多约束航迹规划与跟踪制导律  

Multi-constraint Trajectory Planning and Tracking Guidance Law

作　　者：尹中杰 王磊 杨建东 刘艳斌 王楷 蔡克荣 YIN Zhongjie;WANG Lei;YANG Jiandong;LIU Yanbin;WANG Kai;CAI Kerong(Shanghai Electro-Mechanical Engineering Institute,Shanghai 201109,China)

机构地区：[1]上海机电工程研究所,上海201109

出　　处：《上海航天（中英文）》2023年第6期136-143,共8页Aerospace Shanghai（Chinese&English）

摘　　要：研究升力式飞行器多约束航迹规划与跟踪制导律设计。考虑到飞行器为满足任务需求规定了一定范围的禁飞区,为确保滑翔段末状态处于中末制导交班窗口内设置了严格的终端约束,导致传统基于最大升阻比、平衡滑翔策略的航迹规划不适用。针对飞行器在不同空域的动力学特性,结合飞行策略预划分手段分段提出不同状态下的攻角、倾侧角剖面,通过优化剖面构型参数将无穷维轨迹优化问题转化为有限维参数规划问题,完成多约束航迹规划。最后,考虑到气动不确定性带来的轨迹偏差,利用线性二次型调节器以位移加权误差最小为优化指标完成轨迹跟踪制导律设计,实现对规划航迹的在线纠偏,并通过仿真分析验证所提方法的有效性。The multi-constraint trajectory planning and tracking guidance law design for aircraftare studied.Since the aircraft has a certain range of no-fly zonesso as to meet the mission requirements,strict terminal constraints are set up to ensure that the terminal state of the gliding phase is in the mid-terminal guidancetransition window.This will make the traditional trajectoryplanning based on the maximum lift-drag ratio and balanced gliding strategy not applicable.According to the dynamic characteristics of the aircraft in different airspace,the attack angle and pitch angle profiles under different states are put forward by means of flight strategy pre-division.On this basis,the infinite-dimensional trajectory optimization problem is transformed into a finite-dimensional parameter planning problem by optimizing the profile configuration parameters,and the multi-constraint trajectory planning is completed.Considering the trajectory deviation caused by the aerodynamic uncertainty,the linear quadratic regulator(LQR)algorithmis used to design the trajectory tracking guidance law with the minimum displacement weighted error as the optimization index,and the online deviation correction of the planned trajectory is realized.Finally,the effectiveness of the proposed method is verified by simulation analyses.

关 键 词：航迹优化 策略预划分手段分段 序列二次规划(SQP) 轨迹跟踪制导律 线性二次型调节器(LQR) 

分 类 号：V19[航空宇航科学与技术—人机与环境工程]