文档介绍：Classified Index: : for the MasterDegree in EngineeringONLINE TRAJECTORY OPTIMIZATION FOR THE TERMINAL STAGEOF REENTRY HYPERSONICVEHICLESCandidate:Lu ZhaoSupervisor:Tan FengAcademic Degree Applied for:Masterof EngineeringSpeciality:Control Science and EngineeringAffiliation:Center for Control Theory and Guidance TechnologyDateof Defence:June, 2014Degree-Conferring-Institution:Harbin Institute of Technology万方数据哈尔滨工业大学工程硕士学位论文-I-摘要高超声速技术是一项汇聚航天、航空等技术优势的新兴技术领域,其制导控制系统的最大特点是非线性及大不确定性。因此需要制导系统提供实时、完整的未来飞行轨迹信息以实现远程目标点的快速精确打击,其中飞行轨迹的快速优化是制导系统需要解决的关键问题。本文以通用空天飞行器(CAV)再入模型为研究对象,采用基于凸优化求解工具CVXGEN实现的模型预测控制(MPC)算法,解决其再入末段轨迹优化问题。本文主要的研究工作如下:首先,分析高超声速飞行器再入段受力情况,于弹道坐标系下建立其简化的再入运动方程;给出飞行器再入末段轨迹优化问题的多约束非线性数学描述,其中包括优化指标函数、状态方程约束、终端约束、状态量约束、控制量约束等。其次,介绍凸优化算法的基础理论,包括凸函数的定义及性质、凸优化问题的标准形式等;研究其求解工具CVXGEN,它是一款在线接口软件,能够很好的求解二次型凸优化问题,并可将优化问题的求解时间控制在毫秒级。再次,给出多约束非线性问题转换为凸优化问题的具体过程。提出理论依据,说明利用线性系统逼近非线性系统的可行性;进一步完成再入末段纵向平面和侧向平面轨迹优化问题的凸化处理;在此基础上引入模型预测控制(MPC)算法,并给出具体的数学描述。最后,求解高超声速飞行器再入末段轨迹优化问题。分别从纵向运动、侧向运动及合成运动三方面求解,根据不同的飞行任务,求解具体的轨迹优化问题,最终给出最优飞行轨迹曲线图。结果表明,本文采用的基于凸优化求解工具CVXGEN实现的模型预测控制(MPC)算法能够保证高超声速飞行器再入末段轨迹优化问题求解过程的实时性,并能实现多约束条件下目标点的精确打击。关键词:高超声速飞行器;轨迹优化;模型预测;凸优化;再入制导万方数据哈尔滨工业大学工程硕士学位论文-II-AbstractHypersonic technology is an emerging field converging aerospace, aviation and other technical advantages. Providing real time and complete information about the futureflight trajectory to attack the remote target rapidly and precisely is one of the greatest featuresof hypersonic technology. The rapid optimization of trajectory is the key issue to be resolved for its guidance system. The Common Aero Vehicle (CAV) model is researched inthis dissertation, while the Model Predictive Control (MPC) algorithm, implemented by convex optimization solver CVXGEN, is used to solve thetrajectory optimization problemof the terminal stageof reentry. Firstly, 3DOF reentry equations of motion are formulated by analyzing t