RLV自主着陆航迹设计与控制研究

摘要

研究了重复使用运载器(RLV)自主着陆陡下滑捕获-陡下滑-圆弧拉起-指数拉平模式航迹生成算法设计;为解决不同着陆段航迹控制指令跳变问题,提出了航迹指令自适应平滑算法;以捕获点法向过载跳变最小为指标研究了三次多项式陡下滑捕获点的优化方法;给出了完整的在线航迹生成算法;基于法向过载的开环加闭环复合控制指令跟踪方案,使用simulink进行数值仿真,结果显示文章提出的航迹生成算法可以自动生成有效航迹,控制方法可以保证航迹平滑过渡且对初始扰动具有良好的鲁棒性,从而验证了方法的可行性和有效性.%Autolanding trajectory generation algorithm for reusable launch vehicle (RLV) is investigated, the trajectory includes four parts: steep glideslope capture, steep glideslope. Circular pull-up and exponential flare. The trajectory command adaptive smoothing algorithm is proposed to reduce the command jumps between different trajectory sections. The optimization method based minimum normal acceleration jumps for the capture point in steep glideslope and complete on-line trajectory generation algorithm are presented. Numerical simulations were performed using an open and closed-loop composite control scheme, the results show trajectory generation algorithm can generate effective trajectory autonomy, control method can guarantee a smooth transition and robustness against initial disturbance. It verifies the feasibility and effectiveness of this method.