The invention discloses a rocket power descending stage real-time trajectory planning method capable of guaranteeing convergence and belongs to the field of rocket recovery guidance. The implementation method comprises the following steps that: a landing optimal control problem model for a rocket power descending stage is established by taking the magnitude and direction of thrust as controlled variables with nonlinear aerodynamic resistance and the constraint conditions of the magnitude and direction of the thrust considered; the problem is simplified through problem dimension reduction, problem decomposition and the advanced planning of certain state variables, and then the original problem is converted into an unconstrained convex optimization problem and a second-order cone programmingproblem through a proper convexification method; and finally, the convex optimization problem and the second-order cone programming problem are solved, so that a flight path and thrust magnitude anddirection change strategy can be obtained. According to the method, the reliable and efficient convex optimization algorithm is fully utilized; the calculation time of the method on a common desktop computer with the main frequency of 3.6 GiHz is about 15-30 milliseconds, and an obtained solution is close to a fuel optimal solution; the method converges to a certain extent, and can realize the reliable real-time planning of the landing trajectory of the rocket power descending stage can be achieved.
本发明公开的保证收敛的火箭动力下降段实时轨迹规划方法,属于火箭回收制导领域。本发明实现方法为:考虑非线性的气动阻力和推力的大小与方向的约束条件,建立一个以推力大小和方向为控制量的火箭动力下降段的着陆最优控制问题模型;通过问题降维、问题分解和提前规划某些状态变量使得问题简化,再结合合适的凸化方法,进而将原问题转化为无约束的凸优化问题和二阶锥规划问题;最后通过求解凸优化问题和二阶锥规划问题得到飞行轨迹和推力大小和方向的变化策略。本发明充分利用可靠高效的凸优化算法,在主频为3.6吉赫的普通台式机上计算时间约为15‑30毫秒,得到的解接近燃料最优,且方法一定收敛,能够实现火箭动力下降段着陆轨迹的可靠实时规划。
Rocket power descending stage real-time trajectory planning method capable of guaranteeing convergence
保证收敛的火箭动力下降段实时轨迹规划方法
2020-05-26
Patent
Electronic Resource
Chinese
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