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基于Simulink和Flightgear的猎鹰9号软着陆仿真 spread retract

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readme.md

基于Simulink和Flightgear的猎鹰9号软着陆仿真

falcon9

参考资料

Acikmese, B., Carson, J. M., & Blackmore, L. (2013). Lossless Convexification of Nonconvex Control Bound and Pointing Constraints of the Soft Landing Optimal Control Problem. IEEE Transactions on Control Systems Technology, 21(6), 2104–2113. doi:10.1109/tcst.2012.2237346

Acikmese, B., & Ploen, S. R. (2007). Convex Programming Approach to Powered Descent Guidance for Mars Landing. Journal of Guidance, Control, and Dynamics, 30(5), 1353–1366. doi:10.2514/1.27553

https://github.com/jonnyhyman/G-FOLD-Python

https://github.com/xdedss/GFOLD_KSP

软件配置

使用方法

  1. 将falcon9文件夹复制到C:\Program Files\FlightGear 2019.1.2\data\Aircraft下(安装目录会有差异)
  2. 运行runfg.bat脚本,开启FlightGear。开启后按v切换视图模式,按tab切换鼠标的作用。 如果出现"bad conversion"的错误,则在runfg.bat的最后一行末尾,加上--launcher,这样启动flightgear后,需要点一下左下角的开始飞行
  3. 运行init.m,初始化参数(火星登陆器参数来自论文,猎鹰9参数来自github)
  4. 运行cvx_solve.m,凸优化求解优化变量
  5. 启动falcon9.slx的simulink仿真,guidance模块中的控制器利用凸优化求解出的位置、速度与真实的位置、速度的偏差和凸优化求解的推力,综合输出推力
  6. 这里没有使用FlightGear自带的动力学模型,FlightGear只是用于可视化,动力学模型在Simulink中,是变质量的六自由度刚体模型,但输入力矩始终为0。

demo

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