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为了更好地解决复杂约束下的航天器月面上升段在线轨迹规划问题,提出了一种求解最优轨迹的联立框架。首先利用有限元正交配置法将状态变量和控制变量完全离散化,得到一个非线性规划命题。考虑到命题中含有较多的不等式约束并且会随着有限元的增加而增加,故采用内点算法对非线性规划命题进行求解。离散化后的非线性规划命题的规模大幅度增加,导致了优化计算难度的加大和求解时间的增加,为了便于联立法的在线应用,采用收敛深度控制策略从平衡解的精度和计算效率的角度来改进优化算法的实时性。以某航天器载人返回任务月面上升段场景为算例进行仿真,结果表明基于联立法求得的最优控制量序列得到的飞行轨迹满足轨道根数的精度要求,同时利用收敛深度控制策略可以实现快速收敛控制。
In order to solve the problem of on-line trajectory planning of spacecraft lunar rising section under complicated constraints, a co-frame for solving the optimal trajectory is proposed. First of all, the state variables and control variables are completely discretized using the finite element orthogonal configuration method to obtain a nonlinear programming proposition. Considering that the proposition contains more inequality constraints and will increase with the increase of finite element, the interior point algorithm is adopted to solve the nonlinear programming proposition. The scale of discretized nonlinear programming propositions increases greatly, which leads to the difficulty of optimization calculation and the increase of solution time. In order to facilitate the online application of simultaneous method, the depth of convergence control strategy is adopted from the angle of accuracy and computational efficiency of equilibrium solution To improve the real-time optimization algorithm. Simulation results show that the flight trajectory obtained by the optimal control sequence based on the simultaneous method satisfies the accuracy requirements of the orbital root number and the convergence depth control strategy Fast convergence control is achieved.