针对组合动力飞行器上升制导精度低、鲁棒性差的问题,提出了一种基于模型预测控制思想的轨迹跟踪制导方法.方法利用预测模型、滚动优化和反馈校正的策略,预测干扰因素对系统的影响,将原强非线性目标函数转换为线性目标函数,结合在线滚动优化获得上升最优制导指令,实现了存在不确定性情况下组合动力飞行器对基于高度-速度剖面的标称轨迹的高精度制导.以某组合动力飞行器为研究对象进行了纵向平面内仿真分析,仿真结果验证了上述方法在气动参数拉偏情况下,系统能够较好的跟踪期望轨迹.

Aiming at ascent trajectory planning of pre-cooled combined power vehicles, in order to ensure the optimal flight performance of pre-cooled combined power engines, the paper conducts a trajectory planning study on a pre-cooled combined power vehicle from the end of take-off to the first and second separation point ascent, considering the flight mission and the pre-cooled combined power engines’ characteristics of different operating modes. A nominal trajectory is planned based on the height-velocity profile, and then the nominal trajectory is simulated and verified by linear feedback control methods.

本文对重复使用运载器制导与控制技术进行综述.随着航天技术的发展,对航天运载器重复使用的需求也日益剧增,具备可复用的天地往返运输能力也一直是航天工业追求的重要目标之一,而制导与控制将发挥重要的作用.首先回顾了全球范围内重复使用运载器的研究进展,随后从不同的维度对其发展途径进行分类和分析,并从垂直起飞垂直着陆(VTVL)、垂直起飞水平着陆(VTHL)、水平起飞水平着陆(HTHL)等3个方面对制导与控制的需求进行了梳理.针对不同的起降模式,详细构建了完整的制导与控制模型、约束与目标函数,从而对比在不同场景下制导与控制的特点和挑战.在此基础上,对在VTVL、VTHL、HTHL 3种工作方式下制导与控制理论研究与工程实践中所取得的研究成果进行分析,并对各种方法的特点进行了论述和比对.最后对本领域当前亟待突破的技术难点和发展趋势进行了讨论,并对推动重复使用运载器应用的重点研究方向进行了归纳和展望.

According to the special response of resistance acceleration during hypersonic reentry flight, different guidance frequency will result to very different flight and control response. The analysis model for the response of resistance acceleration to the attack angle and dynamic press is put forward respectively in this paper. And the frequency aliasing phenomenon of guidance is revealed. The simulation results to the same vehicle sufficiently substantiate the frequency aliasing of resistance acceleration during reentry guidance.

一、引言 为确保未来在太空及网络电磁空间(Cyberspace)的持续主导地位,美国面临的一项最为关键的技术挑战是能够提供全型谱的、成本显著降低的运载能力.目前美国空军的中型和重型运载任务由一次性运载器来承担,如联合发射联盟公司为美国空军提供的宇宙神5和德尔它4火箭.

In view that the reusable launch vehicle has the attitude singularity problem caused by large pitch or yaw maneuver,an active disturbance rejection controller (ADRC) based on quaternion is proposed.The decoupling of three-channel angular acceleration is obtained by two tracking differentiators,and the uncertainties of the model are estimated by using an extended state observer.The equivalent pendulum angle or RCS (Reaction Control System) control signals of three-channel engine is calculated through dynamic inversion and is filtered by digital filter.Nonlinear 6-D simulation analysis on the reusable launch vehicle is carried out from the ascent phase to the reentry phase,which takes into account the system model's various external disturbances,such as nonlinearity,uncertainty,1 lth-order elastic vibration,liquid sloshing,wind disturbance,and the aerodynamic deviation,etc..Simulation results demonstrate that the proposed quartemion-based ADRC has the advantages of rapid response,robust operation,small overshoot,strong anti-interference ability,chattering-free,and less control parameters.

Aiming at the problem of missile integrated guidance and control design, the Nussbaum gain adaptive sliding mode control method is proposed. Fully considering that the model of integrated guidance and control has the features of the channel coupling, the uncertainty of aerodynamic modeling, and the interference caused by the target maneuver and pneumatic parameters perturbation, based on the strong ability of adaptive control to identify unknown quantities, the ability of the sliding-mode control law to resist interference, and the control ability of the Nussbaum gain adaptive control to the system with uncertain coefficients, the Nussbaum gain adaptive sliding-mode control law is designed, and the stability of the system is proved. The simulation results show the effectiveness of the proposed method.

As the aircraft control surface deflection system formed by the hydraulic booster is complex, the faults of the system are difficult to be detected. It is necessary to study the control system stability and analyze the reliability in order to provide a theoretical basis for improving the reliability and security of the system. By building the booster model while considering the structural elasticity, the gap of the support structure, and the oil leakage coefficient, the effects of parametric variations for the booster model are studied based on the system stability condition. On this basis, the failure mode effect analysis and fault tree analysis are conducted to obtain the main failures and the weaknesses of the system. Then, effective measures are proposed to improve the reliability of the system in order to ensure flight safety and flying qualities of the aircraft.

引言 重复使用运载器具有快速、廉价的特性和潜在的军事应用价值,是自由进出空间的重要技术途径之一.尽管航天飞机已经退役,但是美国对重复使用运载器的研制从未停止.美国正在不遗余力地构建低成本、高可靠的重复使用运载器系统.2011年6月15日美国空军空天司令部(AFSPC)发布了新的战略规划、研究任务与目标,以确保美国在太空及网络电磁空间(Cyberspace Space)的持续主导地位.随后,空军研究实验室(AFRL)、太空及导弹系统中心(SMC)、空军第12和14中队、AFSPC共同确定了实现这一目标所面临的四个长期的关键性科学和技术挑战,其中一个挑战是提供全型谱的、成本显著降低的运载能力.

Aiming at the defects that the traditional design for guidance and control is separated when inter-cepting high-speed maneuvering targets,an integrated algorithm for missile guidance and control based on back-stepping and sliding is presented.Firstly,the integrated mode of guidance and control is established based on the differential geometry theory.Then,according to the principle of parallel approach,an integrated algorithm of guidance and control is proposed by using the method of back-stepping and the sliding mode control (SMC) technique.Finally,system stability has been proved based on the Lyapunov theory.The simulation results demonstrate that the design for the integrated method of guidance and control can overcome the interference of unmodeled dynamics uncertainty and target maneuver,which has strong robustness.

为了适应低升阻比飞行器再入返回的大航程要求,针对大气跳跃再入飞行环境复杂并难以直接获得解析解的特点,基于匹配渐进展开法设计了一种跳跃式再入解析预测-校正制导方法.首先分析了低升阻比飞行器大气跳跃再入轨迹的飞行剖面和制导分段方法;然后分别推导了其运动方程以重力作用为主导的外解和以气动力作用为主导的内解的渐进展开形式,并通过匹配获得了统一的封闭解析表达式;接着基于此解析解实时预测飞行器的剩余航程,并通过不断迭代升阻比垂向分量以满足最后的落点精度;最后针对跳跃再入飞行的不同阶段设计了不同的制导策略以获得最终的倾侧角指令.仿真结果表明采用跳跃式再入返回技术,阿波罗指令舱的航程能够达到8 348 km,而解析预测-校正制导律的落点精度为0.338 km,证明了此方法的有效性.

According to the special trajectory oscillation after initial dive and the great difficulty to feet the flight constraints during suborbital reentry. a kind of bank angle compensation trajectory control method is put forward base on the basic orbital predictor-corrector guidance algorithm. Without the compensation the trajectory pulls up too high after the initial dive, and then continues the oscillatory cycles for the rest of the trajectory. With the feedback in the bank angle, the first pull up and the phugoid oscillations are effectively damped out in the entry trajectory and all the constraints about heating rate, load factor and dynamic pressure are all satisfied.

The present invention provides a guidance method of an in RLV atmosphere active section, comprising: S1, according to the altitude of the flight path of the rising section RLV flight into flight anterior and posterior segment; S2, preceding the use of ring-opening the flight guidance, flight segment closed-loop guidance; S3, guided in a closed loop process subsequent stage flight, take compensation scheme of height and / or inclination of the trajectory. Advantage over the prior art that the present invention is: (1) according to the present invention, the flying height of the rising section is divided into two sections, respectively, to take the open-loop and closed-loop guided guidance, both effectively avoid a decrease in closed-loop guidance strong dense atmosphere interference factors robustness issues, and ensures the guidance precision requirements, taking into account the robustness and precision-guided algorithm. (2) the computer program for carrying arrow line computation and storage requirements of small, guidance can be obtained by interpolation and simple calculation instruction, high reliability, to ensure that the engineering properties can be achieved.

A kind of precision analyzing method for alignment of inertia navigation system(INS)on moving base was presented for the test situation that the equipments for precise calibration of established angles were limited or absent in this paper.The compensation for established angles was utilized to correct the initial navigation errors of sub INS.The navigation arithmetic was made again.The accuracy of the alignment was analyzed by comparing the navigation error between the inertia attitude amended and non-amended.The results of the test data processing showed that the computation speed and precision of position were improved greatly by this method.

Take engineering application of reusable booster vehicle as the research background,the state of research on reusable booster vehicle(RBV) and the three feasible fly-back schemes were introduced in this paper.The navigation program for auto fly-back rocket powered RBV was put forward.The INS+GNSS+radio was applied to realize navigation in high accuracy.A kind of improved information fusion technology based on dynamic Bayesian networks and federated filter was used in the navigation system.The simulation results of some special trajectory showed that the accuracy self-navigation of RBV would be realized in the whole auto fly-back period.

Taking the engineering application of reusable booster vehicles (RBVs) as the research background, an effective navigation system scheme for rocket-powered auto-flyback RBVs is put forward in detail. First of all, the research state of RBVs in main research departments and three kinds of typically used feasible flyback options for RBVs are introduced. Based on an analysis of the characteristics of application background and engineering requirements, a feasible navigation scheme for a rocket-powered auto-flyback RBV is put forward, which consists of a strapdown inertial navigation system (SINS), global navigation satellite system (GNSS) and radio navigation equipment (radio). In order to realize navigation with high accuracy and dynamic adaptability, an improved dynamic information integration strategy is used for the navigation system, and simulation of the scheme based on a special trajectory is carried out. The theoretical analysis and simulation results indicate the effectiveness and feasibility of the navigation technologies.

Based on the reentry navigation requirements of a reusable boost vehicle,in order to ensure reentry navigation with high precision and high reliability in the highly dynamic environment,a kind of improved strong tracking unscented Kalman Filter was used for state estimation and tracking.Considering to the shortcomings of the traditional fault detection method resulting from the residual errors of the Kalman filter,a kind of novel fault detection method was developed for checking the working state of each navigation sensor.The effective isolation of fault situation was carried out using a smooth window.The simulation results under typical failure distributions validate the satisfactory fault-tolerant performance of the method.The improved fault detection method can accurately detect fault information of the navigation device and isolate the fault effectively,ensuring the high precision and reliability of the navigation system.

Based on the special reentry navigation requirements of reusable boost vehicle (RBV), a kind of improved strong tracking unscented Kalman filter (UKF) is used for state estimation and tracking. A kind of novel method for fault diagnosis and isolation is used for checking the working state of each navigation sensor, and the effective fusion of multi-sensor information is carried out using a kind of original fusion model. The simulation results under typical failure distributions validate the perfect fault-tolerant performance of the navigation method.

PurposeThe purpose of this paper is to address the flaws of traditional methods and fulfil the special fault‐tolerant re‐entry navigation requirements of reusable boost vehicle (RBV).Design/methodology/approachA kind of improved estimation method based on strong tracking unscented Kalman filter (STUKF) is put forward. According to the fact that the traditional state χ2‐test‐based fault diagnosis method is incompetent to detect the signal point small jerks and slowly varying fault in the measurement, a kind of original fault diagnosis technology based on STUKF is used to check the working states of navigation sensors.FindingsThe comparisons with χ2‐test method under typical failure distributions validate the perfect state tracking and fault diagnosis performances of this improved method.Practical implicationsThis kind of state estimation and fault diagnosis method could be used in the navigation and guidance systems for many kinds of aeronautical and astronautical vehicles.Originality/valueA kind of novel strong tracking state estimation filter is used, and a kind of very effective fault diagnosis criterion is put forward for the navigation of RBV.

The error transfer models of inertial navigation system(INS) in launch-point inertial coordinate and local geographical coordinate are built respectively,and the transfer alignment algorithms (such as + attitude,angular velocity + acceleration) in these two coordinates are derived and applied respectively.Based on the powered flight trajectory of launch vehicle,the effects of attitude maneuvers on the INS transfer alignment in these two coordinates are analyzed through typical flight simulations.Theoretical models and simulation analyses show that the transfer alignments in the two coordinates have obvious differences in terms of principle,model and system characteristics.The effects of typical alignment schemes are presented,which show that the match scheme of angular velocity + acceleration in launch-point inertial coordinate is an effective method for realizing rapid and accurate initialization of sub-INS.