CN119774004B - Sideslip correction-based pneumatic capturing maneuvering guidance method - Google Patents
Sideslip correction-based pneumatic capturing maneuvering guidance methodInfo
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- CN119774004B CN119774004B CN202510178526.7A CN202510178526A CN119774004B CN 119774004 B CN119774004 B CN 119774004B CN 202510178526 A CN202510178526 A CN 202510178526A CN 119774004 B CN119774004 B CN 119774004B
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Abstract
本发明公开了一种基于侧滑修正的气动捕获机动制导方法，涉及轨道制动耗能优化领域，包括建立航天器在大气捕获机动过程中大气飞行段的机动动力学模型；S2、基于饱和函数对机动动力学模型进行剖面分析并设计目标气动捕获倾侧角基准轨迹；所述饱和函数的基本参数通过航天器滚转机动能力设置，并确定气动捕获过程中以倾侧角为调制的制导参数。本发明能通过饱和函数近似阶跃型的倾侧角时序剖面，可以显著降低制导参数的敏感性，增强制导系统的鲁棒性。
This invention discloses an aerodynamic capture maneuver guidance method based on sideslip correction, relating to the field of orbital braking energy consumption optimization. The method includes: S2, establishing a maneuver dynamics model of the spacecraft during the atmospheric flight phase of the atmospheric capture maneuver; S3, performing profile analysis of the maneuver dynamics model based on a saturation function and designing a target aerodynamic capture tilt angle reference trajectory; the basic parameters of the saturation function are set through the spacecraft's roll maneuver capability, and the guidance parameters modulated by the tilt angle during the aerodynamic capture process are determined. This invention can significantly reduce the sensitivity of guidance parameters and enhance the robustness of the guidance system by approximating a step-type tilt angle time-series profile using a saturation function.
Description
Technical Field
The invention relates to the field of track brake energy consumption optimization, in particular to a sideslip correction-based pneumatic capture maneuvering guidance method.
Background
The low-energy orbit braking in the space missions such as planetary detection, lunar returning and the like is a key link of the task implementation, and how to reduce the fuel consumption of the spacecraft is a main issue of the overall design of the task. The capture braking process belongs to the spacecraft kinetic energy attenuation process, and the application of atmospheric ablation deceleration is a potential low-fuel consumption capture mode, so that the pneumatic capture mode can not only decelerate by replacing engine thrust through pneumatic overload, but also has stronger maneuverability, can enhance the reachable range of the spacecraft terminal state, and is considered as a high-speed spacecraft capture mode which can be widely applied in the future.
For this reason, many scholars have studied the problem, and have focused on the corresponding guidance algorithm study. Currently, in the research of the aerodynamic capture guidance algorithm, the optimal aerodynamic capture guidance algorithm proposed by the american scholars Liu Ping has the best performance in terms of robustness and optimality, and he proposes the performance optimal aerodynamic capture algorithm by converting the guidance track design problem into the targeting problem of individual parameters and combining with the optimal control profile.
However, a significant disadvantage of this approach is that the algorithm performance is severely dependent on the tilting maneuver capability of the spacecraft during atmospheric flight, which results in easy saturation of control parameters during atmospheric flight, which can significantly reduce the maneuver burnup of the spacecraft once again after capture, thereby affecting the aerodynamic capture performance.
There is therefore a need for a sideslip correction based aerodynamic capture guidance method that ameliorates the above-described problems.
Disclosure of Invention
In order to solve the problems, the application provides a sideslip correction-based pneumatic capture maneuver guidance method, which comprises the following steps:
s1, establishing a maneuvering dynamics model of an atmospheric flight section of the spacecraft in an atmospheric capture maneuvering process based on a polar coordinate system of the spacecraft in the atmospheric flight process;
S2, carrying out profile analysis on the maneuvering dynamics model based on a saturation function and designing a target aerodynamic capture roll angle reference track;
The basic parameters of the saturation function are set through the rolling motor capability of the spacecraft, and the guidance parameters which take the roll angle as modulation in the pneumatic capturing process are determined according to the mapping relation between the optimal section of the roll angle bang-bang and the saturation function, wherein the basic parameters comprise switching time and amplitude.
Preferably, the aerodynamic model of the atmospheric flight segment in the aerodynamic capturing process of the spacecraft in the S1 is as follows:
In the above-mentioned method, the step of, The position vector change rate, the latitude change rate, the speed change rate, the longitude change rate, the track angle change rate and the course angle change rate are respectively represented, g r,gφ represents the radial and tangential gravitational acceleration to which the spacecraft is subjected, and the expression of g r,gφ is as follows:
Wherein R is the distance between the center of mass of the spacecraft and the center of the central celestial body, V is the speed, gamma is the track angle of the spacecraft, psi is the course angle of the spacecraft, sigma is the flying roll angle, theta, phi are longitude and latitude respectively, omega is the planetary rotation angular velocity, mu is the planetary gravitational constant, R is the planetary radius, J 2 is the planetary second-order spherical harmonic coefficient, and the lift acceleration L, the drag acceleration D and the lateral force acceleration Q are respectively:
Wherein S is the reference area of the spacecraft, C L、CD and C Q are respectively the lift coefficient, the drag coefficient and the sideslip force coefficient, ρ is the atmospheric density, and m is the mass of the spacecraft.
Preferably, in S2, the specific contents of performing profile analysis on the aerodynamic model based on the saturation function and designing the target aerodynamic capture roll angle reference track are as follows:
S201, adding a sideslip correction component into a saturation function by taking a sideslip acceleration coefficient as a design parameter on the basis of tilting angle modulation, and integrating a pneumatic capturing guidance process into a first serial parameter targeting execution stage and a second serial parameter targeting execution stage through the sideslip correction component;
S202, constructing a mapping relation between guidance parameters and aerodynamic capture energy characterization energy of the spacecraft in an atmospheric capture maneuvering process, and determining targeting parameters of a first serial parameter targeting execution stage and a second serial parameter targeting execution stage according to the mapping relation;
s203, determining basic parameters and guidance parameters of a saturation function taking a roll angle as a reference through single-target optimization, and giving out an orbit entering speed pulse which is calculated by a terminal state and represents aerodynamic capture efficiency;
s204, obtaining the track, the roll angle time sequence section and the sideslip force coefficient time sequence section of the atmospheric flight process of the spacecraft under the guidance period according to the guidance parameters and the terminal state obtained in the S203.
Preferably, the roll angle modulation in S201 is specifically as follows:
The time-varying track of the roll angle is a reference section based on a single-jump bang-bang structure, and the expression of the reference section is as follows:
Where t is the current time, ts is the step time of the roll angle without considering the change rate limitation, σ min is the lower roll angle limit, σ max is the upper roll angle limit, k is the smooth jump coefficient after considering the roll angle change rate, and k is expressed as:
The upper limit of the change rate of the tilting angle is s max, namely
Wherein the method comprises the steps ofS max is the boundary value of the change rate of the roll angle;
the first step in the open loop guidance process of the guidance parameters is targeting determination ts.
Preferably, in S201, a side-slip correction component is added to the saturation function by using the side-slip acceleration coefficient as a design parameter, which specifically includes:
the side slip coefficient is unbounded, and C Q is set as:
wherein, C Qmin and C Qmax are the lower and upper bounds of the sideslip force coefficient C Q, respectively;
By the above expression, the boundary-limited side-slip force coefficient C Q is mapped to the unconstrained variable C b.
Preferably, in S201, the first serial parameter targeting execution stage uses C Q as the guided targeting parameter;
And in the second serial parameter targeting execution stage, the sideslip correction link takes C b as a guided targeting parameter.
Preferably, in S203, the basic parameters and the guidance parameters of the saturation function based on the roll angle are determined through single-objective optimization, and the track-in speed pulse representing the aerodynamic capture efficiency calculated by the terminal state is given, which specifically includes:
the efficiency of the pneumatic capturing process is characterized by an in-orbit maneuver pulse after the air is discharged;
After the spacecraft flies out of the atmosphere, the spacecraft moves into a target orbit through the first pulse and the second pulse;
The first pulse DeltaV 1 is collinear with speed at the apodization point, increasing the apodization point to the target track radius, and the second pulse DeltaV 2 is increasing or decreasing the new apodization point to the target track apodization point at the apodization point;
By the sum of the magnitudes of the first pulse and the second pulse is:
Wherein r atgt,rptgt is the apogee radius and the perigee radius of the target track, and r a0 and r p0 are the apogee and the perigee radius of the track after pneumatic capturing;
Where a is the semi-long axis of the track after pneumatic capture, r EI、Vexit and γ exit are the position vector magnitude, velocity and track angle under atmospheric outlet conditions;
The semimajor axis of the rail after pneumatic capture is:
Preferably, in the guidance part of the roll angle modulation, the guidance parameter is ts, and the guidance parameter is solved as follows:
ts→minΔV(ts);
In the guidance portion of the sideslip correction, the guidance parameter is C b, i.e., the guidance parameter is solved as
Cb→minΔV(Cb);
The guidance parameters ts and C b of the target are obtained through quick search by a Newton method or a gradient descent method of the numerical values.
Given the target guidance parameters ts and C b, the optimal aerodynamic capture tracking speed pulse size min DeltaV is obtained.
Preferably, according to the guidance parameters and the terminal state obtained in S203, the specific contents of the track, the roll angle time sequence profile and the sideslip force coefficient time sequence profile of the atmospheric flight process of the spacecraft in the guidance period can be obtained:
after the guidance parameters ts and C b of the target are given, a roll angle sigma and a sideslip force coefficient C Q from the current moment to the final moment are obtained, wherein the roll angle sigma forms a roll angle time sequence section, and the sideslip force coefficient C Q forms a sideslip force coefficient time sequence section;
Giving a roll angle time sequence section and a sideslip force coefficient time sequence section, and obtaining a track of the atmospheric flight process of the spacecraft under a guidance period by integrating a dynamics equation;
Wherein the orbit dynamics equation is
From the current time t, the integral to atmosphere entry is expressed as:
wherein, x EI,texit, x, g (), The method comprises the steps of respectively obtaining an integral track and a roll angle time-varying section and a sideslip acceleration coefficient time-varying section under a guidance period, wherein the integral track and the roll angle time-varying section are obtained by respectively obtaining a state vector of an atmospheric outlet, time of the atmospheric outlet, a time-varying state vector, a differential expression of a state quantity and a differential vector of the state quantity, and a cutoff condition of track integral is Γ 0＝rEI-ratm =0.
In summary, the pneumatic capturing motor guidance method based on sideslip correction has the following advantages compared with the prior art:
(1) The aerodynamic capture maneuver guidance method based on sideslip correction can approximate the step-type roll angle time sequence section through the saturation function, can obviously reduce the sensitivity of guidance parameters and enhance the robustness of a guidance system;
(2) The sideslip correction provided by the invention can obviously enhance the difficult problem of limited control capability caused by saturated tilting angle, and fully utilizes the effect of sideslip force to enhance the efficiency of the guidance system;
(3) The guidance method provided by the invention converts the guidance parameters into the unconstrained single-target optimization problem during calculation of the guidance parameters, so that the calculation efficiency is high and the convergence is strong.
The technical process of the present invention will be described in further detail by means of the accompanying drawings and examples.
Drawings
FIG. 1 is a schematic overall flow chart of an embodiment of the present invention;
FIG. 2 is a schematic diagram of a pneumatic capture maneuver trajectory in accordance with an embodiment of the present invention;
FIG. 3 is a roll angle timing cross section of an embodiment of the present invention;
FIG. 4 is a timing profile of the side-slip force coefficient according to an embodiment of the present invention;
FIG. 5 is a trajectory of a pneumatically captured atmospheric flight process according to an embodiment of the invention.
Detailed Description
The technical process of the present application is further described below by means of the accompanying drawings and examples. It should be noted that the relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present application unless it is specifically stated otherwise.
The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the application, its application, or uses.
Techniques, systems, and devices known to one of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the techniques, systems, and devices should be considered part of the specification.
In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of exemplary embodiments may have different values.
Unless defined otherwise, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs.
The invention provides a sideslip correction-based pneumatic capture motor guidance method, which comprises the following steps of:
s1, establishing a maneuvering dynamics model of an atmospheric flight section of the spacecraft in an atmospheric capture maneuvering process based on a polar coordinate system of the spacecraft in the atmospheric flight process;
Preferably, the aerodynamic model of the atmospheric flight segment in the aerodynamic capturing process of the spacecraft in the S1 is as follows:
In the above-mentioned method, the step of, The position vector change rate, the latitude change rate, the speed change rate, the longitude change rate, the track angle change rate and the course angle change rate are respectively represented, g r,gφ represents the radial and tangential gravitational acceleration to which the spacecraft is subjected, and the expression of g r,gφ is as follows:
Wherein R is the distance between the center of mass of the spacecraft and the center of the central celestial body, V is the speed, gamma is the track angle of the spacecraft, psi is the course angle of the spacecraft, sigma is the flying roll angle, theta, phi are longitude and latitude respectively, omega is the planetary rotation angular velocity, mu is the planetary gravitational constant, R is the planetary radius, J 2 is the planetary second-order spherical harmonic coefficient, and the lift acceleration L, the drag acceleration D and the lateral force acceleration Q are respectively:
Wherein S is the reference area of the spacecraft, C L、CD and C Q are respectively the lift coefficient, the drag coefficient and the sideslip force coefficient, ρ is the atmospheric density, and m is the mass of the spacecraft.
S2, carrying out profile analysis on the maneuvering dynamics model based on a saturation function and designing a target aerodynamic capture roll angle reference track;
The basic parameters of the saturation function are set through the rolling motor capability of the spacecraft, and the guidance parameters which take the roll angle as modulation in the pneumatic capturing process are determined according to the mapping relation between the optimal section of the roll angle bang-bang and the saturation function, wherein the basic parameters comprise switching time and amplitude.
The prior art proves that the optimal roll angle timing profile is of a single-jump bang-bang structure, so the designed roll angle timing profile is based on the structure, but because the spacecraft has limited capacity for executing attitude maneuver, the spacecraft has an upper limit of roll angle change rate, and the upper and lower limits of roll angle per se also have limits, namely a lower limit sigma min and an upper limit sigma max.
The roll angle time sequence profile is the time-varying track of the roll angle and is given based on a bang-bang structure of the optimal aerodynamic capture atmospheric flight characteristic.
Preferably, the roll angle modulation in S201 is specifically as follows:
The time-varying track of the roll angle is a reference section based on a single-jump bang-bang structure, and the expression of the reference section is as follows:
Where t is the current time, ts is the step time of the roll angle without considering the change rate limitation, σ min is the lower roll angle limit, σ max is the upper roll angle limit, k is the smooth jump coefficient after considering the roll angle change rate, and k is expressed as:
The upper limit of the change rate of the tilting angle is s max, namely
Wherein the method comprises the steps ofS max is the boundary value of the change rate of the roll angle;
the determination of the guidance profile leaves only a step time ts, so the first step in the open loop guidance process with roll angle as the guidance parameter is the targeting determination ts.
Preferably, in S2, the specific contents of performing profile analysis on the aerodynamic model based on the saturation function and designing the target aerodynamic capture roll angle reference track are as follows:
In order to overcome the problem of boundary saturation, sideslip correction is added, S201, on the basis of tilting angle modulation, a sideslip correction component is added in a saturation function by taking a sideslip acceleration coefficient as a design parameter, and a pneumatic capture guidance process is integrated into a first serial parameter targeting execution stage and a second serial parameter targeting execution stage through the sideslip correction component.
The side-slip correction component increases in the side-slip acceleration portion of the dynamics where if the side-slip correction component is added, the corresponding side-slip acceleration is no longer 0.
Preferably, in S201, a side-slip correction component is added to the saturation function by using the side-slip acceleration coefficient as a design parameter, which specifically includes:
The magnitude of the side-slip acceleration is fully controlled by the side-slip coefficient C Q, so that the side-slip acceleration is used as a targeting parameter in the guidance link of side-slip correction. Considering that the side slip control capability is limited and the control capability is embodied in the side slip force coefficient C Q, a boundary limitation of the side slip correction amount is required here. Assuming that the sideslip force coefficient C Q has a lower bound and an upper bound, namely C Qmin and C Qmax, in order to make the guidance parameter as a single variable easy to converge in the targeting process, the sideslip force coefficient is subjected to unbounded processing, and C Q is set as follows:
wherein, C Qmin and C Qmax are the lower and upper bounds of the sideslip force coefficient C Q, respectively;
By the above expression, the boundary-limited side-slip force coefficient C Q is mapped to the unconstrained variable C b.
And mapping the boundary-limited sideslip force coefficient C Q into an unconstrained variable C b, wherein the sideslip correction link takes C b as a targeting parameter of guidance.
S202, constructing a mapping relation between guidance parameters and aerodynamic capture energy characterization energy of the spacecraft in an atmospheric capture maneuvering process, and determining targeting parameters of a first serial parameter targeting execution stage and a second serial parameter targeting execution stage according to the mapping relation;
preferably, in S201, the first serial parameter targeting execution stage uses C Q as the guided targeting parameter;
And in the second serial parameter targeting execution stage, the sideslip correction link takes C b as a guided targeting parameter.
S203, determining basic parameters and guidance parameters of a saturation function taking a roll angle as a reference through single-target optimization, and giving out an orbit entering speed pulse which is calculated by a terminal state and represents aerodynamic capture efficiency;
The terminal state is obtained through each guidance prediction open loop, and the termination condition of the prediction open loop is that the aircraft flies out of the atmosphere edge, and the state at the moment is the terminal state.
Preferably, in S203, the basic parameters and the guidance parameters of the saturation function based on the roll angle are determined through single-objective optimization, and the track-in speed pulse representing the aerodynamic capture efficiency calculated by the terminal state is given, which specifically includes:
the efficiency of the pneumatic capturing process is characterized by an in-orbit maneuver pulse after the air is discharged;
After the spacecraft flies out of the atmosphere, the spacecraft moves into a target orbit through the first pulse and the second pulse;
The first pulse DeltaV 1 is collinear with speed at the apodization point, increasing the apodization point to the target track radius, and the second pulse DeltaV 2 is increasing or decreasing the new apodization point to the target track apodization point at the apodization point;
As shown in fig. 2, for the pneumatic capture process, the effectiveness is characterized by the post-atmospheric on-orbit engine pulse, requiring a double pulse maneuver to eventually enter the target orbit after the spacecraft flies out of the atmosphere, the first pulse Δv 1 (collinear with speed at the far spot) increasing the near spot to the target orbit radius, and the second pulse Δv 2 (at the near spot) increasing or decreasing the new far spot to the target orbit far spot.
The sum of the magnitudes of the first pulse and the second pulse is:
Wherein r atgt,rptgt is the apogee radius and the perigee radius of the target track, and r a0 and r p0 are the apogee and the perigee radius of the track after pneumatic capturing;
wherein, the
Where a is the semi-long axis of the track after pneumatic capture, r EI、Vexit and γ exit are the position vector magnitude, velocity and track angle under atmospheric outlet conditions;
The semimajor axis of the rail after pneumatic capture is:
preferably, in the guidance part of the roll angle modulation, the guidance parameter is ts, the guidance target is Δv minimum, and the guidance parameter is solved as follows:
ts→minΔV(ts);
In the side slip correction guidance part, the guidance parameter is C b, the guidance target is DeltaV minimum, at the moment, the mapping relation between the guidance parameter and the aerodynamic capture efficiency characterization quantity is also a single-target optimization problem, namely the guidance parameter is solved as follows
Cb→minΔV(Cb);
The above-described single-target solution is similar, regardless of whether the roll angle modulated or sideslip corrected guidance is used, and the target guidance parameters ts and C b are obtained by a quick search using a numerical Newton method or a gradient descent method.
Given the target guidance parameters ts and C b, the optimal aerodynamic capture tracking speed pulse size min DeltaV is obtained.
S204, obtaining the track, the roll angle time sequence section and the sideslip force coefficient time sequence section of the atmospheric flight process of the spacecraft under the guidance period according to the guidance parameters and the terminal state obtained in the S203.
Preferably, according to the guidance parameters and the terminal state obtained in S203, the specific contents of the track, the roll angle time sequence profile and the sideslip force coefficient time sequence profile of the atmospheric flight process of the spacecraft in the guidance period can be obtained:
after the guidance parameters ts and C b of the target are given, a roll angle sigma and a sideslip force coefficient C Q from the current moment to the final moment are obtained, wherein the roll angle sigma forms a roll angle time sequence section, and the sideslip force coefficient C Q forms a sideslip force coefficient time sequence section;
Giving a roll angle time sequence section and a sideslip force coefficient time sequence section, and obtaining a track of the atmospheric flight process of the spacecraft under a guidance period by integrating a dynamics equation;
Wherein the orbit dynamics equation is
From the current time t, the integral to atmosphere entry is expressed as:
wherein, x EI,texit, x, g (), The method comprises the steps of respectively obtaining an integral track and a roll angle time-varying section and a sideslip acceleration coefficient time-varying section under a guidance period, wherein the integral track and the roll angle time-varying section are obtained by respectively obtaining a state vector of an atmospheric outlet, time of the atmospheric outlet, a time-varying state vector, a differential expression of a state quantity and a differential vector of the state quantity, and a cutoff condition of track integral is Γ 0＝rEI-ratm =0.
Specific examples are as follows:
The spacecraft of the aerodynamic capture mission example used NASA "hunter seat" spacecraft with a mass of 10387kg and a nominal lift-to-drag ratio of 0.27. The gravitational constant μ= 398600km 3/s2, the earth radius r=6378 km, and the atmospheric altitude 121.9km. The task scene is the pneumatic capture of the spacecraft returned in one month, and the initial value of the corresponding state quantity is shown in the following table.
Table 1 nominal inertial ingress conditions
The target track is an h aim km high circular track. The calculated whole-course roll angle time sequence section, sideslip force coefficient time sequence section and the track of the pneumatic capture atmospheric flight process are respectively shown in figures 3, 4 and 5, and the obtained track entering speed increment DeltaV is 47.29m/s;
The pneumatic capturing maneuver guidance method based on sideslip correction can approximate a step-type roll angle time sequence section through a saturation function, can obviously reduce sensitivity of guidance parameters and enhance robustness of a guidance system, can obviously enhance the difficulty of limited control capability caused by roll angle saturation, fully utilizes the effect of sideslip force to enhance efficiency of the guidance system, and converts the problem of unconstrained single-target optimization during calculation of the guidance parameters, so that the calculation efficiency is high and the convergence is strong.
It should be noted that the above-mentioned embodiments are only used for illustrating the technical method of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical method of the present invention may be modified or equivalent, and the modified or equivalent may not deviate from the spirit and scope of the technical method of the present invention.
Claims (7)
1. The pneumatic capturing motor guidance method based on sideslip correction is characterized by comprising the following steps of:
s1, establishing a maneuvering dynamics model of an atmospheric flight section of the spacecraft in an atmospheric capture maneuvering process based on a polar coordinate system of the spacecraft in the atmospheric flight process;
S2, carrying out profile analysis on the maneuvering dynamics model based on a saturation function and designing a target aerodynamic capture roll angle reference track;
The basic parameters of the saturation function are set through the rolling motor capability of the spacecraft, and the guidance parameters which take the roll angle as modulation in the pneumatic capturing process are determined according to the mapping relation between the optimal section of the roll angle bang-bang and the saturation function, wherein the basic parameters comprise switching time and amplitude;
The aerodynamic model of the atmospheric flight section in the pneumatic capturing process of the spacecraft in the S1 is as follows:
;
In the above-mentioned method, the step of, ,,,,,Respectively representing the position vector change rate, the latitude change rate, the speed change rate, the longitude change rate, the track angle change rate and the course angle change rate,,Representing the radial and tangential gravitational accelerations to which the spacecraft is subjected,,The expression of (2) is:,;
wherein, the The distance between the center of mass of the spacecraft and the center of the central celestial body; Is the speed; For the track angle of the spacecraft, Is the course angle of the spacecraft; The flying roll angle is a control quantity; longitude and latitude, respectively; Is the planetary rotation angular velocity; Is the constant of the gravitational force of the planet, Is a planetary radius; is the second order spherical harmonic coefficient of the planet, and the lift force acceleration Acceleration of resistanceLateral force accelerationThe method comprises the following steps of:
;
wherein, the Is a spacecraft reference area;、 And Respectively a lift coefficient, a drag coefficient and a sideslip force coefficient; Is the atmospheric density; The mass of the spacecraft;
s2, carrying out section analysis on the maneuvering dynamics model based on a saturation function and designing a target aerodynamic capture roll angle reference track, wherein the specific content is as follows:
S201, adding a sideslip correction component into a saturation function by taking a sideslip acceleration coefficient as a design parameter on the basis of tilting angle modulation, and integrating a pneumatic capturing guidance process into a first serial parameter targeting execution stage and a second serial parameter targeting execution stage through the sideslip correction component;
S202, constructing a mapping relation between guidance parameters and aerodynamic capture energy characterization energy of the spacecraft in an atmospheric capture maneuvering process, and determining targeting parameters of a first serial parameter targeting execution stage and a second serial parameter targeting execution stage according to the mapping relation;
s203, determining basic parameters and guidance parameters of a saturation function taking a roll angle as a reference through single-target optimization, and giving out an orbit entering speed pulse which is calculated by a terminal state and represents aerodynamic capture efficiency;
S204, obtaining a track, a roll angle time sequence section and a sideslip force coefficient time sequence section of the atmospheric flight process of the spacecraft under the guidance period according to the guidance parameters and the terminal state obtained in the S203.
2. The sideslip correction-based aerodynamic capture guidance method of claim 1, wherein the roll angle modulation in S201 is specifically as follows:
The time-varying track of the roll angle is a reference section based on a single-jump bang-bang structure, and the expression of the reference section is as follows:
;
wherein, the For the current moment of time,For a step moment in the roll angle without taking into account the rate of change limit,Is a lower limit of a tilting angle,The upper limit of the roll angle,Is a smooth jump coefficient after considering the roll angle change rate,The expression of (2) is:
;
the upper limit of the change rate of the tilting angle is I.e.;
Wherein the method comprises the steps ofIn order to provide a roll angle rate of change,A boundary value for the magnitude of the roll angle rate of change;
The first step in the open loop guidance process of the guidance parameters is targeting determination 。
3. The method for aerodynamic capture guidance based on sideslip correction according to claim 2, wherein the sideslip correction component is added to the saturation function in S201 by using the sideslip acceleration coefficient as a design parameter, which specifically comprises:
The side slip coefficient is processed in an unbounded way The method comprises the following steps:
;
wherein, the AndRespectively coefficient of sideslip forceLower and upper bounds of (2);
By the above expression, the side-slip force coefficient of the boundary limitation is determined Mapping as unconstrained variables。
4. A sideslip correction based pneumatic capture maneuver guidance method as claimed in claim 3, wherein in S201, the first serial parameter targeting execution phase is performed toAs a targeting parameter for guidance;
the second serial parameter targeting execution stage is sideslip correction link As a targeting parameter for guidance.
5. The sideslip correction-based aerodynamic capture guidance method according to claim 4, wherein in S203, basic parameters and guidance parameters of a saturated function based on a roll angle are determined through single-objective optimization, and an in-orbit velocity pulse representing aerodynamic capture efficiency calculated by a terminal state is given, which specifically comprises:
the efficiency of the pneumatic capturing process is characterized by an in-orbit maneuver pulse after the air is discharged;
After the spacecraft flies out of the atmosphere, the spacecraft moves into a target orbit through the first pulse and the second pulse;
the first pulse Collinear with speed at the far spot, increasing the near spot to the target track radius, the second pulseLifting or lowering the new remote site to the target track remote site at the near site;
By the sum of the magnitudes of the first pulse and the second pulse is:
;
wherein, the ,The far-spot radius and the near-spot radius of the target track respectively,AndThe radius of the far site and the radius of the near site of the track after pneumatic capturing are respectively;
wherein, the ,;
Wherein, the Is the semi-long axis of the track after pneumatic capture,、AndIs the position vector diameter, speed and track angle under the condition of atmospheric outlet;
The semimajor axis of the rail after pneumatic capture is:
。
6. The sideslip correction-based aerodynamic capture maneuver for a guided vehicle as defined in claim 5 wherein the guidance parameters are The guidance parameters are solved as follows:
;
in the side slip corrected guidance, the guidance parameters are I.e. the guidance parameters are solved as
;
Obtaining the guidance parameters of the target through quick search by a Newton method or a gradient descent method of the numerical valueAnd;
Guidance parameters for a given targetAndThen, the optimal pulse size of the pneumatic capturing track-in speed is obtained。
7. The aerodynamic capture maneuver guidance method based on sideslip correction according to claim 6, wherein the specific contents of the trajectory, the roll angle time sequence profile and the sideslip force coefficient time sequence profile of the atmospheric flight process of the spacecraft in the guidance period can be obtained according to the guidance parameters and the terminal state obtained in S203 are:
guidance parameters for a given target AndThen, the roll angle from the current time to the final time is obtainedAnd sideslip force coefficientThe roll angleForming a roll angle timing profile of the coefficient of sideslip forceConstructing a sideslip force coefficient time sequence section;
Giving a roll angle time sequence section and a sideslip force coefficient time sequence section, and obtaining a track of the atmospheric flight process of the spacecraft under a guidance period by integrating a dynamics equation;
Wherein the orbit dynamics equation is ;
From the current timeInitially, the integration into the atmosphere inlet is denoted as:
;
wherein, the ,,,,The state vector of the atmosphere outlet, the time-varying state vector, the differential expression of the state quantity, the differential vector of the state quantity, and the cut-off condition of the orbit integral are respectively as followsAnd obtaining an integral track and a roll angle time-varying section and a sideslip acceleration coefficient time-varying section under one guidance period.
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