郭雷 徐敏強(qiáng) 王巖 梁瑋 李世華

摘要：本研究圍繞行星表面精確著陸問題，重點(diǎn)研究了多約束條件下的制導(dǎo)控制問題。首先，為了提高著陸器控制精度，建立了基于復(fù)合執(zhí)行機(jī)構(gòu)的復(fù)合控制機(jī)制，進(jìn)而提出了新的著陸器全維動(dòng)力學(xué)模型，并對(duì)復(fù)合執(zhí)行機(jī)構(gòu)性能進(jìn)行評(píng)估；其次，針對(duì)行星大氣進(jìn)入段的非一致終端約束條件，提出了基于反饋線性化的制導(dǎo)方法、基于滑模控制的制導(dǎo)方法、基于模型預(yù)測(cè)控制的制導(dǎo)方法；再次，圍繞多源干擾環(huán)境下行星著陸器軟著陸階段系統(tǒng)收斂速度普遍較慢且跟蹤精度難以保證的問題，提出基于非奇異終端滑?？刂萍夹g(shù)的有限時(shí)間軟著陸控制方法、基于齊次性系統(tǒng)理論和級(jí)聯(lián)系統(tǒng)控制理論的連續(xù)有限時(shí)間軟著陸控制方法，針對(duì)動(dòng)力下降段跟蹤軌跡優(yōu)化的實(shí)時(shí)性和強(qiáng)外部干擾影響問題，開展了抗干擾優(yōu)化跟蹤控制方法和優(yōu)化積分滑模跟蹤控制方法的研究；最后，針對(duì)著陸過程故障診斷實(shí)時(shí)性的要求，開展實(shí)時(shí)故障診斷方法的研究，提出自適應(yīng)故障檢測(cè)和隔離策略。

關(guān)鍵詞：多約束； 非一致；終端約束； 復(fù)合控制； 制導(dǎo)律； 多源干擾； 故障診斷

"Guidance， navigation and control method for precision landing with multiple constraint condition"generally scientific and technical report

Abstract：This project considers the problem of planet surface precision landing， and the guidance and control problem under multiple constraint conditions is mainly considered. First， to enhance control precision of lander， composite control mechanism is established based on composite actuator， and then a novel dynamic model is proposed. Combining novel model， the performance of composite actuator is assessed. Second， considering inconsistent terminal constraint condition of entry phases， some guidance laws are developed based on feedback linearization method， sliding mode control method， and model predictive control method. Third， facing with slowly convergence speed and badly control precision of soft landing phase， finite-time soft landing problem of an asteroid probe is addressed via nonsingular terminal sliding mode control technique， and a continuous finite-time soft landing control scheme is proposed based on homogeneous system theory and cascade system theory； an anti-disturbance optimization tracking control and optimization integral sliding mode tracking control methods are proposed for powered-descent phase of Mars landing with considerations of disturbance and real time of trajectory optimization. Finally， for the demand of real time fault diagnosis in landing phase， an adaptive fault detection and isolation scheme is proposed.

Keywords：multiple constraint；inconsistent；terminal constraint；composite control； guidance law；multiple disturbances；fault diagnosis

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