Mathematical modelling and control applied to the rocket vertical precision landing problem
The execution of autonomous vertical precision soft landing maneuvers has been the main way of achieving space rockets reusability during recent years. The solution to this problem has been developed for the last two decades and has been commercially and successfully implemented on orbital class roc...
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| Format: | master thesis |
| Publication Date: | 2024 |
| Country: | España |
| Institution: | Universitat Politècnica de Catalunya (UPC) |
| Repository: | UPCommons. Portal del coneixement obert de la UPC |
| Language: | English |
| OAI Identifier: | oai:upcommons.upc.edu:2117/422276 |
| Online Access: | https://hdl.handle.net/2117/422276 |
| Access Level: | Open access |
| Keyword: | Rockets (Aeronautics) Rocket engines Coets (Aeronàutica) Coets (Aeronàutica)--Motors Àrees temàtiques de la UPC::Aeronàutica i espai |
| Summary: | The execution of autonomous vertical precision soft landing maneuvers has been the main way of achieving space rockets reusability during recent years. The solution to this problem has been developed for the last two decades and has been commercially and successfully implemented on orbital class rockets during the last decade. In order to tackle this problem from control systems perspective, this master thesis is dedicated to the study of some of the state of the art mathematical modelling and control engineering tools used to approach its solution. In order to do so, the thesis considers a theoretical single engine thrust vector controlled rocket based on the EmborockETH small-scale electric vertical takeoff vertical landing vehicle [1], and performs a full derivation of its three degrees of freedom and six degrees of freedom dynamic models with the objective of mathematically describing the three dimensional mechanics of the vehicle. With the objective of controlling the motion of the rocket, this thesis leverages previous work done in the guidance, navigation and control area to formulate a free-final-time optimal guidance and a nonlinear model predictive position control algorithms, which are intended to generate reference trajectories and thrust vector commands for the rocket to achieve soft landing maneuvers. Lastly and in order to assess the performance of these algorithms, both of them are implemented using Matlab, CasADi and IPOPT, and computationally simulated in diverse scenarios involving launch, landing and divert maneuvers. |
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