一种地外天体着陆凸轨迹曲率滑模制导方法  

A Convex Trajectory Curvature Sliding Mode Guidance Method for Extraterrestrial Body Landing

作　　者：杨贺 朱圣英[1,2] 龙嘉腾 徐瑞 YANG He;ZHU Shengying;LONG Jiateng;XU Rui(School of Aerospace Engineering,Beijing Institute of Technology,Beijing 100081,China;Key Laboratory of Autonomous Navigation and Control for Deep Space Exploration,Ministry of Industry and Information Technology,Beijing 100081,China)

机构地区：[1]北京理工大学宇航学院,北京100081 [2]深空自主导航与控制工业和信息化部重点实验室,北京100081

出　　处：《宇航学报》2024年第4期571-579,共9页Journal of Astronautics

基　　金：空间碎片专项(KJSP2020020302)。

摘　　要：针对复杂地外天体表面安全着陆问题,提出了凸轨迹曲率滑模制导方法。该方法考虑着陆轨迹形状对着陆安全性的影响,将曲率约束引入到滑模面设计中,实现着陆器系统状态位于滑模面上时,轨迹形状为凸。首先,针对曲率约束进行等效转化和松弛,提出了曲率松弛项,并利用曲率松弛项设计了曲率滑模面,满足三维凸轨迹条件。其次,推导了曲率滑模反馈制导律,滑模状态可在有限时间内收敛到零,在该制导律作用下,着陆器将以凸轨迹状态完成精准软着陆。最后,通过蒙特卡洛仿真验证了所提算法的有效性和鲁棒性。A convex trajectory curvature sliding mode guidance method is proposed for complex extraterrestrial body surface landing.Considering the influence of the shape of the landing trajectory on the security,the curvature constraint is introduced into the design of the sliding mode surface.The landing trajectory is a three-dimensional convex trajectory when the spacecraft system is located on the sliding mode surface.Firstly,according to the equivalent transformation and relaxation of the curvature constraint,the curvature relaxation term is proposed.The curvature sliding mode surface is designed by using the curvature relaxation term,which effectively satisfies the condition of three-dimensional convex trajectory.Next,the curvature sliding mode feedback guidance law is derived,and the sliding mode state converges to zero in finite time.Under the action of the designed guidance law,the spacecraft will complete the precise soft landing in the convex trajectory state.Finally,the effectiveness and robustness of the proposed algorithm are verified by Monte Carlo simulations.

关 键 词：地外天体着陆 动力下降 曲率滑模 凸轨迹约束 

分 类 号：V448.2[航空宇航科学与技术—飞行器设计]