Software design method based on carrier rocket seven-machine tilt angle distribution

Abstract

The invention discloses a software design method based on carrier rocket seven-machine swing angle distribution. The method comprises the steps that a servo swing angle calculation structural body and a servo swing angle calculation binding data structural body are initialized; endowing contents in the binding data file to a servo swing angle calculation binding data structural body; acquiring input data required by servo swing angle calculation; control signals of a pitching channel, a yaw channel and a rolling channel of the carrier rocket are obtained through calculation; distributing the calculated control signals of the pitching channel, the yaw channel and the rolling channel of the carrier rocket; performing fault diagnosis on the servo; calculating to obtain a servo swing angle signal; and carrying out amplitude limiting processing on the servo swing angle signal to obtain a servo actual swing angle signal, and outputting the servo actual swing angle signal. According to the scheme, the functions of input of swing angle distribution calculation, servo fault diagnosis and judgment, calculation of control signals of each servo and output of the servo control signals are achieved in the mode of designing universal software components, and the capacity of adapting to circumferential servo faults is achieved.

Description

Technical Field

[0001] This invention belongs to the field of system design technology, and in particular relates to a software design method based on the yaw angle distribution of the seven engines of a launch vehicle. Background Technology

[0002] To improve the payload capacity of the launch vehicle, the first stage is designed with a fixed diameter and seven engines. One engine is located at the center of the rocket body, servo-driven, and performs bidirectional oscillation. The other six engines are evenly distributed around the outer ring of the rocket body, servo-driven, and perform tangential oscillation. This design requires eight servos, making the calculation of control signals for each servo particularly complex. Existing software design methods for oscillation angle allocation in a four-engine configuration cannot meet these requirements. Summary of the Invention

[0003] The technical problem solved by this invention is to overcome the shortcomings of the prior art and provide a software design method for the swing angle allocation of seven launch vehicles. By designing general software components, it realizes the functions of obtaining input for swing angle allocation calculation, servo fault diagnosis and discrimination, calculating control signals of each servo, and outputting servo control signals, and has the ability to adapt to circumferential servo faults.

[0004] To address the aforementioned technical problems, this invention discloses a software design method based on the seven-engine swing angle allocation of a launch vehicle, comprising:

[0005] S1, Initialize the servo swing angle calculation structure and the servo swing angle calculation binding data structure;

[0006] S2, assign the contents of the binding data file to the servo swing angle calculation binding data structure;

[0007] S3, obtain the input data required for servo swing angle calculation;

[0008] S4 calculates the control signals for the launch vehicle's pitch, yaw, and roll channels;

[0009] S5. Based on the allocation factors of the circumferential pitch channel and the central pitch channel, the control signals of the calculated launch vehicle pitch channel, yaw channel and roll channel are allocated to obtain the control quantities of the three channels of circumferential pitch, yaw and roll, as well as the control quantities of the two channels of central pitch and yaw.

[0010] S6, perform fault diagnosis on the servo and obtain the fault diagnosis result of the circumferential servo;

[0011] S7 calculates the servo sway angle signal based on the control values ​​of the three channels of circumferential pitch, yaw, and roll, as well as the control values ​​of the two channels of center pitch and yaw, combined with the circumferential servo fault diagnosis results.

[0012] S8 performs amplitude limiting processing on the servo swing angle signal to obtain the actual servo swing angle signal, and then outputs it.

[0013] In the above software design method based on the seven-engine swing angle allocation of the launch vehicle, in step S1, the Reset_ServoCalc function and the Reset_ServoCoef function are used to initialize the servo swing angle calculation structure and the servo swing angle calculation binding data structure, respectively; wherein, the servo swing angle calculation structure is used for the implementation of steps S3 to S8.

[0014] In the above software design method based on the seven-engine swing angle allocation of the launch vehicle, in step S2, the Bind_GetCoef_ServoCoef function is used to obtain the binding data required for servo swing angle calculation from the binding data file, and the required binding data is saved to the servo swing angle calculation binding data structure. The required binding data includes: the magnification factor of the attitude angle channel, the magnification factor of the attitude angular rate channel, the attitude deviation of the attitude angle channel, the angular rate deviation of the attitude angular rate channel, the circumferential pitch channel allocation factor, the circumferential yaw channel allocation factor, the circumferential roll channel allocation factor, the center swing angle pitch channel allocation factor, the center swing angle yaw channel allocation factor, the minimum value of the swing square servo limit, the maximum value of the swing square servo limit, the maximum value of the swing circle servo limit, and the coefficients of the difference equation.

[0015] In the above software design method based on the seven-engine yaw angle allocation of the launch vehicle, the required input data in step S3 includes: the amplification factor of the pitch channel of the adaptive augmentation controller, the amplification factor of the yaw channel of the adaptive augmentation controller, the servo zeroing compensation value, the servo installation compensation value, and the servo actual yaw angle feedback.

[0016] In the above software design method based on the seven-engine swing angle allocation of the launch vehicle, in step S3, the amplification coefficient of the pitch channel and the amplification coefficient of the yaw channel of the adaptive augmentation controller are obtained through the ServoGetInputByAAC function, the servo zeroing compensation value is obtained through the ServoGetInputByTiaoLingComp function, the servo installation compensation value is obtained through the ServoGetInputByComp function, and the actual swing angle feedback of the servo is obtained through the ServoGetInputByFk function.

[0017] In the aforementioned software design method based on the seven-engine yaw angle allocation of a launch vehicle, step S4 calculates the control signals for the launch vehicle's pitch, yaw, and roll channels, including:

[0018] Calling the CalcServo function yields the following results:

[0019]

[0020] Among them, K α Indicates the magnification factor of the attitude angle channel. The amplification factor of the attitude angular rate channel, X α Indicates the attitude deviation of the attitude angle channel. This indicates the angular rate deviation of the attitude angular rate channel; This represents the input of the difference equation. Represents intermediate quantities in a difference equation. This represents the output of the difference equation. and Denotes the coefficients of the difference equation; They represent The calculated value of the first i-th frame; T cnt This indicates the current channel calculation cycle in the current stage, where i = 1 to 4, and n represents the number of calculation cycles; superscript These represent the pitch channel, yaw channel, and roll channel, respectively.

[0021] according to The calculation yielded:

[0022]

[0023] in, This indicates the pitch channel control signal. This indicates the yaw channel control signal. Indicates the rolling channel control signal; This represents the amplification factor of the pitch channel in the adaptive augmentation controller. This represents the amplification factor of the yaw channel in the adaptive augmentation controller.

[0024] In the aforementioned software design method based on the seven-engine yaw angle allocation of a launch vehicle, in step S5, the control signals of the calculated launch vehicle pitch, yaw, and roll channels are allocated according to the allocation factors of the circumferential pitch and central pitch channels, resulting in the control quantities of the three channels (circumferential pitch, yaw, and roll) and the control quantities of the two channels (central pitch and yaw), including:

[0025] Based on the allocation factors of the circumferential swing angle channel and the central swing angle channel, for The control values ​​are allocated to obtain the control values ​​for the three channels of circumferential pitch, yaw, and roll, as well as the control values ​​for the two channels of center pitch and yaw:

[0026]

[0027] in, This indicates the circumferential pitch channel control quantity. This indicates the circumferential yaw channel control amount. Indicates the circumferential rolling channel control quantity. This indicates the center pitch channel control value. Indicates the center yaw channel control quantity; Indicates the circumferential pitch channel allocation factor. This represents the circumferential yaw channel allocation factor. Indicates the circumferential rolling channel allocation factor. Indicates the center swing angle pitch channel allocation factor. This represents the center yaw channel allocation factor.

[0028] In the aforementioned software design method based on the servo's seven-engine swing angle allocation, in step S6, based on the actual servo swing angle feedback, the CalcServoFault function is called to perform fault diagnosis on the servo and output the circumferential servo fault diagnosis result F. qbsf_err .

[0029] In the above software design method based on the seven-engine swing angle allocation of the launch vehicle, the servo swing angle signal is calculated in step S7 as follows:

[0030]

[0031] Where, Y∑p(nT) cnt () represents the swing angle signal of servo p. This represents the zero-adjustment compensation value of servo p. This represents the installation compensation value of servo p; p = 1, 2, 3, 4, 5, 6, 7, 8, representing servo 1 to 8; servo 1 to 6 are installed around the arrow body and swing tangentially; servo 7 to 8 are installed at the center of the arrow body and swing bidirectionally.

[0032] In the above software design method based on the seven-engine swing angle allocation of the launch vehicle, in step S8, the servo swing angle signal is amplitude-limited in the following manner to obtain the actual servo swing angle signal:

[0033] When p = 1, 2, 3, 4, 5, 6:

[0034]

[0035] When p = 7, 8:

[0036]

[0037] Among them, Y′ ∑p (nT cnt ) represents the actual servo swing angle signal of servo p; δ min_qb δ represents the minimum amplitude limit of the swing servo. max_qbIndicates the maximum value of the swing servo limit, δ max_zx This indicates the maximum amplitude limit of the pendulum servo.

[0038] The present invention has the following advantages:

[0039] (1) This invention discloses a software design method based on the swing angle allocation of seven launch vehicles. By designing general software components, it realizes the functions of obtaining the input for swing angle allocation calculation, servo fault diagnosis and discrimination, calculating the control signal of each servo, and outputting the servo control signal. It also has the ability to adapt to circumferential servo faults, which is flexible and convenient.

[0040] (2) This invention discloses a software design method based on the seven-engine swing angle allocation of a launch vehicle. The software component modules are independent and not coupled with other modules.

[0041] (3) This invention discloses a software design method based on the seven-engine swing angle distribution of a launch vehicle. The software components are easy to use and the input and output interfaces are simple and clear.

[0042] (4) This invention discloses a software design method based on the seven-engine swing angle allocation of a launch vehicle. The swing angle calculation includes zeroing compensation and installation compensation, which are superimposed in a smooth manner and have strong versatility. Attached Figure Description

[0043] Figure 1 This is a flowchart of a software design method based on the seven-engine swing angle allocation of a launch vehicle, as described in an embodiment of the present invention. Detailed Implementation

[0044] To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments disclosed in the present invention will be described in further detail below with reference to the accompanying drawings.

[0045] One of the core ideas of this invention is to disclose a software design method for the swing angle allocation of seven launch vehicles. According to the general software component design method, component initialization, input, and calculation functions are written. Under the requirements of servo fault diagnosis and swing angle calculation, the software design for the swing angle allocation of seven launch vehicles is carried out.

[0046] Reference Figure 1 In this embodiment, the software design method based on the seven-engine swing angle allocation of the launch vehicle includes:

[0047] S1 initializes the servo swing angle calculation structure and the servo swing angle calculation binding data structure.

[0048] In this embodiment, the Reset_ServoCalc and Reset_ServoCoef functions can be used to initialize the servo swing angle calculation structure and the servo swing angle calculation binding data structure, respectively. The servo swing angle calculation structure can be used in the implementation of steps S3 to S8 below.

[0049] S2 assigns the contents of the binding data file to the servo swing angle calculation binding data structure.

[0050] In this embodiment, the Bind_GetCoef_ServoCoef function can be used to obtain the binding data required for servo swing angle calculation from the binding data file, and the required binding data can be saved to the servo swing angle calculation binding data structure. The required binding data includes, but is not limited to: the magnification factor of the attitude angle channel, the magnification factor of the attitude angular rate channel, the attitude deviation of the attitude angle channel, the angular rate deviation of the attitude angular rate channel, the circumferential pitch channel allocation factor, the circumferential yaw channel allocation factor, the circumferential roll channel allocation factor, the center swing angle pitch channel allocation factor, the center swing angle yaw channel allocation factor, the minimum value of the swing square servo limit, the maximum value of the swing square servo limit, the maximum value of the swing circle servo limit, and the coefficients of the difference equation.

[0051] S3, obtain the input data required for servo swing angle calculation.

[0052] In this embodiment, the required input data includes, but is not limited to: the amplification factor of the pitch channel of the adaptive augmentation controller, the amplification factor of the yaw channel of the adaptive augmentation controller, the servo zeroing compensation value, the servo installation compensation value, and the servo actual pitch angle feedback; the amplification factor of the pitch channel and the amplification factor of the yaw channel of the adaptive augmentation controller can be obtained through the ServoGetInputByAAC function, the servo zeroing compensation value can be obtained through the ServoGetInputByTiaoLingComp function, the servo installation compensation value can be obtained through the ServoGetInputByComp function, and the servo actual pitch angle feedback can be obtained through the ServoGetInputByFk function.

[0053] S4 calculates the control signals for the launch vehicle's pitch, yaw, and roll channels.

[0054] In this embodiment, the calculation process for the control signals of the launch vehicle's pitch, yaw, and roll channels is as follows:

[0055] Calling the CalcServo function yields the following results:

[0056]

[0057] Among them, K αIndicates the magnification factor of the attitude angle channel. The amplification factor of the attitude angular rate channel, X α Indicates the attitude deviation of the attitude angle channel. This indicates the angular rate deviation of the attitude angular rate channel; This represents the input of the difference equation. Represents intermediate quantities in a difference equation. This represents the output of the difference equation. and Denotes the coefficients of the difference equation; They represent The calculated value of the first i-th frame; T cnt This indicates the current channel calculation cycle in the current stage, where i = 1 to 4, and n represents the number of calculation cycles; superscript These represent the pitch channel, yaw channel, and roll channel, respectively.

[0058] according to The calculation yielded:

[0059]

[0060] in, This indicates the pitch channel control signal. This indicates the yaw channel control signal. Indicates the rolling channel control signal; This represents the amplification factor of the pitch channel in the adaptive augmentation controller. This represents the amplification factor of the yaw channel in the adaptive augmentation controller.

[0061] S5, based on the allocation factors of the circumferential pitch channel and the central pitch channel, allocates the control signals of the calculated launch vehicle pitch channel, yaw channel and roll channel to obtain the control quantities of the three channels of circumferential pitch, yaw and roll, as well as the control quantities of the two channels of central pitch and yaw.

[0062] In this embodiment, the calculation process for the control quantities of the three channels of circumferential pitch, yaw, and roll, as well as the control quantities of the two channels of center pitch and yaw, is as follows:

[0063] Based on the allocation factors of the circumferential swing angle channel and the central swing angle channel, for The control values ​​are allocated to obtain the control values ​​for the three channels of circumferential pitch, yaw, and roll, as well as the control values ​​for the two channels of center pitch and yaw:

[0064]

[0065] in, This indicates the circumferential pitch channel control quantity. This indicates the circumferential yaw channel control amount. Indicates the circumferential rolling channel control quantity. This indicates the center pitch channel control value. Indicates the center yaw channel control quantity; Indicates the circumferential pitch channel allocation factor. This represents the circumferential yaw channel allocation factor. Indicates the circumferential rolling channel allocation factor. Indicates the center swing angle pitch channel allocation factor. This represents the center yaw channel allocation factor.

[0066] S6 performs fault diagnosis on the servo and obtains the fault diagnosis results for the circumferential servo.

[0067] In this embodiment, there are 8 servos, p = 1, 2, 3, 4, 5, 6, 7, 8, representing servos 1 to 8; servos 1 to 6 are installed around the circumference of the arrow body and swing tangentially; servos 7 to 8 are installed at the center of the arrow body and swing bidirectionally. The servo fault diagnosis described in this embodiment refers to the fault diagnosis of servos 1 to 6, which can be based on the actual swing angle feedback of the servos. When p = 1~6, call the CalcServoFault function to perform fault diagnosis on the servo and output the circumferential servo fault diagnosis result F. qbsf_err ;F qbsf_err =0 indicates a servo malfunction; F qbsf_err =1 indicates that the servo is working properly.

[0068] S7 calculates the servo swing angle signal based on the control quantities of the three channels of circumferential pitch, yaw, and roll, as well as the control quantities of the two channels of center pitch and yaw, combined with the circumferential servo fault diagnosis results.

[0069] In this embodiment, the servo swing angle signal can be calculated in the following way:

[0070]

[0071] Among them, Y ∑p (nT cnt () represents the swing angle signal of servo p. This represents the zero-adjustment compensation value of servo p. This represents the installation compensation value for servo p.

[0072] S8 performs amplitude limiting processing on the servo swing angle signal to obtain the actual servo swing angle signal, and then outputs it.

[0073] In this embodiment, the amplitude limiting process can be performed in the following manner:

[0074] When p = 1, 2, 3, 4, 5, 6:

[0075]

[0076] When p = 7, 8:

[0077]

[0078] Among them, Y′ ∑p (nT cnt ) represents the actual servo swing angle signal of servo p; δ min_qb δ represents the minimum amplitude limit of the swing servo. max_qb Indicates the maximum value of the swing servo limit, δ max_zx This indicates the maximum amplitude limit of the pendulum servo.

[0079] In this embodiment, in steps S1 to S3, the function names for initializing the servo swing angle calculation component, reading binding data, and obtaining component input functions are defined using a common software component function naming convention. The control signals for the pitch, yaw, and roll channels are assigned to peripheral servos 1 to 6 and central servos 7 to 8, and the servo swing angle is reconstructed in the case of failure of up to two servos.

[0080] Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make possible changes and modifications to the technical solutions of the present invention by utilizing the methods and techniques disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solutions of the present invention shall fall within the protection scope of the technical solutions of the present invention.

[0081] The contents not described in detail in this specification are common knowledge to those skilled in the art.

Claims

1. A software design method based on the seven-engine swing angle allocation of a launch vehicle, characterized in that, include: S1, Initialize the servo swing angle calculation structure and the servo swing angle calculation binding data structure; S2, assign the contents of the binding data file to the servo swing angle calculation binding data structure; S3, obtain the input data required for servo swing angle calculation; S4 calculates the control signals for the launch vehicle's pitch, yaw, and roll channels; S5. Based on the allocation factors of the circumferential pitch channel and the central pitch channel, the control signals of the calculated launch vehicle pitch channel, yaw channel and roll channel are allocated to obtain the control quantities of the three channels of circumferential pitch, yaw and roll, as well as the control quantities of the two channels of central pitch and yaw. S6, perform fault diagnosis on the servo and obtain the fault diagnosis result of the circumferential servo; S7 calculates the servo sway angle signal based on the control values ​​of the three channels of circumferential pitch, yaw, and roll, as well as the control values ​​of the two channels of center pitch and yaw, combined with the circumferential servo fault diagnosis results. S8 performs amplitude limiting processing on the servo swing angle signal to obtain the actual servo swing angle signal, and then outputs it.

2. The software design method based on the seven-engine tilt angle allocation of a launch vehicle according to claim 1, characterized in that, In step S1, the Reset_ServoCalc function and the Reset_ServoCoef function are used to initialize the servo swing angle calculation structure and the servo swing angle calculation binding data structure, respectively; wherein, the servo swing angle calculation structure is used for the implementation of steps S3 to S8.

3. The software design method based on the seven-engine tilt angle allocation of a launch vehicle according to claim 1, characterized in that, In step S2, the Bind_GetCoef_ServoCoef function is used to obtain the binding data required for servo swing angle calculation from the binding data file, and the required binding data is saved to the servo swing angle calculation binding data structure. The required binding data includes: the magnification factor of the attitude angle channel, the magnification factor of the attitude angular rate channel, the attitude deviation of the attitude angle channel, the angular rate deviation of the attitude angular rate channel, the circumferential pitch channel allocation factor, the circumferential yaw channel allocation factor, the circumferential roll channel allocation factor, the center swing angle pitch channel allocation factor, the center swing angle yaw channel allocation factor, the minimum value of the swing square servo limit, the maximum value of the swing square servo limit, the maximum value of the swing circle servo limit, and the coefficients of the difference equation.

4. The software design method based on the seven-engine tilt angle allocation of a launch vehicle as described in claim 1, its The feature is that, in step S3, the required input data includes: The amplification factor of the pitch channel of the adaptive augmentation controller, the amplification factor of the yaw channel of the adaptive augmentation controller, the servo zeroing compensation value, the servo installation compensation value, and the servo actual swing angle feedback.

5. The software design method based on the seven-engine tilt angle allocation of a launch vehicle according to claim 4, characterized in that, In step S3, the amplification factor of the pitch channel and the amplification factor of the yaw channel of the adaptive augmentation controller are obtained through the ServoGetInputByAAC function, the servo zeroing compensation value is obtained through the ServoGetInputByTiaoLingComp function, the servo installation compensation value is obtained through the ServoGetInputByComp function, and the actual servo swing angle feedback is obtained through the ServoGetInputByFk function.

6. The software design method based on the seven-engine tilt angle allocation of a launch vehicle according to claim 1, characterized in that, In step S4, the control signals for the launch vehicle's pitch, yaw, and roll channels are calculated, including: Calling the CalcServo function yields the following results: Among them, K α Indicates the magnification factor of the attitude angle channel. The amplification factor of the attitude angular rate channel, X α Indicates the attitude deviation of the attitude angle channel. Y1 represents the angular rate deviation of the attitude angular rate channel. α (nT cnt () indicates the input of the difference equation. Represents intermediate quantities in a difference equation. This represents the output of the difference equation. and Denotes the coefficients of the difference equation; They represent The calculated value of the first i-th frame; T cnt This indicates the current channel calculation cycle in the current stage, where i = 1 to 4, and n represents the number of calculation cycles; superscript These represent the pitch channel, yaw channel, and roll channel, respectively. according to The calculation yielded: in, This indicates the pitch channel control signal. This indicates the yaw channel control signal. Indicates the rolling channel control signal; This represents the amplification factor of the pitch channel in the adaptive augmentation controller. This represents the amplification factor of the yaw channel in the adaptive augmentation controller.

7. The software design method based on the seven-engine tilt angle allocation of a launch vehicle according to claim 6, characterized in that, In step S5, based on the allocation factors of the circumferential pitch channel and the central pitch channel, the control signals of the calculated launch vehicle pitch, yaw, and roll channels are allocated to obtain the control quantities for the three channels of circumferential pitch, yaw, and roll, as well as the control quantities for the two channels of central pitch and yaw, including: Based on the allocation factors of the circumferential swing angle channel and the central swing angle channel, for The control values ​​are allocated to obtain the control values ​​for the three channels of circumferential pitch, yaw, and roll, as well as the control values ​​for the two channels of center pitch and yaw: in, This indicates the circumferential pitch channel control quantity. This indicates the circumferential yaw channel control amount. Indicates the circumferential rolling channel control quantity. This indicates the center pitch channel control value. Indicates the center yaw channel control quantity; Indicates the circumferential pitch channel allocation factor. This represents the circumferential yaw channel allocation factor. Indicates the circumferential rolling channel allocation factor. Indicates the center swing angle pitch channel allocation factor. This represents the center yaw channel allocation factor.

8. The software design method based on the seven-engine tilt angle allocation of a launch vehicle according to claim 7, characterized in that, In step S6, based on the actual servo swing angle feedback, the CalcServoFault function is called to perform fault diagnosis on the servo and output the circumferential servo fault diagnosis result F. qbsf_err .

9. The software design method based on the seven-engine tilt angle allocation of a launch vehicle according to claim 8, characterized in that, In step S7, the servo swing angle signal is calculated as follows: in, This represents the swing angle signal of the servo p. This represents the zero-adjustment compensation value of servo p. This represents the installation compensation value of servo p; p = 1, 2, 3, 4, 5, 6, 7, 8, representing servo 1 to 8; servo 1 to 6 are installed around the arrow body and swing tangentially; servo 7 to 8 are installed at the center of the arrow body and swing bidirectionally.

10. The software design method based on the seven-engine tilt angle allocation of a launch vehicle according to claim 9, characterized in that, In step S8, the servo swing angle signal is amplitude-limited in the following manner to obtain the actual servo swing angle signal: When p = 1, 2, 3, 4, 5, 6: When p = 7, 8: in, The servo actual swing angle signal representing servo p; δ min_qb δ represents the minimum amplitude limit of the swing servo. max_qb Indicates the maximum value of the swing servo limit, δ max_zx This indicates the maximum amplitude limit of the pendulum servo.

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