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The Third Moscow International Solar System Symposium. Moscow, 8-12 October 2012 3MS 3 -MN-11

The Third Moscow International Solar System Symposium. Moscow, 8-12 October 2012 3MS 3 -MN-11 LANDING DYNAMICS ON THE «LUNA-GLOB» PROJECT Sikharulidze Yu.G., Zhukov B.I., Tuchin A.G. (Keldysh Institute of Applied Mathemathics RAS) Zaiko Yu.K., Fedotov V.P., Likhachov V.N., Rozin P.E.

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The Third Moscow International Solar System Symposium. Moscow, 8-12 October 2012 3MS 3 -MN-11

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  1. The Third Moscow International Solar System Symposium. Moscow, 8-12 October 2012 3MS3-MN-11 LANDING DYNAMICS ON THE «LUNA-GLOB» PROJECT Sikharulidze Yu.G., Zhukov B.I., Tuchin A.G. (Keldysh Institute of Applied Mathemathics RAS) Zaiko Yu.K., Fedotov V.P., Likhachov V.N., Rozin P.E. (Lavochkin Design Center)

  2. The Third Moscow International Solar System Symposium. Moscow, 8-12 October 2012 3MS3-MN-11

  3. The Third Moscow International Solar System Symposium. Moscow, 8-12 October 2012 3MS3-MN-11 1. Phases of Landing Trajectory

  4. The Third Moscow International Solar System Symposium. Moscow, 8-12 October 2012 3MS3-MN-11 Range of the initial true anomaly -10oo+10o Variation of the initial time 3 min De-orbit point shift 306 km Propellant consumption 389 kg (initial Lander mass 911 kg) The optimal pitch angle guidance and linear pitch law Engine C1.154.0000.0-0 with thrust of 42020 kgf (tolerance) Regulation range 400480 kgf (+13-33 km) 2. Main Deceleration Phase 1 with Downrange Maneuver

  5. The Third Moscow International Solar System Symposium. Moscow, 8-12 October 2012 3MS3-MN-11 Terminal guidance algorithm with numerical prediction of remaining trajectory (Numerical Predictor-Corrector NPC). Two-parametric guidance: (t)= 0+ t. Three predicted trajectories. Multistep process: tguid=1 s, tstab=0.05 s. Linear correction of guidance parameters: 0i =0i-1+0i i = i-1+i 3. Numerical Predictor-Corrector

  6. The Third Moscow International Solar System Symposium. Moscow, 8-12 October 2012 3MS3-MN-11 Terminal conditions for the Phase 1: Vn1=0 (stop of prediction), Vr1=-5 m/s, h1=1500 m (corrected values). Adaptation algorithm: m(t)=? P(t)=? Phantom acceleration: W=P/m=P/(m0-│dm/dt│t)=g0Psp/(-t), where =m0/│dm/dt│- “total burning time”. Measurements W1 for t1 and W2 for t2 → parameters of adaptation , Psp 4. Algorithm of Adaptation

  7. The Third Moscow International Solar System Symposium. Moscow, 8-12 October 2012 3MS3-MN-11 Numerical derivative ∂Φ/∂P=-0.021 deg/kgf. Predicted angular error due to thrust variation and de-orbit point shift: ΔΦi pred. Thrust correction: ΔP= -ΔΦi pred/(∂Φ/∂P). Thrust is unknown. 5. Thrust Correction

  8. The Third Moscow International Solar System Symposium. Moscow, 8-12 October 2012 3MS3-MN-11 6. Phase 1. Trajectory with Linear Pitch Guidance

  9. The Third Moscow International Solar System Symposium. Moscow, 8-12 October 2012 3MS3-MN-11 Engine C1.154.0000.0-0 with thrust of 42020 kgf (tolerance) Regulation range 400480 kgf Initial errors: ΔΦ1, Δh1, ΔVr1. Corrected values: Vr2=-5 m/s, h2=50 m, ΔΦ2=0 Parameters of control: 2(t2)= 02+ 2t2, tign2 – time ignition (ignition altitude hign2). Four predicted trajectories. Linear correction of guidance parameters: 0i =0i-1+0i, i= i-1+ i, tign2(i) =tign2(i-1)+tign2(i) 7. Phase 2. Precision Deceleration

  10. The Third Moscow International Solar System Symposium. Moscow, 8-12 October 2012 3MS3-MN-11 After engine ignition: two-parametric control & thrust regulation 0i =0i-1+0i, i= i-1+ i Numerical derivative ∂P/∂h=1.14 kgf/m. Measurements of phantom acceleration W→ , Psp. Thrust correction ΔP=- Δh/(∂P/∂h), Δh=hpred2-h2. Thrust is unknown. 8. Phase 2. Adaptation Algorithm

  11. The Third Moscow International Solar System Symposium. Moscow, 8-12 October 2012 3MS3-MN-11 9. Phase 2. Parameters of Nominal Trajectory

  12. The Third Moscow International Solar System Symposium. Moscow, 8-12 October 2012 3MS3-MN-11 10. Phase 2. Correction of Initial Downrange Error

  13. The Third Moscow International Solar System Symposium. Moscow, 8-12 October 2012 3MS3-MN-11 11. Phase 2. Correction of Initial Velocity Error

  14. The Third Moscow International Solar System Symposium. Moscow, 8-12 October 2012 3MS3-MN-11 Engine 2554.487.00-0 Thrust 2x(65±5) kgf (tolerance), without thrust regulation. Specific thrust 287.7±5 s (tolerance) Terminal conditions: altitude 0.3 m, vertical velocity -2.5±1 m/s, side velocity ≤1 m/s Single control parameter: tign3 – time of engine ignition. 12. Phase 3. Landing on the Moon

  15. The Third Moscow International Solar System Symposium. Moscow, 8-12 October 2012 3MS3-MN-11 13. Phase 3. Single-parameter guidance

  16. The Third Moscow International Solar System Symposium. Moscow, 8-12 October 2012 3MS3-MN-11 14. Phase 3. Two-parameter guidance

  17. The Third Moscow International Solar System Symposium. Moscow, 8-12 October 2012 3MS3-MN-11 15. Phase 3. Simulation Results

  18. The Third Moscow International Solar System Symposium. Moscow, 8-12 October 2012 3MS3-MN-11 1. The terminal guidance algorithm (NPC) with adaptation to real motion conditions was developed for landing on the Moon. 2. For the Phase 1 NPC provides compensation of initial de-orbit point error within ±0.5o or ±15 km in downrange (±9 s). 3. For the Phase 2 NPC provides compensation of initial errors within ±40 m in downrange or ±2 m/s in side velocity by the pith angle of ±20o from the local vertical. 4. For the Phase 3 NPC provides adaptation to the real motion conditions. 16. Results

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