固体火箭多约束耗尽关机的动态逆能量管理方法

Inverse dynamic energy management for multi-constrained depleted shutdown of solid rocket

针对具有速度控制能力的固体火箭多约束耗尽关机问题，建立以多余视速度增量为状态量的新型能量管理模型，分析了该模型能量管理动态特性，提出一种闭环动态逆能量管理（ IEM）方式，得到了无约束和有约束关机时能量管理的收敛条件，并据此设计了IEM的2种具体实现。最后以数学仿真验证了该方法的特性、能量管理效果，分析了与其他2种闭环能量管理方法--通用能量管理（GEM）、样条能量管理（SEM）的异同。结果表明，IEM方法鲁棒性强、精度高、姿态变化缓慢，能量管理范围大，一组固定的参数实现了2．1％～83．3％的能量管理；当能耗小于41．3％时，关机点速度偏差小于0．25 m/s，速度倾角小于0．014°，姿态角速度小于0．25°/s，攻角小于5°。

To solve the energy management problem of a solid rocket with multi-constraining depleted shutdown,a novel inverse dynamic energy management （IEM） method was proposed.Firstly,a novel model based on excess velocity capability was established,and its performance was studied.Secondly,a closed-loop IEM method with two specific realizations was proposed, and the constrained and unconstrained convergence condition was discussed.Finally,the IEM＆#39;s performance,energy manage results and the difference with general energy management （ GEM） and spline energy management （ SEM） were verified by computer simulation, which demonstrates a strong robust,high control precision, low attitude maneuver,small terminal angle of IEM.Indeed,IEM can successfully manage 2%-83.3% energy under a sort of fixed parameters.As the ratio of excess energy is below 41.3%, the terminal velocity is less than 0.25 m/s,the flight-path angle is less than 0.014°,the attitude angular velocity is less than 0.25°/s,and the angle of attack is less than 5° .