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本文对月球着陆器最终下降段的控制方法进行了研究,提出了一种同时保证主推力与姿态控制力矩有界的方案,并从理论证明了制导与姿态控制系统的联合稳定性。本文的主要创新之处在于:提出了一种形式上更为简单的嵌套饱和函数形式的制导律,该制导律具有调节推力上界与着陆器的最大偏斜角,以及限制速度大小等优点;提出了一种具有饱和函数限制形式的姿态控制律,证明了力矩的有界性,并给出了力矩上界的具体估计方法;运用级联系统的相关理论严格证明了联合系统的全局渐近稳定性。文章最后用数值仿真验证了本文方案的可行性。
In this paper, the control method of the final descent of lunar lander is studied. A scheme is proposed to ensure that the main thrust and the attitude control moment are bounded, and the joint stability of the guidance and attitude control system is proved theoretically. The main innovations of this paper are as follows: A formally simpler guidance law in the form of a nested saturation function is proposed. The guidance law has the advantages of adjusting the maximum deviation angle of the thrust and the lander and limiting the speed A kind of attitude control law with the constraint function of the saturation function is proposed to prove the boundedness of the torque and give a concrete estimation method of the upper bound of the torque. The theory of cascade system is used to strictly prove the global asymptotic behavior of the joint system Near stability. Finally, the numerical simulation results verify the feasibility of this scheme.