多約束條件下精確著陸的導航與制導控制方法研究報告

郭雷 徐敏強 王巖 梁瑋 李世華

摘要：本研究圍繞行星表面精確著陸問題，重點研究了多約束條件下的制導控制問題。首先，為了提高著陸器控制精度，建立了基于復合執行機構的復合控制機制，進而提出了新的著陸器全維動力學模型，并對復合執行機構性能進行評估；其次，針對行星大氣進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方法、基于滑模控制的制導方法、基于模型預測控制的制導方法；再次，圍繞多源干擾環境下行星著陸器軟著陸階段系統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模控制技術的有限時間軟著陸控制方法、基于齊次性系統理論和級聯系統控制理論的連續有限時間軟著陸控制方法，針對動力下降段跟蹤軌跡優化的實時性和強外部干擾影響問題，開展了抗干擾優化跟蹤控制方法和優化積分滑模跟蹤控制方法的研究；最后，針對著陸過程故障診斷實時性的要求，開展實時故障診斷方法的研究，提出自適應故障檢測和隔離策略。

關鍵詞：多約束； 非一致；終端約束； 復合控制； 制導律； 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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