多约束条件下精确着陆的导航与制导控制方法研究报告

郭雷 徐敏强 王岩 梁玮 李世华

摘要：本研究围绕行星表面精确着陆问题，重点研究了多约束条件下的制导控制问题。首先，为了提高着陆器控制精度，建立了基于复合执行机构的复合控制机制，进而提出了新的着陆器全维动力学模型，并对复合执行机构性能进行评估；其次，针对行星大气进入段的非一致终端约束条件，提出了基于反馈线性化的制导方法、基于滑模控制的制导方法、基于模型预测控制的制导方法；再次，围绕多源干扰环境下行星着陆器软着陆阶段系统收敛速度普遍较慢且跟踪精度难以保证的问题，提出基于非奇异终端滑模控制技术的有限时间软着陆控制方法、基于齐次性系统理论和级联系统控制理论的连续有限时间软着陆控制方法，针对动力下降段跟踪轨迹优化的实时性和强外部干扰影响问题，开展了抗干扰优化跟踪控制方法和优化积分滑模跟踪控制方法的研究；最后，针对着陆过程故障诊断实时性的要求，开展实时故障诊断方法的研究，提出自适应故障检测和隔离策略。

关键词：多约束； 非一致；终端约束； 复合控制； 制导律； 多源干扰； 故障诊断

"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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