基于凸优化和LQR的火箭返回轨迹跟踪制导  

Rocket return trajectory tracking guidance based on convex optimization and LQR

作　　者：吴杰 张成[1] 李淼 熊芬芬[1] WU Jie;ZHANG Cheng;LI Miao;XIONG Fenfen(School of Astronautics,Beijing Institute of Technology,Beijing 100081,China;Beijing Institute of Special Mechanic-Electric,Beijing 100012,China)

机构地区：[1]北京理工大学宇航学院,北京100081 [2]北京特种机电研究所,北京100012

出　　处：《北京航空航天大学学报》2022年第11期2270-2280,共11页Journal of Beijing University of Aeronautics and Astronautics

基　　金：国防基础科研科学挑战专题(TZ2019001);十三五装发预研(202020201320)。

摘　　要：可重复使用运载火箭动力减速段制导,面临各种苛刻的过程约束、终端约束及燃料最省的迫切需求,给制导带来巨大挑战。因此,提出一种基于分段凸优化和线性二次调节器(LQR)的轨迹跟踪制导律。采用分段凸优化方法对火箭基准速度进行跟踪,大幅简化了优化模型从而降低凸优化求解的计算量,同时确保火箭在各种初始误差和模型误差的情况下燃料最省。采用LQR方法实现对火箭飞行位置轨迹的高精度跟踪,抵抗各种误差和干扰的影响。仿真结果表明:相对于传统的LQR跟踪制导方法,所提方法能大幅减少燃料消耗,且在各种误差和干扰下具有较高的轨迹跟踪精度和较强的抗干扰能力;相比于现有的滚动凸优化方法,所提方法能显著降低求解计算量,且方法可靠性更高。For the powered descent phase of the reusable launch vehicle,various strict process constraints,terminal constraints and requirements on fuel saving exist,which bring great challenges to the guidance.This paper proposes a trajectory tracking guidance method based on convex optimization and linear quadratic regulator(LQR).The improved receding horizon convex optimization method is used to track the reference velocity of the rocket without requiring accurate thrust control input,which greatly simplifies the optimization model,and thus saves the computational cost of solving the optimal control problem.Meanwhile,the fuel is reduced as far as possible under various initial errors and model errors.On the other hand,the LQR technique is used to track the position of the rocket with high precision.The simulation results show that compared with the traditional LQR tracking guidance method,the proposed method can obtain comparable tracking accuracy,while greatly reducing fuel consumption.And compared to the existing receding horizon convex optimization,the proposed method can evidently reduce the computational cost and improve reliability.

关 键 词：可重复使用运载火箭 动力减速段 轨迹跟踪制导 线性二次调节器 凸优化 

分 类 号：V448[航空宇航科学与技术—飞行器设计] TJ765[兵器科学与技术—武器系统与运用工程]