火箭等运载器动力学方程归一化过程
鲁鹏
北京理工大学
2019.03.20
本文提到的归一化(normalization)是指:将有量纲的表达式,经过变换,化为无量纲的表达式。通常,归一化是为了提高数值计算精度。
火箭着陆
火箭着陆动力学方程平面内分量如下[1]
r
˙
=
V
sin
γ
(1)
\dot{r} = V\sin{\gamma} \tag{1}
r˙=Vsinγ(1)
s ˙ = V cos γ (2) \dot{s} = V\cos{\gamma} \tag{2} s˙=Vcosγ(2)
V ˙ = − T cos ϵ − D m − g sin γ (3) \dot{V} = \frac{-T\cos\epsilon-D}{m}-g\sin{\gamma} \tag{3} V˙=m−Tcosϵ−D−gsinγ(3)
γ ˙ = − T sin ϵ + L m V − g V cos γ (4) \dot{\gamma} = \frac{-T\sin\epsilon+L}{mV} - \frac{g}{V}\cos{\gamma} \tag{4} γ˙=mV−Tsinϵ+L−Vgcosγ(4)
m ˙ = − T g 0 I s p (5) \dot{m} = -\frac{T}{g_{0}I_{sp}} \tag{5} m˙=−g0IspT(5)
时间
t
t
t和
I
s
p
I_{sp}
Isp的无量纲系数是
R
0
/
g
0
\sqrt{R_{0}/g_{0}}
R0/g0,
r
r
r和
s
s
s的无量纲系数是
R
0
R_{0}
R0,
V
V
V的无量纲系数是
g
0
R
0
\sqrt{g_{0}R_{0}}
g0R0,
m
m
m的无量纲系数
m
0
m_0
m0(火箭的初始质量),
T
,
L
,
D
T,L,D
T,L,D无量纲系数是
m
0
g
0
m_{0}g_{0}
m0g0,
γ
\gamma
γ不归一化
归一化后的时间记为
t
1
t_{1}
t1
t
1
=
t
R
0
/
g
0
t_{1} = \frac{t}{\sqrt{R_{0}/g_{0}}}
t1=R0/g0t
r
r
r归一化后记为
r
1
r_{1}
r1
r
1
=
r
R
0
r_{1} = \frac{r}{R_{0}}
r1=R0r
V
V
V归一化后记为
V
1
V_{1}
V1
V
1
=
V
g
0
R
0
V_{1} = \frac{V}{\sqrt{g_{0}R_{0}}}
V1=g0R0V
所以由以上定义可以推导得
r
˙
=
d
r
d
t
=
R
0
d
r
1
R
0
/
g
0
d
t
1
V
=
V
1
g
0
R
0
\dot{r}=\frac{dr}{dt}=\frac{R_{0}dr_{1}}{\sqrt{R_{0}/g_{0}}dt_{1}} \qquad V=V_{1}\sqrt{g_{0}R_{0}}
r˙=dtdr=R0/g0dt1R0dr1V=V1g0R0
等式(1)就可以转化如下归一化方程
R
0
d
r
1
R
0
/
g
0
d
t
1
=
g
0
R
0
V
1
sin
γ
\frac{R_{0}dr_{1}}{\sqrt{R_{0}/g_{0}}dt_{1}} = \sqrt{g_{0}R_{0}}V_{1}\sin{\gamma}
R0/g0dt1R0dr1=g0R0V1sinγ
d r 1 d t 1 = V 1 sin γ (6) \frac{dr_{1}}{dt_{1}} = V_{1}\sin{\gamma} \tag{6} dt1dr1=V1sinγ(6)
同理可得,等式(2)可以转化为如下归一化方程
d
s
1
d
t
1
=
V
1
cos
γ
(7)
\frac{ds_{1}}{dt_{1}} = V_{1}\cos{\gamma} \tag{7}
dt1ds1=V1cosγ(7)
V ˙ = d V d t = g 0 R 0 d V 1 R 0 / g 0 d t 1 T = m 0 g 0 T 1 \dot{V} = \frac{dV}{dt} = \frac{\sqrt{g_{0}R_{0}}dV_{1}}{\sqrt{R_{0}/g_{0}}dt_{1}} \quad T = m_{0}g_{0}T_{1} V˙=dtdV=R0/g0dt1g0R0dV1T=m0g0T1
D = m 0 g 0 D 1 m = m 0 m 1 g = g 0 R 0 2 r 2 = g 0 R 0 2 R 0 2 r 1 2 D = m_{0}g_{0}D_{1} \quad m=m_{0}m_{1} \quad g = \frac{g_{0}R^{2}_{0}}{r^{2}} = \frac{g_{0}R^{2}_{0}}{R^{2}_{0}r^{2}_{1}} D=m0g0D1m=m0m1g=r2g0R02=R02r12g0R02
等式(3)可以转化为
g
0
R
0
d
V
1
R
0
/
g
0
d
t
1
=
−
m
0
g
0
T
1
cos
ϵ
−
m
0
g
0
D
1
m
0
m
1
−
g
0
R
0
2
R
0
2
r
1
2
sin
γ
\frac{\sqrt{g_{0}R_{0}}dV_{1}}{\sqrt{R_{0}/g_{0}}dt_{1}} = \frac{-m_{0}g_{0}T_{1} \cos{\epsilon} - m_{0}g_{0}D_{1}}{m_{0}m_{1}} - \frac{g_{0}R^{2}_{0}}{R^{2}_{0}r^{2}_{1}}\sin{\gamma}
R0/g0dt1g0R0dV1=m0m1−m0g0T1cosϵ−m0g0D1−R02r12g0R02sinγ
d V 1 d t 1 = − T 1 cos ϵ − D 1 m 1 − sin γ r 1 2 (8) \frac{dV_{1}}{dt_{1}} = \frac{-T_{1}\cos\epsilon-D_{1}}{m_{1}}-\frac{\sin{\gamma}}{r^{2}_{1}} \tag{8} dt1dV1=m1−T1cosϵ−D1−r12sinγ(8)
γ ˙ = d γ R 0 / g 0 d t 1 L = m 0 g 0 L 1 \dot{\gamma} = \frac{d\gamma}{\sqrt{R_{0}/g_{0}}dt_{1}} \quad L = m_{0}g_{0}L_{1} γ˙=R0/g0dt1dγL=m0g0L1
等式(4)可以转化为
d
γ
R
0
/
g
0
d
t
1
=
−
m
0
g
0
T
1
sin
ϵ
+
m
0
g
0
L
1
m
0
m
1
g
0
R
0
V
1
−
g
0
R
0
2
R
0
2
r
1
2
g
0
R
0
V
1
cos
γ
\frac{d\gamma}{\sqrt{R_{0}/g_{0}}dt_{1}} = \frac{-m_{0}g_{0}T_{1}\sin{\epsilon} + m_{0}g_{0}L_{1}}{m_{0}m_{1}\sqrt{g_{0}R_{0}}V_{1}} - \frac{g_{0}R^{2}_{0}}{R^{2}_{0}r^{2}_{1}\sqrt{g_{0}R_{0}}V_{1}}\cos{\gamma}
R0/g0dt1dγ=m0m1g0R0V1−m0g0T1sinϵ+m0g0L1−R02r12g0R0V1g0R02cosγ
d γ d t 1 = − T 1 sin ϵ + L 1 m 1 V 1 − cos γ r 1 2 V 1 (9) \frac{d\gamma}{dt_{1}} = \frac{-T_{1}\sin{\epsilon} + L_{1}}{m_{1}V_{1}} - \frac{\cos{\gamma}}{r^{2}_{1}V_{1}} \tag{9} dt1dγ=m1V1−T1sinϵ+L1−r12V1cosγ(9)
d m d t = m 0 d m 1 R 0 / g 0 d t 1 I s p = R 0 / g 0 I s p 1 \frac{dm}{dt} = \frac{m_{0}dm_{1}}{\sqrt{R_{0}/g_{0}}dt_{1}} \quad I_{sp} = \sqrt{R_{0}/g_{0}}I_{sp1} dtdm=R0/g0dt1m0dm1Isp=R0/g0Isp1
等式(5)可转化为
m
0
d
m
1
R
0
/
g
0
d
t
1
=
−
m
0
g
0
T
1
g
0
R
0
/
g
0
I
s
p
1
\frac{m_{0}dm_{1}}{\sqrt{R_{0}/g_{0}}dt_{1}} = -\frac{m_{0}g_{0}T_{1}}{g_{0}\sqrt{R_{0}/g_{0}}I_{sp1}}
R0/g0dt1m0dm1=−g0R0/g0Isp1m0g0T1
d m 1 d t 1 = − T 1 I s p 1 (10) \frac{dm_{1}}{dt_{1}} = -\frac{T_{1}}{I_{sp1}} \tag{10} dt1dm1=−Isp1T1(10)
为了避免引入过多符号,此处将归一化后各量的符号的下标1去掉,则归一化等式(6)-(10)可写成如下形式
r
˙
=
V
sin
γ
s
˙
=
V
cos
γ
V
˙
=
−
T
cos
ϵ
−
D
m
−
sin
γ
r
2
γ
˙
=
−
T
sin
ϵ
+
L
m
V
−
cos
γ
r
2
V
m
˙
=
−
T
I
s
p
\begin{aligned} \dot{r} &= V\sin{\gamma} \\ \dot{s} &= V\cos{\gamma} \\ \dot{V} &= \frac{-T\cos\epsilon-D}{m}-\frac{\sin{\gamma}}{r^{2}}\\ \dot{\gamma} &= \frac{-T\sin{\epsilon} + L}{mV} - \frac{\cos{\gamma}}{r^{2}V}\\ \dot{m} &= -\frac{T}{I_{sp}} \end{aligned}
r˙s˙V˙γ˙m˙=Vsinγ=Vcosγ=m−Tcosϵ−D−r2sinγ=mV−Tsinϵ+L−r2Vcosγ=−IspT
火箭上升段
惯性坐标系下火箭上升段的动力学方程[2]
r
˙
=
V
(11)
\dot{\boldsymbol{r}} = \boldsymbol{V} \tag{11}
r˙=V(11)
V ˙ = g ( r ) + A / m ( t ) + T 1 b / m ( t ) + N / m ( t ) (12) \dot{\boldsymbol{V}} = \boldsymbol{g}(\boldsymbol{r}) + \boldsymbol{A}/m(t) + T\boldsymbol{1}_{b}/m(t) + \boldsymbol{N}/m(t) \tag{12} V˙=g(r)+A/m(t)+T1b/m(t)+N/m(t)(12)
m ˙ = − η T v a c / ( g 0 I s p ) (13) \dot{m} = -\eta T_{vac} / (g_{0}I_{sp})\tag{13} m˙=−ηTvac/(g0Isp)(13)
其中, r \boldsymbol{r} r是火箭的地心位置矢量, V \boldsymbol{V} V是火箭相对于惯性发射惯性坐标系的速度矢量, g \boldsymbol{g} g是重力加速度, T v a c T_{vac} Tvac是火箭真空推力, A \boldsymbol{A} A和 N \boldsymbol{N} N分别是气动力在火箭箭体纵向和法向方向的分量, 1 b \boldsymbol{1}_{b} 1b是和火箭纵轴平行的单位向量, g 0 g_{0} g0是地球表面的重力加速度,为了提高数值精度,使用以下无量纲系数将方程(11)-(13)归一化
- 距离的无量纲系数是 R 0 R_{0} R0,地球的赤道半径
- 时间的无量纲系数是 R 0 / g 0 \sqrt{R_{0}/g_{0}} R0/g0
- 速度的无量纲系数是 R 0 g 0 \sqrt{R_{0}g_{0}} R0g0,绕地球做半径为 R 0 R_{0} R0的圆周运动时的速度
- 推力加速度,气动力加速度的无量纲系数是 g 0 g_{0} g0
归一化后的量都加下标1
R
0
d
r
1
R
0
/
g
0
d
t
1
=
R
0
g
0
V
1
(14)
\frac{R_{0}d\boldsymbol{r}_{1}}{\sqrt{R_{0}/g_{0}}dt_{1}} = \sqrt{R_{0}g_{0}}\boldsymbol{V}_{1} \tag{14}
R0/g0dt1R0dr1=R0g0V1(14)
R 0 g 0 d V 1 R 0 / g 0 d t 1 = − R 0 2 g 0 R 0 2 r 1 2 r 1 r 1 + g 0 A 1 + g 0 T 1 1 b + g 0 N 1 (15) \frac{\sqrt{R_{0}g_{0}}d\boldsymbol{V}_{1}}{\sqrt{R_{0}/g_{0}}dt_{1}} = -\frac{R^{2}_{0}g_{0}}{R^{2}_{0}r^{2}_{1}}\frac{\boldsymbol{r_{1}}}{r_{1}} + g_{0}\boldsymbol{A}_{1} + g_{0}T_{1}\boldsymbol{1}_{b} + g_{0}\boldsymbol{N}_{1} \tag{15} R0/g0dt1R0g0dV1=−R02r12R02g0r1r1+g0A1+g0T11b+g0N1(15)
d m R 0 / g 0 d t 1 = − η T v a c g 0 R 0 / g 0 I s p 1 (16) \frac{dm}{\sqrt{R_{0}/g_{0}}dt_{1}} = -\frac{\eta T_{vac}}{g_{0}\sqrt{R_{0}/g_{0}}I_{sp1}}\tag{16} R0/g0dt1dm=−g0R0/g0Isp1ηTvac(16)
d r 1 d t 1 = V 1 (17) \frac{d\boldsymbol{r}_{1}}{dt_{1}} = \boldsymbol{V}_{1} \tag{17} dt1dr1=V1(17)
d V 1 d t 1 = − 1 r 1 3 r 1 + A 1 + T 1 1 b + N 1 (18) \frac{d\boldsymbol{V}_{1}}{dt_{1}} = -\frac{1}{r^{3}_{1}}\boldsymbol{r_{1}} + \boldsymbol{A}_{1} + T_{1}\boldsymbol{1}_{b} + \boldsymbol{N}_{1} \tag{18} dt1dV1=−r131r1+A1+T11b+N1(18)
d m d t 1 = − η T v a c g 0 I s p 1 (19) \frac{dm}{dt_{1}} = -\frac{\eta T_{vac}}{g_{0}I_{sp1}}\tag{19} dt1dm=−g0Isp1ηTvac(19)
为了避免引入过多符号,此处将归一化后各量的符号的下标1去掉,则归一化等式(16)-(17)可写成如下形式
r
˙
=
V
(20)
\dot{\boldsymbol{r}} = \boldsymbol{V} \tag{20}
r˙=V(20)
V ˙ = − 1 r 3 r + A + T 1 1 b + N (21) \dot{\boldsymbol{V}} = -\frac{1}{r^{3}}\boldsymbol{r} + \boldsymbol{A} + T_{1}\boldsymbol{1}_{b} + \boldsymbol{N} \tag{21} V˙=−r31r+A+T11b+N(21)
m ˙ = − η T v a c / ( g 0 I s p ) (22) \dot{m} = -\eta T_{vac}/(g_{0}I_{sp}) \tag{22} m˙=−ηTvac/(g0Isp)(22)
参考:
[1] Xinfu Liu. Fuel-Optimal Rocket Landing with Aerodynamic Controls. Journal of Guidance Control and Dynamics, Vol. 42, No. 1, 2019, pp. 65-77
[2] Lu, Ping , H. Sun , and B. Tsai . Closed-Loop Endoatmospheric Ascent Guidance. Journal of Guidance, Control, and Dynamics, Vol.26, No.2, 2013, pp. 283-294.