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基于约束预测控制的火星大气进入轨迹跟踪
吴超1, 赵振华1, 杨俊1, 李世华1, 郭雷2
1.东南大学自动化学院,南京210096;2.北京航空航天大学自动化科学与电气工程学院,北京100191
摘要:
针对火星着陆任务大气进入段的轨迹跟踪控制问题,给出了一种基于约束预测控制的跟踪策略。综 合考虑大气进入段动力学模型的非线性、状态初值的不确定性、控制量限幅约束以及参数摄动,设计了基于线性化 阶跃响应预测模型、反馈校正和含约束滚动优化的约束预测控制器,并通过数学仿真对该方法进行了数值验证,结 果表明:约束预测控制较PID对参考指令跟踪精度更高,开伞点误差圆半径远小于PID方法;能得到控制量限幅约 束条件下平稳的控制曲线。
关键词:  约束预测控制;火星着陆;轨迹跟踪;线性化预测模型
DOI:
分类号:V17
基金项目:深空探测973项目(2012CB720003)
Mars Entry Trajectory Tracking Using Constrained Predictive Control
WU Chao1, ZHAO Zhenhua1, YANG Jun1, LI Shihua1, GUO Lei2
1.School of Automation,Southeast University,Nanjing210096,China;2.Schoolof Automation Scienceand Electrical Engineering,Beihang University,Beijing100191,China
Abstract:
Aiming at tracking the vehicle’s entry optimized trajectory for Mars Landing,a new method based on constrained predictive control is proposed.The vehicle’s nonlinear dynamics,the initial state uncertainties, saturation limit of the control input and the parameter perturbation are taken into consideration synthetically.A constrained predictive control (CPC) is developed which consists of a linearized step-response predictive model,feedback correction and constrained rolling optimization.The simulation results indicate that:constrained predictive control has a more accurate guidance command tracking performance compared with the PID method,therefore its radius error at the parachute deploying point is far smaller than that of the PID method;a smooth control curve can be obtained under the saturation constraint of the control input.
Key words:  constrained predictive control;Mars landing;trajectory tracking;linearized predictive model