摘要
针对包含航路点约束的高超声速可变形飞行器在线轨迹规划问题,将序列凸优化方法与滚动规划方法相结合,提出一种考虑多阶段连续求解的基于变时域滚动规划的序列凸优化技术.首先,分析变形对飞行器气动特性的影响,并构建高超声速变形飞行器气动模型以及动力学模型;针对变展长飞行器轨迹规划问题进行凸化处理及离散化处理,得到轨迹规划凸问题;采用了松弛求解技术,提出了一种信赖域松弛及终端约束松弛方法,提高了算法收敛性,并为避免控制量抖振采用控制量变化速率约束;在此基础上,为提升高超声速变形飞行器在复杂环境、大气偏差等干扰条件下的抗扰动能力,将滚动时域思想引入序列凸优化框架,提升了算法实时性与鲁棒性;最后通过轨迹规划仿真结果验证了所提方法的有效性以及变展长飞行器在轨迹规划问题上的优越性.
Aiming at the online trajectory planning problem of hypersonic morphing vehicles with waypoint constraints,a multi-stage continuous solution-based variable time-domain receding planning sequential convex optimization technique was proposed by combining the sequential convex optimization method with the receding planning method.Firstly,the impact of morphing on the aerodynamic characteristics of the vehicle was analyzed,and a hypersonic morphing vehicle aerodynamic model and a dynamic model were constructed;for the trajectory planning problem of the vehicle with variable spreading length,convexization and discretization were carried out to obtain the convex problem of trajectory planning;the relaxation solution technique was adopted,and a method of reliance-domain relaxation and terminal constraint relaxation was proposed,which improved the convergence of the algorithm,and a control volume change rate constraint was used to avoid control volume jitter.Hereby,a multi-stage continuous solution-based receding planning sequential convex optimization technique was proposed.On this basis,in order to improve the anti-disturbance ability of the hypersonic morphing vehicle in complex environments,atmospheric deviation and other interference conditions,the receding time-domain idea was introduced into the sequential convex optimization framework,which improved the real-time performance and robustness of the algorithm.Finally,the validity of the proposed method and the superiority of the variablespread-length vehicle in the trajectory planning problem were verified by the trajectory planning simulation results.
作者
方正
代无劫
李政
贾振岳
于勇
胡俊
于剑桥
FANG Zheng;DAI Wujie;LI Zheng;JIA Zhenyue;YU Yong;HU Jun;YU Jianqiao(School of Aerospace Engineering,Beijing Institute of Technology,Beijing 100081,China;Beijing Aerospace Automatic Control Institute,China Academy of Launch Vehicle Technology,Beijing 100854,China)
出处
《北京理工大学学报》
北大核心
2025年第7期672-690,共19页
Transactions of Beijing Institute of Technology
关键词
高超声速变形飞行器
轨迹规划
序列凸优化
变时域滚动规划方法
hypersonic morphing vehicle
trajectory planning
sequential convex optimization
variable timedomain receding planning method
