. Path-Constrained Trajectory Optimization for Proximity Operations[J]. AIAA/AAS Astrodynamics Specialist Conference and Exhibit, Honolulu, Hawaii, Aug.18-21, 2008.
40 E. Mooij, Robustness Analysis of an Adaptive Re-entry Guidance System[C]. AIAA Guidance, Navigation, and Control Conference and Exhibit, Aug.15-18, 2005, San Francisco, California.
41 C. A. Kluever. Entry Guidance Performance for Mars Precision Landing[J]. Journal of Guidance, Control and Dynamics, 2008, 31(6):1537-1544.