A rocket elastic frequency identification verification method and a rocket control method

Abstract

The application is suitable for the field of rocket technology, and provides a rocket elastic frequency identification verification method and a rocket control method.A plurality of frequency angular velocity signals and acceleration signals are collected respectively to determine an angular velocity array and an acceleration array; the signal processing data array of the target rocket is determined according to the angular velocity array, the acceleration array and the preset signal transfer function of the target rocket; the elastic frequency of the target rocket is identified based on the signal processing data array and the preset frequency identification transfer function of the target rocket; the elastic rocket body motion environment of the target rocket is simulated through the simulation platform of the target rocket, the elastic motion control system simulation of the target rocket is carried out by using the control instruction of the target rocket, and the control instruction feedback signal, the elastic attitude angular velocity and the elastic attitude angular deviation curve changing with time are determined based on the simulation control result to perform effectiveness verification. The application is helpful to improve the elastic frequency accuracy.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of rockets, and particularly relates to a rocket elastic frequency identification verification method and a rocket control method. BACKGROUND

[0002] Generally, the inherent frequency of elastic motion of a carrier rocket is obtained through a large number of ground tests before the rocket takes off. The current traditional method is to obtain the inherent frequency of elastic motion of a carrier rocket in a static state through a large number of ground environment tests. This method has several shortcomings: (1) the cost is high, a large amount of time and manpower and material resources are needed to carry out, and it cannot meet the requirements of low cost and high efficiency in future commercial launch; (2) due to the dispersion of different structural systems of products, the inherent frequency of elastic motion of a carrier rocket obtained through ground tests in a static state has a large deviation, and the state of each rocket cannot be completely consistent, so a large number of ground environment tests need to be carried out for each rocket, which greatly increases the cost and is not conducive to mass production; (3) the inherent frequency of elastic motion of a rocket in flight cannot be obtained, and the inherent frequency of a carrier rocket obtained through ground tests in a static state is different from the actual inherent frequency after the rocket takes off, which increases the difficulty of attitude control algorithm design and flight risk. SUMMARY

[0003] The present application provides a rocket elastic frequency identification verification method, which aims to solve the problem of accurately obtaining the inherent frequency of elastic motion of a rocket.

[0004] The present application is implemented in the following way: a rocket elastic frequency identification verification method, the method comprising:

[0005] A plurality of angular velocity sensitive devices and a plurality of acceleration sensitive devices are arranged on a target rocket, angular velocity signals and acceleration signals of a plurality of frequencies are collected respectively, and an angular velocity array corresponding to each angular velocity sensitive device and an acceleration array of each acceleration sensitive device are determined;

[0006] According to the angular velocity array, the acceleration array and a preset signal transfer function of the target rocket, a signal processing data array of the target rocket is determined;

[0007] Based on the signal processing data array and a preset frequency identification transfer function of the target rocket, the elastic frequency of the target rocket is identified;

[0008] The simulation platform of the target rocket is used to simulate an elastic rocket body motion environment of the target rocket based on the elastic frequency, to perform elastic motion control system simulation on the target rocket by using a control instruction of the target rocket, and to determine a first curve of a control instruction feedback signal changing with time, a second curve of an elastic attitude angular velocity changing with time, and a third curve of an elastic attitude angular deviation changing with time based on a simulation control result, so as to verify the effectiveness of the preset signal transfer function and the preset frequency identification transfer function.

[0009] Further, the determination of the first curve of the control instruction feedback signal changing with time, the second curve of the elastic attitude angular velocity changing with time, and the third curve of the elastic attitude angular deviation changing with time based on the simulation control result, and the verification of the effectiveness of the preset signal transfer function and the preset frequency identification transfer function, specifically include:

[0010] If the first curve, the second curve, and the third curve all satisfy the respective variable ranges, the preset signal transfer function is taken as a target signal transfer function of the target rocket, and the preset frequency identification transfer function is taken as a target frequency transfer function of the target rocket.

[0011] If at least one of the first curve, the second curve, and the third curve does not satisfy the respective variable ranges, the preset signal transfer function and the preset frequency identification transfer function are corrected.

[0012] Further, the simulation of the elastic motion control system on the target rocket by using the simulation platform of the target rocket and based on the elastic frequency and the control instruction of the target rocket specifically includes:

[0013] A filter corresponding to the elastic frequency is generated by a filter system of the simulation platform.

[0014] An angular deviation of the target rocket is acquired, and the angular deviation is processed by the filter and a correction network of the simulation platform in sequence, and a control instruction of the target rocket is determined by using a processing result.

[0015] The attitude control system of the simulation platform is controlled according to the control instruction.

[0016] Further, the acquisition of the angular deviation of the target rocket specifically includes:

[0017] An elastic motion model of the target rocket is acquired, and an elastic angular deviation of the target rocket is calculated by combining the angular velocity signal and the acceleration signal.

[0018] Determine the angular deviation of the target rocket based on the elastic angular deviation and the rigid angular deviation of the target rocket.

[0019] Further, before the acquiring the elastic motion model of the target rocket, the method further comprises:

[0020] Acquire rocket professional data of the target rocket, wherein the rocket professional data of the target rocket comprises rocket overall parameters, aerodynamic performance parameters, trajectory parameters, engine parameters and structure system parameters;

[0021] Calculate first elastic modal data of the target rocket based on the rocket professional data of the target rocket, wherein the elastic modal data comprises elastic body vibration generalized coordinates, elastic motion equation coefficients, damping coefficients, natural frequencies and mode shape slopes;

[0022] Construct the elastic motion model according to the elastic modal data.

[0023] The embodiment of the application further provides a rocket control method, which comprises:

[0024] Collect real-time angular velocity signals and real-time acceleration signals of multiple frequencies through multiple angular velocity sensitive devices and multiple acceleration sensitive devices arranged on the target rocket;

[0025] Determine real-time angular velocity arrays corresponding to each of the angular velocity sensitive devices based on the real-time angular velocity signals of each frequency respectively, and determine real-time acceleration arrays of each of the acceleration sensitive devices based on the real-time acceleration signals of each frequency respectively;

[0026] Determine real-time signal processing data arrays of the target rocket according to the real-time angular velocity arrays, the real-time acceleration arrays and a target signal transfer function of the target rocket;

[0027] Identify target elastic frequencies of the target rocket based on the signal processing data arrays and a target frequency transfer function of the target rocket;

[0028] Control an attitude control system of the target rocket according to the target elastic frequencies.

[0029] Further, the controlling the attitude control system of the target rocket according to the target elastic frequencies specifically comprises:

[0030] Generate a filter corresponding to the target elastic frequencies through a filter system of the target rocket;

[0031] acquire a real-time angular deviation of the target rocket, and sequentially process the real-time angular deviation through the filter and the correction network, and determine a target control instruction of the target rocket by using a processing result;

[0032] control an attitude control system of the target rocket according to the target control instruction.

[0033] The embodiment of the present application also provides a rocket elastic frequency identification verification device, and the device comprises:

[0034] a signal acquisition module, which is configured to acquire angular velocity signals and acceleration signals of multiple frequencies through multiple angular velocity sensitive devices and multiple acceleration sensitive devices arranged on the target rocket;

[0035] a signal processing module, which is configured to determine an angular velocity array corresponding to each of the angular velocity sensitive devices and an acceleration array of each of the acceleration sensitive devices, and determine a signal processing data array of the target rocket according to the angular velocity array, the acceleration array and a preset signal transfer function of the target rocket;

[0036] a frequency identification module, which is configured to identify an elastic frequency of the target rocket based on the signal processing data array and a preset frequency identification transfer function of the target rocket;

[0037] a simulation verification module, which is configured to simulate an elastic rocket body motion environment of the target rocket based on the elastic frequency through a simulation platform of the target rocket, perform elastic motion control system simulation on the target rocket by using a control instruction of the target rocket, and determine a first curve of a control instruction feedback signal changing over time, a second curve of an elastic attitude angular velocity changing over time and a third curve of an elastic attitude angular deviation changing over time based on a simulation control result, and verify effectiveness of the preset signal transfer function and the preset frequency identification transfer function.

[0038] Further, the simulation verification module is specifically configured to:

[0039] if the first curve, the second curve and the third curve all satisfy respective variable ranges, the preset signal transfer function is taken as a target signal transfer function of the target rocket, and the preset frequency identification transfer function is taken as a target frequency transfer function of the target rocket;

[0040] if at least one of the first curve, the second curve and the third curve does not satisfy the respective variable ranges, the preset signal transfer function and the preset frequency identification transfer function are modified.

[0041] Further, the simulation verification module is also configured to:

[0042] A filter corresponding to the elastic frequency is generated by a filter system of the simulation platform.

[0043] An angular deviation of the target rocket is acquired, and the angular deviation is processed by the filter and a correction network of the simulation platform in sequence, and a control instruction of the target rocket is determined by using a processing result.

[0044] The attitude control system of the simulation platform is controlled according to the control instruction.

[0045] Further, the simulation verification module is further used for:

[0046] An elastic angular deviation of the target rocket is calculated by combining the angular velocity signal and the acceleration signal.

[0047] The angular deviation of the target rocket is determined based on the elastic angular deviation and a rigid angular deviation of the target rocket.

[0048] Further, the device further comprises:

[0049] A modeling module is used for acquiring rocket professional data of the target rocket, wherein the rocket professional data comprises rocket overall parameters, aerodynamic performance parameters, trajectory parameters, engine parameters and structure system parameters; first elastic modal data of the target rocket is calculated based on the rocket professional data, wherein the elastic modal data comprises elastic body vibration generalized coordinates, elastic motion equation coefficients, damping coefficients, natural frequencies and mode shape slopes; and the elastic motion model is constructed according to the elastic modal data.

[0050] Embodiments of the present application also provide a rocket control device, which comprises:

[0051] A signal acquisition module is used for acquiring real-time angular velocity signals and real-time acceleration signals of multiple frequencies by multiple angular velocity sensitive devices and multiple acceleration sensitive devices arranged on a target rocket.

[0052] A signal processing module is used for determining real-time angular velocity arrays corresponding to each angular velocity sensitive device based on the real-time angular velocity signals of each frequency, and determining real-time acceleration arrays of each acceleration sensitive device based on the real-time acceleration signals of each frequency; and real-time signal processing data arrays of the target rocket are determined according to the real-time angular velocity arrays, the real-time acceleration arrays and a target signal transfer function of the target rocket.

[0053] A frequency identification module is configured to identify an elastic frequency of the target rocket based on the signal processing data array and a target frequency transfer function of the target rocket.

[0054] A control module is configured to control an attitude control system of the target rocket according to the target elastic frequency.

[0055] Further, the control module is specifically configured to:

[0056] Generate a filter corresponding to the target elastic frequency through a filter system of the target rocket;

[0057] Obtain a real-time angular deviation of the target rocket, and sequentially process the real-time angular deviation through the filter and the correction network, and determine a target control instruction of the target rocket by using a processing result;

[0058] Control the attitude control system of the target rocket according to the target control instruction.

[0059] The embodiment of the present application further provides a storage medium having a computer program stored thereon, and the computer program is executed by a processor to realize the method.

[0060] The present application is to solve the problem that the elastic frequency of the rocket cannot be accurately obtained in the prior art, and an effective method for identifying the elastic frequency of the rocket in real time is obtained by designing an elastic frequency identification algorithm of the rocket and verifying the effectiveness of the identification algorithm through attitude control simulation of the rocket, so that the effect of accurately obtaining the elastic frequency of the rocket at a low cost is realized. BRIEF DESCRIPTION OF DRAWINGS

[0061] Figure 1 is a flowchart of a rocket elastic frequency identification verification method provided by the embodiment of the present application;

[0062] Figure 2 is a schematic diagram of a rocket elastic frequency identification algorithm provided by the embodiment of the present application;

[0063] Figure 3 is a structural schematic diagram of a simulation platform control system provided by the embodiment of the present application;

[0064] Figure 4 is a flowchart of another rocket elastic frequency identification verification method provided by the embodiment of the present application;

[0065] Figure 5 is a flowchart of a rocket control method provided by the embodiment of the present application;

[0066] Figure 6is a structural schematic view of a rocket elastic frequency identification verification device provided by an embodiment of the present application.

[0067] Figure 7 is a structural schematic view of a rocket control device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0068] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application is further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the present application.

[0069] The present application is designed to solve the problem that it is difficult to accurately obtain the rocket elastic natural frequency (hereinafter referred to as elastic frequency) in the prior art, a real-time online identification method of rocket elastic frequency is designed, and the designed algorithm is verified by simulation means to ensure the effectiveness of the algorithm, so as to realize real-time online identification of rocket elastic frequency.

[0070] Example One

[0071] In the present embodiment, a rocket elastic frequency identification verification method is provided, as shown in Figure 1 The method comprises the following steps:

[0072] Step 101, a plurality of angular velocity sensitive devices and a plurality of acceleration sensitive devices are arranged on a target rocket, angular velocity signals and acceleration signals of a plurality of frequencies are collected respectively by the angular velocity sensitive devices and the acceleration sensitive devices, and an angular velocity array corresponding to each angular velocity sensitive device and an acceleration array of each acceleration sensitive device are determined;

[0073] Step 102, a signal processing data array of the target rocket is determined according to the angular velocity array, the acceleration array and a preset signal transfer function of the target rocket;

[0074] Step 103, based on the signal processing data array and a preset frequency identification transfer function of the target rocket, the elastic frequency of the target rocket is identified;

[0075] Step 104, based on the elastic frequency, the elastic rocket body motion environment of the target rocket is simulated by a simulation platform of the target rocket, the elastic motion control system simulation of the target rocket is carried out by using the control instruction of the target rocket, and the first curve of the control instruction feedback signal changing with time, the second curve of the elastic attitude angular velocity changing with time and the third curve of the elastic attitude angular deviation changing with time are determined based on the simulation control result, and the effectiveness of the preset signal transfer function and the preset frequency identification transfer function is verified.

[0076] In the embodiment of the present application, a plurality of sensitive devices (such as a gyroscope, an accelerometer, etc.) arranged on the target rocket are responsible for collecting the angular velocity signals and acceleration signals sensed by the rocket in real time, so that the received signals of different frequencies are processed respectively, and then specific flag information is output for each signal. After receiving the multi-path flag information, the discrete form of the preset signal transfer function of the designed signal real-time processing module can be:

[0077]

[0078] wherein Cwk is Cw0, Cw1, Cw2, Dwk is Dw1, Dw2, Cw0, Cw1, Cw2, Dw1, Dw2 are one-dimensional arrays of quantity n, n is determined by the frequency range, for example, the frequency range is 5Hz-10Hz, and the frequency interval is 0.1Hz, then n=50, and there are 50 different Gfd(i), (i=1-n). Cw0, Cw1, Cw2, Dw1, Dw2 are obtained by different performance designs of specific models (angular velocity sensitive device, acceleration sensitive device). The collected signals are respectively processed through the above 50 different Gfd(i) to obtain 50 groups of signal outputs.

[0079] The 50 groups of signals output by the above signal real-time processing module are one-to-one corresponding to the frequencies between 5Hz-10Hz, and the frequency corresponding to one of the signals is identified as the identification result. The above frequency range of 5Hz-10Hz corresponds to n different identification functions, and the preset frequency identification transfer function form is Cfd(j), (j=1-n).

[0080]

[0081] wherein w n is a one-dimensional array of quantity n, n is determined by the frequency range, and is one-to-one corresponding to the above Gfd(i), and ξ is a damping ratio coefficient, which is determined by experience and can be in the range of 0.7-1.3. For example, there are 50 groups of Cfd(j), (j=1-n) corresponding to the above Gfd(i). The working structure diagram is shown in Figure 2 The signals collected by the sensitive device are processed through the signal processing module, and the frequency identification module performs frequency identification and output according to the processed signals.

[0082] Finally, the elastic frequency identification algorithm needs to be verified by engineering simulation after being designed, a simulation platform of the control system is established, the identified elastic frequency is input to the simulation platform, the target rocket is simulated and controlled through the simulation platform, the control instruction feedback signal, the elastic attitude angular velocity and the elastic attitude angular deviation of the target rocket are continuously collected, the curves of the three variables changing with time are analyzed, and the effectiveness of the identification algorithm is judged by verifying whether the changes of the three variables conform to the objective law, so as to obtain the verified signal transfer function and frequency transfer function, and thus the elastic frequency identification is performed through the sensitive signals collected in real time under the running state of the rocket.

[0083] Optionally, if the first curve, the second curve and the third curve all satisfy the respective variable ranges, the preset signal transfer function is taken as the target signal transfer function of the target rocket, and the preset frequency identification transfer function is taken as the target frequency transfer function of the target rocket; if at least one of the first curve, the second curve and the third curve does not satisfy the respective variable ranges, the preset signal transfer function and the preset frequency identification transfer function are modified.

[0084] Among them, the curves of the control instruction feedback signal, the elastic attitude angular velocity and the elastic attitude angular deviation changing with time can be drawn through the simulation platform, and the specific indexes of the normal ranges of the three variables are verified through the pre-set. If the simulation result shows that the variable is within the index range, it means that the design is correct; if the simulation result shows that the variable exceeds the index range, it means that the design needs to be improved, and the network parameters of the preset signal transfer function Gfd and the preset frequency identification transfer function Cfd need to be redesigned until the simulation verification result meets the index requirements of the whole.

[0085] Through the technical solutions of the embodiments of the present application, the elastic frequency of the rocket can be avoided to be determined through a large number of ground tests, and the frequency identification algorithm is designed and verified, which is helpful to realize the real-time and accurate online identification of the elastic frequency of the rocket.

[0086] Example Two

[0087] In the embodiment of the present application, in the step 104, the "based on the elastic frequency, simulating the elastic body motion environment of the target rocket through the simulation platform of the target rocket, and performing elastic motion control system simulation on the target rocket by using the control instruction of the target rocket" can be specifically: generating a filter corresponding to the elastic frequency through a filter system of the simulation platform; obtaining the angular deviation of the target rocket, and sequentially processing the angular deviation through the filter and a correction network of the simulation platform, and determining the control instruction of the target rocket by using the processing result; and controlling the attitude control system of the simulation platform according to the control instruction.

[0088] In the above embodiment, the control system working structure of the simulation platform is as shown in Figure 3 The filter system parameters are calculated from the identification result frequency, and are substituted into the attitude simulation control system (including the correction network and the actuator) for mathematical simulation verification. Specifically, the angular deviation of the target rocket and the identified elastic frequency are input into the filter system, the filter system performs adaptive selection of the filter parameters according to the elastic frequency and generates a filter, the deviation of the target rocket is filtered, the filtered data is input into the correction network for correction, the control instruction of the attitude control system of the target rocket is generated according to the corrected data, the control instruction is executed by the actuator to realize the control simulation of the target rocket, in addition, the sensitive device continuously collects the attitude information of the target rocket, and the current attitude and speed parameters of the target rocket are calculated in real time by using the sensitive signals collected by the sensitive device, and the deviation of the target rocket is continuously calculated.

[0089] Example Three

[0090] In the embodiment of the present application, optionally, the method further comprises: obtaining an elastic motion model of the target rocket, and combining the angular velocity signal and the acceleration signal to calculate an elastic angular deviation of the target rocket; and determining the angular deviation of the target rocket based on the elastic angular deviation and a rigid angular deviation of the target rocket.

[0091] In the above embodiment, the elastic angular deviation of the target rocket is calculated by the elastic motion model, and a preferred rocket elastic motion modeling is as follows:

[0092] Wherein, q i (t) is the generalized coordinate of the elastic body vibration, is the elastic angular deviation, ζ i is the damping coefficient, ω i is the natural frequency, D 3i is the elastic motion equation coefficient, W i '(X I) is the mode shape slope, all are constants. The engine working condition is determined by the angular velocity signal and the acceleration signal.

[0093] A i Function value:

[0094] Pitch direction Function value:

[0095] Yaw direction Function value:

[0096] Further, after the elastic angular deviation is determined, the rigid angular deviation of the target rocket is obtained, and the sum of the two is taken as the final angular deviation of the target rocket for simulation control.

[0097] In the embodiment of the application, optionally, the method further comprises: obtaining rocket professional data of the target rocket, wherein the rocket professional data comprises rocket overall parameters, aerodynamic performance parameters, trajectory parameters, engine parameters and structure system parameters; calculating first elastic modal data of the target rocket based on the rocket professional data, wherein the elastic modal data comprises elastic body vibration generalized coordinates, elastic motion equation coefficients, damping coefficients, natural frequencies and mode shape slopes; and constructing the elastic motion model according to the elastic modal data.

[0098] In the above embodiment, the rocket elastic frequency identification verification method flow is as shown in Figure 4

[0099] S1, the rocket overall professional data mainly comprises rocket overall parameters, aerodynamic performance parameters, trajectory parameters, engine parameters and structure system shape parameters, and the rocket overall data is the basis for analysis, calculation and test of the environment professional and the control professional.

[0100] S2, after the rocket overall professional provides complete data input, the environment professional and the control professional need to preliminarily analyze the data, confirm that the data is complete and effective, and then the next step can be carried out.

[0101] ​S3, the elastic modal data of the whole rocket is obtained by theoretical calculation, and the data obtained at this time is often greatly deviated, which causes great difficulty for control professional design. Therefore, the traditional method in the aerospace industry is to carry out relevant modal test, correct the results of theoretical calculation, and give more accurate elastic modal data as the input of the design of the attitude control system of the control professional. Since the environmental test is very complex, if a complete environmental test is to be carried out, a large amount of manpower, financial resources and time need to be invested, which is long in time and high in cost, and has not adapted to the current demand of low cost and rapid launch of commercial aerospace. The method provided in the present application can save a lot of environmental tests, and the environmental professional only needs to provide the elastic modal data range preliminarily obtained by theoretical calculation to the control professional, and the control professional carries out design accordingly. The elastic modal data provided by the environmental professional includes elastic body vibration generalized coordinates, elastic motion equation coefficients, damping coefficients, natural frequency and mode shape slope, and other related parameters.

[0102] S4, the control professional carries out modeling according to the design input provided by the general body and the elastic modal data calculated by the environmental professional, establishes the elastic motion model of the rocket, and serves as the basis for the next step, and the modeling method has been introduced above, and will not be described here.

[0103] S5, the elastic frequency real-time online identification algorithm includes a signal real-time acquisition module, a signal real-time processing module and a frequency online identification module. The signal real-time acquisition module is responsible for real-time acquisition of angular velocity and acceleration information sensed by sensitive devices (such as gyroscopes, accelerometers, etc.) on the rocket. The signal real-time processing module is responsible for processing the received signals of different frequencies respectively, and then outputting specific mark information for each signal. The frequency online identification module receives multiple mark information, calculates through a designed frequency identification algorithm, and outputs the identification result, that is, the elastic frequency of the rocket identified by the algorithm online.

[0104] S6, the elastic frequency identification algorithm is mathematically simulated and verified, and then engineering verification is carried out through a semi-physical simulation test platform containing sensitive measurement devices on the rocket. After the verification is completed, it can be considered that the algorithm is completed.

[0105] Through the technical scheme provided in the embodiment of the present application, the elastic frequency of the rocket can be avoided to be determined through a large amount of ground test, the frequency identification algorithm is designed and verified, which is helpful to realize real-time and accurate online identification of the elastic frequency of the rocket. The acquisition cost of the elastic frequency of the rocket is reduced, the accuracy of the elastic frequency is improved, and a foundation is laid for mass production of rockets.

[0106] Example Four

[0107] In the embodiment, a rocket control method is provided, as shown in Figure 5 The method comprises the following steps.

[0108] Step 201, collecting real-time angular velocity signals and real-time acceleration signals of multiple frequencies through multiple angular velocity sensitive devices and multiple acceleration sensitive devices arranged on the target rocket respectively;

[0109] Step 202, determining a real-time angular velocity array corresponding to each angular velocity sensitive device based on the real-time angular velocity signal of each frequency respectively, and determining a real-time acceleration array of each acceleration sensitive device based on the real-time acceleration signal of each frequency respectively;

[0110] Step 203, determining a real-time signal processing data array of the target rocket according to the real-time angular velocity array, the real-time acceleration array and a target signal transfer function of the target rocket;

[0111] Step 204, identifying a target elastic frequency of the target rocket based on the signal processing data array and a target frequency transfer function of the target rocket;

[0112] Step 205, controlling an attitude control system of the target rocket according to the target elastic frequency.

[0113] In the above embodiment, after the signal transfer function and the frequency transfer function conforming to the variable change range are determined through simulation verification, that is, after the target signal transfer function and the target frequency transfer function are determined, the identification algorithm can be applied to the real-time online identification of the elastic frequency in the real-time running process of the rocket. Figure 5 As shown in the figure, after the real-time angular velocity signals and real-time acceleration signals and other elastic motion information are collected through the sensitive devices, the collected signals are processed through the target signal transfer function, and the online identification of the target elastic frequency is performed through the target frequency transfer function, and finally the target elastic frequency is output. Then the target elastic frequency is used to control the attitude control system of the rocket to ensure the accurate and safe flight attitude of the rocket.

[0114] In the embodiment of the application, step 205 specifically includes: generating a filter corresponding to the target elastic frequency through a filter system of the target rocket; acquiring a real-time angular deviation of the target rocket, and sequentially processing the real-time angular deviation through the filter and a correction network to determine a target control instruction of the target rocket; and controlling the attitude control system of the target rocket according to the target control instruction.

[0115] In the above embodiment, the real-time angular deviation of the target rocket and the identified target elastic frequency can be input into the filtering system, the filtering system performs adaptive selection of filtering parameters according to the target elastic frequency and generates a filter, the real-time deviation of the target rocket is filtered, the filtered data is input into the correction network for correction, and the target control instruction of the target rocket attitude control system is generated according to the corrected data, and the target control instruction is executed by the actuator to realize the attitude control of the target rocket.

[0116] Further, as Figure 1 The specific implementation of the method, the embodiment of the present application provides a rocket elastic frequency identification verification device, as shown in the figure, the device comprises: Figure 6 The signal acquisition module 31 is used for acquiring angular velocity signals and acceleration signals of multiple frequencies through multiple angular velocity sensitive devices and multiple acceleration sensitive devices arranged on the target rocket.

[0117] The signal processing module 32 is used for determining an angular velocity array corresponding to each angular velocity sensitive device and an acceleration array of each acceleration sensitive device, and determining a signal processing data array of the target rocket according to the angular velocity array, the acceleration array and a preset signal transfer function of the target rocket.

[0118] The frequency identification module 33 is used for identifying the elastic frequency of the target rocket based on the signal processing data array and a preset frequency identification transfer function of the target rocket.

[0119] The simulation verification module 34 is used for simulating the elastic rocket body motion environment of the target rocket based on the elastic frequency through the simulation platform of the target rocket, simulating the elastic motion control system of the target rocket by using the control instruction of the target rocket, and determining a first curve of the control instruction feedback signal changing with time, a second curve of the elastic attitude angular velocity changing with time and a third curve of the elastic attitude angular deviation changing with time based on the simulation control result, and verifying the effectiveness of the preset signal transfer function and the preset frequency identification transfer function.

[0120] Further, the simulation verification module 34 is specifically used for:

[0121] If the first curve, the second curve and the third curve all satisfy the respective variable range, the preset signal transfer function is taken as the target signal transfer function of the target rocket, and the preset frequency identification transfer function is taken as the target frequency transfer function of the target rocket.

[0122]

[0123] ​If at least one of the first curve, the second curve, and the third curve does not meet its respective variable range, then the preset signal transfer function and the preset frequency identification transfer function are modified.

[0124] Furthermore, the simulation verification module 34 is also used for:

[0125] The filtering system of the simulation platform generates a filter corresponding to the elastic frequency.

[0126] The angular deviation of the target rocket is obtained, and the angular deviation is processed sequentially through the filter and the correction network of the simulation platform. The control command of the target rocket is determined using the processing result.

[0127] The attitude control system of the simulation platform is controlled according to the control command.

[0128] Furthermore, the simulation verification module 34 is also used for:

[0129] The elastic motion model of the target rocket is obtained, and the elastic angular deviation of the target rocket is calculated by combining the angular velocity signal and the acceleration signal.

[0130] The angular deviation of the target rocket is determined based on the elastic angular deviation and the rigid angular deviation of the target rocket.

[0131] Furthermore, the device also includes:

[0132] The modeling module is used to acquire rocket-specific data of the target rocket, including overall rocket parameters, aerodynamic performance parameters, ballistic parameters, engine parameters, and structural system parameters; based on the target rocket-specific data, it calculates the first elastic modal data of the target rocket, including the generalized coordinates of elastic body vibration, coefficients of the elastic motion equation, damping coefficient, natural frequency, and mode shape slope; and constructs the elastic motion model based on the elastic modal data.

[0133] Furthermore, as Figure 5 To specifically implement the method, this invention provides a rocket control device, such as... Figure 7 As shown, the device includes:

[0134] The signal acquisition module 41 is used to acquire real-time angular velocity signals and real-time acceleration signals at multiple frequencies through multiple angular velocity sensing devices and multiple acceleration sensing devices installed on the target rocket.

[0135] The signal processing module 42 is configured to determine a real-time angular velocity array corresponding to each of the angular velocity sensitive devices based on the real-time angular velocity signal of each frequency, and determine a real-time acceleration array of each of the acceleration sensitive devices based on the real-time acceleration signal of each frequency; and determine a real-time signal processing data array of the target rocket according to the real-time angular velocity array, the real-time acceleration array and a target signal transfer function of the target rocket.

[0136] The frequency identification module 43 is configured to identify a target elastic frequency of the target rocket based on the signal processing data array and a target frequency transfer function of the target rocket.

[0137] The control module 44 is configured to control an attitude control system of the target rocket according to the target elastic frequency.

[0138] Further, the control module 44 is specifically configured to:

[0139] generate a filter corresponding to the target elastic frequency through a filter system of the target rocket;

[0140] obtain a real-time angular deviation of the target rocket, and sequentially process the real-time angular deviation through the filter and a correction network, and determine a target control instruction of the target rocket by using a processing result;

[0141] control the attitude control system of the target rocket according to the target control instruction.

[0142] Based on the method as shown in the above Figures 1 to 5 Accordingly, the embodiment of the present application further provides a storage medium having a computer program stored thereon, and the computer program is executed by a processor to implement the method as shown in the above Figures 1 to 5 .

[0143] Based on such understanding, the technical solution of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a U disk, a mobile hard disk, etc.), and includes a plurality of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute the method described in various implementation scenarios of the present application.

[0144] Based on the method as shown in the above Figures 1 to 5 , and the virtual device embodiment as shown in the above Figures 6 to 7 , in order to achieve the above purpose, the embodiment of the present application further provides a computer device, which can be specifically a personal computer, a server, a network device, etc., and the computer device includes a storage medium and a processor; the storage medium is configured to store a computer program; and the processor is configured to execute the computer program to implement the method as shown in the aboveFigures 1 to 2 The method is shown.

[0145] Optionally, the computer device can further include a user interface, a network interface, a camera, a radio frequency (RF) circuit, a sensor, an audio circuit, a WI-FI module, and the like. The user interface can include a display, an input unit such as a keyboard, and the like. The optional user interface can further include a USB interface, a card reader interface, and the like. The network interface can optionally include a standard wired interface, a wireless interface (such as a Bluetooth interface, a WI-FI interface), and the like.

[0146] Those skilled in the art can understand that the computer device structure provided by the embodiment does not constitute a limitation on the computer device, and can include more or fewer components, or combine certain components, or different component arrangements.

[0147] The storage medium can further include an operating system and a network communication module. The operating system is a program for managing and saving computer device hardware and software resources, and supports the running of information processing programs and other software and / or programs. The network communication module is used to realize communication between the components in the storage medium, and communication with other hardware and software in the entity device.

[0148] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. Any modification, equivalent replacement, and improvement within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method for verifying the elastic frequency identification of a rocket, characterized in that, The method comprises: collecting angular velocity signals and acceleration signals of multiple frequencies through multiple angular velocity sensitive devices and multiple acceleration sensitive devices arranged on a target rocket, and determining an angular velocity array corresponding to each of the angular velocity sensitive devices and an acceleration array of each of the acceleration sensitive devices; determining a signal processing data array of the target rocket according to the angular velocity array, the acceleration array and a preset signal transfer function of the target rocket; Based on the signal processing data array and the preset frequency identification transfer function of the target rocket, the elastic frequency of the target rocket is identified; wherein, the signal processing data array is one-to-one corresponding to a frequency range through an identification algorithm, and the frequency corresponding to one signal identified from the signal processing data array is the identification result; the above frequency range corresponds to n different identification functions, and the preset frequency identification transfer function is Cfd(j), wherein, j=1~n, wherein, w n is a one-dimensional array of quantity n, n is determined by the frequency range, is a damping ratio coefficient; simulating an elastic rocket body motion environment of the target rocket based on the elastic frequency through a simulation platform of the target rocket, performing elastic motion control system simulation on the target rocket by using a control instruction of the target rocket, and determining a first curve of a control instruction feedback signal changing over time, a second curve of an elastic attitude angular velocity changing over time and a third curve of an elastic attitude angular deviation changing over time based on a simulation control result, and verifying effectiveness of the preset signal transfer function and a preset frequency identification transfer function.

2. The method of claim 1, wherein, The method for verifying effectiveness of the preset signal transfer function and the preset frequency identification transfer function based on the simulation control result and by determining the first curve of the control instruction feedback signal changing over time, the second curve of the elastic attitude angular velocity changing over time and the third curve of the elastic attitude angular deviation changing over time comprises: if the first curve, the second curve and the third curve all satisfy respective variable ranges, taking the preset signal transfer function as a target signal transfer function of the target rocket and taking the preset frequency identification transfer function as a target frequency transfer function of the target rocket; if at least one of the first curve, the second curve and the third curve does not satisfy the respective variable ranges, modifying the preset signal transfer function and the preset frequency identification transfer function.

3. The method of claim 2, wherein, The method for simulating the elastic rocket body motion environment of the target rocket based on the elastic frequency through the simulation platform of the target rocket and performing elastic motion control system simulation on the target rocket by using the control instruction of the target rocket comprises: generating a filter corresponding to the elastic frequency through a filter system of the simulation platform; acquiring an angular deviation of the target rocket, and sequentially processing the angular deviation through the filter and a correction network of the simulation platform, and determining the control instruction of the target rocket by using a processing result; controlling an attitude control system of the simulation platform according to the control instruction.

4. The method of claim 3, wherein, The method for acquiring the angular deviation of the target rocket comprises: acquiring an elastic motion model of the target rocket, and calculating an elastic angular deviation of the target rocket in combination with the angular velocity signals and the acceleration signals; determining the angular deviation of the target rocket based on the elastic angular deviation and a rigid angular deviation of the target rocket.

5. The method of claim 4, wherein, Before acquiring the elastic motion model of the target rocket, the method further comprises: acquiring rocket professional data of the target rocket, wherein the rocket professional data comprises rocket overall parameters, aerodynamic performance parameters, trajectory parameters, engine parameters and structure system parameters. Based on the target rocket professional data, first elastic modal data of the target rocket is calculated, wherein the elastic modal data comprises elastic body vibration generalized coordinates, elastic motion equation coefficients, damping coefficients, natural frequencies and mode shape slopes; According to the elastic modal data, the elastic motion model is constructed.

6. A method of controlling a rocket, characterized by, The method comprises: Real-time angular velocity signals and real-time acceleration signals of multiple frequencies are collected by multiple angular velocity sensitive devices and multiple acceleration sensitive devices arranged on the target rocket; Real-time angular velocity arrays corresponding to each of the angular velocity sensitive devices are determined based on the real-time angular velocity signals of each frequency, and real-time acceleration arrays of each of the acceleration sensitive devices are determined based on the real-time acceleration signals of each frequency; Real-time signal processing data arrays of the target rocket are determined according to the real-time angular velocity arrays, the real-time acceleration arrays and a target signal transfer function of the target rocket; Based on the signal processing data array and the target frequency transfer function of the target rocket, a target elastic frequency of the target rocket is identified; wherein the signal processing data array is one-to-one corresponding to a frequency range through an identification algorithm, and the frequency corresponding to one signal identified from the signal processing data array is the identification result; the frequency range corresponds to n different identification functions, and the preset frequency identification transfer function is Cfd(j), wherein j=1~n, wherein w n is a one-dimensional array of quantity n, n is determined by the frequency range, is a damping ratio coefficient; The target elastic frequency is used to control an attitude control system of the target rocket.

7. The method of claim 6, wherein, The target elastic frequency is used to control the attitude control system of the target rocket, specifically comprising: A filter corresponding to the target elastic frequency is generated by a filter system of the target rocket; Real-time angular deviations of the target rocket are obtained, and the real-time angular deviations are processed in sequence by the filter and a correction network, and a target control instruction of the target rocket is determined by using a processing result; The target control instruction is used to control the attitude control system of the target rocket.

8. A rocket elastic frequency identification verification device, characterized by, The device comprises: A signal collection module is configured to collect angular velocity signals and acceleration signals of multiple frequencies by multiple angular velocity sensitive devices and multiple acceleration sensitive devices arranged on a target rocket; A signal processing module is configured to determine angular velocity arrays corresponding to each of the angular velocity sensitive devices and acceleration arrays of each of the acceleration sensitive devices, and determine signal processing data arrays of the target rocket according to the angular velocity arrays, the acceleration arrays and a preset signal transfer function of the target rocket; a frequency identification module, configured to identify the elastic frequency of the target rocket based on the signal processing data array and a preset frequency identification transfer function of the target rocket; wherein the signal processing data array is one-to-one corresponding to a certain frequency range through an identification algorithm, and the frequency corresponding to one of the signals identified from the signal processing data array is the identification result; the above frequency range corresponds to n different identification functions, and the preset frequency identification transfer function is in the form of Cfd(j), wherein j=1~n, wherein wn is a one-dimensional array of the number n, and n is determined by the frequency range, is a damping ratio coefficient. An emulation verification module is configured to simulate elastic rocket body motion environments of the target rocket based on the elastic frequencies by a simulation platform of the target rocket, perform elastic motion control system emulation of the target rocket by using a control instruction of the target rocket, determine a first curve of control instruction feedback signals changing over time, a second curve of elastic attitude angular velocities changing over time and a third curve of elastic attitude angular deviations changing over time based on emulation control results, and verify effectiveness of the preset signal transfer function and a preset frequency identification transfer function.

9. A rocket control device characterized by comprising: The device comprises: A signal collection module is configured to collect real-time angular velocity signals and real-time acceleration signals of multiple frequencies by multiple angular velocity sensitive devices and multiple acceleration sensitive devices arranged on a target rocket; A signal processing module is configured to determine a real-time angular velocity array corresponding to each of the angular velocity sensitive devices based on the real-time angular velocity signal of each frequency, and determine a real-time acceleration array of each of the acceleration sensitive devices based on the real-time acceleration signal of each frequency; and determine a real-time signal processing data array of the target rocket based on the real-time angular velocity array, the real-time acceleration array and a target signal transfer function of the target rocket. a frequency identification module, configured to identify an elastic frequency of the target rocket based on the signal processing data array and a target frequency transfer function of the target rocket; wherein the signal processing data array is one-to-one corresponding to a frequency range through an identification algorithm, and a frequency corresponding to one of the signal processing data array is the identification result; the frequency range corresponds to n different identification functions, and a preset frequency identification transfer function is Cfd(j), wherein j=1~n, wherein wn is a one-dimensional array of the number n, and n is determined by the frequency range, is a damping ratio coefficient. A control module is configured to control an attitude control system of the target rocket based on the target elastic frequency.

10. A storage medium having stored thereon a computer program, characterized in that The computer program is executed by a processor to implement the method in any one of claims 1 to 7.

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