Attitude control method adaptive to long-time out-of-control state

Abstract

The invention provides an attitude control method adaptive to a long-time out-of-control state and belongs to the technical field of carrier rocket control. The method comprises the steps that after starting control, the angular speed is reduced through angular speed control; to ensure that the angular speed of three channels is reduced rapidly, a spray pipe continuous opening working mode is adopted, corresponding spray pipes are opened for the three channels according to the direction of the angular speed until the angular speed is reduced to 0, and when the last angular speed of the three channels is reduced to the level near 0, the three channels are switched to control based on attitude angular deviation at the same time. In the control process of attitude angular deviation, the angular deviation of attitude control under a rocket system is calculated according to a program quaternion and an actual quaternion. By means of the attitude control method adaptive to the long-time out-of-control state, the attitude that an orbit transfer vehicle deviates from a standard trajectory can be suppressed quickly, and it is ensured that an air vehicle flies stably and reliably under full-space attitude orientation.

Description

Technical field: [0001] The invention relates to an attitude control method adapted to long-time out-of-control, and belongs to the technical field of launch vehicle control. Background technique: [0002] After the orbit transfer vehicle is separated from the basic stage rocket, it needs to fly out of control for a long time, and complete the load separation task after take-off, and then still fly along the standard ballistic program angle. The conventional method is to use the Euler angle calculation mode to calculate the attitude angle, but due to the existence of the initial attitude angular velocity, the range of attitude angle changes is large during the long-term out-of-control flight process, and the Euler angle calculation mode is prone to failure due to the singularity of the attitude calculation As a result, the attitude control diverges, causing the attitude of the aircraft to deviate from the standard trajectory, and affecting the stable and reliable flight of t...

AI Technical Summary

Problems solved by technology

The conventional method is to use the Euler angle calculation mode to calculate the attitude angle, but due to the existence of the initial attitude angular velocity, the range of attitude angle changes is large during the long-term out-of-control flight process, and the Euler angle calculation mode is prone to failure due to the singularity of the attitude calculation Cause attitude control to diverge, cause the aircraft attitude to deviate from the standard trajectory, and affect the stable and reliable flight of the aircraft

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