Research on the Guidance and Control System for the VTOL Rockets

本研究主要对用于低成本可重复使用火箭、火箭助推器回收系统、月球着陆系统等的VTOL火箭制导/控制系统进行了基础性研究。先进VTOL火箭系统所需的基本功能包括：采用燃气喷气发动机的姿态控制系统、自主制导系统、自主着陆系统、为了开发这些功能的控制系统设计，本文主要完成了以下几个方面的工作：1.垂直起落火箭系统的基础研究和可重复使用火箭的初步设计; 2.利用视觉传感器的制导和控制系统的基础研究和视觉传感器的图像处理算法的发展; 3.建立一个可重复使用的垂直起落火箭系统，本文的主要工作如下：1.研制了一种基于视觉传感器的自主式移动的实验机器人; 2.研制了一种惯性传感器与视觉传感器的传感器融合系统; 3.搭建了基于气体喷射推进器的三轴姿态控制实验台，并进行了姿态控制策略的实验研究; 4.研究了基于气体喷射推进器的姿态控制系统的最优bang-bang控制策略。

In this research, fundamental studies on the guidance/control system for VTOL rockets which is applied for the low-cost reusable rockets, recovery system for rocket booster, lunar landing system, etc. Among the basic functions which is required for the advanced VTOL rocket system are the attitude control system using gas jet thrusters, the autonomous guidance system, the autonomous landing system, etc. In order to develop the control system design for these functions, the following studies are performed.1.Fundamental study on the VTOL rocket system and preliminary design of reusable rockets.2.Fundamental study of guidance and control system utilizing visual sensors and the development of image processing algorithms for the visual sensor.3.Construction of an experimental mobile robot which has an autonomous guidance and control system with visual sensors.4.Development of a sensor fusion system which integrates the inertial sensors and the visual sensors.5.Construction of three-axis attitude control test bed using gas jet thrusters and the experimental study of attitude control strategy.6.Development of an optimal bang-bang control strategy for the experimental attitude control system using gas jet thrusters.