Self-adaptive precise recycling control method of carrier rocket

Abstract

The invention discloses a self-adaptive precise recycling control method of a carrier rocket. A nonlinear model truly embodying the dynamic properties of the carrier rocket is adopted, a return phasedynamic model is built, and system parameter uncertainty and interference are introduced; in order to estimate the parameter uncertainty in the dynamic model of the carrier rocket repeatedly used andimprove the accuracy of estimation, a self-adaptive sliding-mode observer is built, and a self-adaptive estimation rule of the parameters (as shown in the description) is designed; based on a backstepping control thought, a tracking controller of a sliding-mode dynamic surface is designed. According to the method, unmodeled dynamics of pneumatic parameters and uncertain factors caused by the influence of fuel consumption are considered at the same time, so that the proposed model better conforms to the actual running condition of a sublevel control system of the carrier rocket in a vertical return phase; the designed self-adaptive parameter observer does not need the known condition of the upper bound of uncertainty and interference, and has more advantages in practical application; the accuracy of uncertain estimation is improved due to appropriate adjustment of time varying gain relative to interference.

Description

technical field [0001] The invention relates to the field of aerospace flight control, in particular to the problem of precise control of attitude and position of a sub-stage of a reusable carrier rocket for vertical landing and return. Background technique [0002] Since human beings have launched space activities, low-cost, high-reliability, and high-efficiency space launch systems have always been the goal pursued by the space industry. After the reusable launch vehicle completes the scheduled launch mission, all or part of it returns and lands safely. After overhaul, maintenance and fuel filling, the launch mission can be performed again. The production and launch costs of the launch vehicle can be reduced by sharing the cost for multiple uses. Therefore, All aerospace powers regard it as the focus of future development. The safe landing control of the vertical return segment is the key technology for reusing the launch vehicle. At present, the reusable launch vehicle ...

AI Technical Summary

Problems solved by technology

The patent CN201510220610.7 published by China Academy of Launch Vehicle Technology in 2015 mentions that N sets of solid-swimming motors are evenly installed at the tail of the launch vehicle along the circumferential direction, and are respectively connected with N steering gears of the launch vehicle (N≥ 4), collect the real-time measurement information of the inertial measurement combination, directly generate pitch, yaw, and roll channel attitude control variables after guidance calculations, and drive the solid-swimming motors connected to the N steering gears to work sideways, and finally each steering gear The method of synthesizing the lateral force generated by the side swing of the swimming engine to generate the attitude control force of the rocket body is not applicable to the general rockets that do not have multiple swimming engines installed. Attitude control of the launch vehicle; patent CN201080036159.9 proposes a system and method for a reusable space launch vehicle to land on a platform in the ocean or other water bodies and recover the booster stage and / or other parts thereof to achieve space launch The vertical power of the rocket booster stage lands on the deck of the pre-positioned nautical and platform. It uses the two-way aerodynamic control surface to control the trajectory of the booster stage, and uses the nautical platform to broadcast its position information to the booster stage in real time to compensate for the drift caused by ocean currents and The position error of the navigation platform caused by / or other factors, so as to ensure the position accuracy during landing, but this invention does not consider another key technology for safe vertical recovery landing - attitude control

[0004] (1) The model is idealized and does not conform to the actual operation of the first sub-stage system of the launch vehicle;

[0005] (2) The applicable conditions are relatively limited, and engineering applications are difficult to realize;

[0006] (3) System uncertainty and interference have a great influence on the control performance of the system;

[0007] (4) It cannot meet the requirements of stability, robustness and performance in the global scope

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