A control method for a driving turntable of a separation section between rocket stages

Abstract

The present application provides a control method for a driving turntable of a separation stage between rocket stages, comprising the following steps: obtaining a pitch angle θ0, a yaw angle ψ0, a roll angle γ0, a rotational angular velocity component #imgabs0# along the x-axis direction, a rotational angular velocity component #imgabs1# along the y-axis direction, and a rotational angular velocity component #imgabs2# along the z-axis direction at t=0 of an aircraft; obtaining a pitch angle θ0 of the aircraft at t=T; obtaining a pitch angle θ1 of the aircraft at t=T; obtaining a pitch angle θ2 of the aircraft at t=T ... T , yaw angle ψ T , rolling angle γ T , the rotational angular velocity component along the x-axis direction #imgabs3#, the rotational angular velocity component along the y-axis direction #imgabs4#, and the rotational angular velocity component along the z-axis direction #imgabs5# t=T is the separation termination moment of the aircraft; according to formulas 1 to 4, the pitch angle θ of the aircraft between the separation initial moment and the separation termination moment is controlled t , yaw angle ψ t and the rolling angle γ t The above method realizes the smooth transition of the attitude angle and angular velocity of the separation section connecting the stages, and avoids the turntable from getting stuck due to the discontinuity of the attitude angle and angular velocity.

Description

Technical Field

[0001] The present disclosure generally relates to the field of rocket control technology, and in particular to a control method for a driving turntable of a separation section between rocket stages. Background Art

[0002] When rockets, missiles and other aircraft separate from each other, certain separation interference will occur. Therefore, the control system of the upper stage aircraft after separation needs to adapt to a certain attitude angle and angular velocity deviation range. The aircraft control system needs to adapt to this deviation range when it is designed.

[0003] Semi-physical simulation of control systems is an important part of ground tests for aircraft design. When conducting ground simulation tests of control systems, it is necessary to drive the turntable according to the real-time attitude angle and angular velocity of the aircraft. The aircraft navigation system is installed on the turntable and moves with the turntable in real time to simulate the flight state of the aircraft.

[0004] When conducting a semi-physical simulation test of an aircraft control system with stage separation, when the turntable needs to simulate a situation where the attitude angle and angular velocity of the aircraft take-off moment after separation are significantly different from those before separation, skipping the separation window and directly driving the turntable with the attitude angle and angular velocity after separation will cause the turntable to get stuck due to discontinuity in attitude angle and angular velocity. In severe cases, the turntable attitude may diverge, leading to test failure. Summary of the invention

[0005] In view of the above-mentioned defects or deficiencies in the prior art, it is desired to provide a control method for a rocket inter-stage separation stage drive turntable that can solve the above-mentioned technical problems.

[0006] The first aspect of the present application provides a control method for a rocket inter-stage separation stage drive turntable, comprising the following steps:

[0007] Get the aircraft in t =0, relative to the ground coordinate system: pitch angle , yaw angle , Roll Angle ;

[0008] Get the aircraft in t = 0, the angular velocity relative to the ground coordinate system in the aircraft coordinate system is: x Angular velocity component of rotation in the direction of the axis ,along y Angular velocity component of rotation in the direction of the axis And along z Angular velocity component of rotation in the direction of the axis ; t =0 is the initial separation moment of the aircraft;

[0009] Get the aircraft int = T When , relative to the ground coordinate system: pitch angle , yaw angle , Roll Angle ;

[0010] Get the aircraft in t = T When , the angular velocity of rotation relative to the ground coordinate system in the aircraft coordinate system is: x Angular velocity component of rotation in the direction of the axis ,along y Angular velocity component of rotation in the direction of the axis And along z Angular velocity component of rotation in the direction of the axis ; t = T Time is the separation termination time of the aircraft;

[0011] According to formula (1) to formula (4), the pitch angle of the aircraft is controlled between the initial separation moment and the final separation moment. , yaw angle and roll angle :

[0012] (one);

[0013] (two);

[0014] (three);

[0015] (Four).

[0016] According to the technical solution provided in the embodiment of the present application, the formula (II) is: t =0 and t = T Substituting into the above formula (5), formula (6) and formula (1) to solve, we obtain:

[0017] (five);

[0018] (six).

[0019] According to the technical solution provided in the embodiment of the present application, the control method of the rocket inter-stage separation stage driving turntable further includes the following steps:

[0020] Before the initial moment of separation of the aircraft, the pitch angle, yaw angle and roll angle of the aircraft are controlled with first preset parameters.

[0021] According to the technical solution provided in the embodiment of the present application, the control method of the rocket inter-stage separation stage driving turntable further includes the following steps:

[0022] After the separation termination moment of the aircraft, the pitch angle, yaw angle and roll angle of the aircraft are controlled with second preset parameters.

[0023] A second aspect of the present application provides a terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the control method steps of the rocket inter-stage separation stage drive turntable as described above when executing the computer program.

[0024] A third aspect of the present application provides a computer-readable storage medium having a computer program, which, when executed by a processor, implements the control method steps of the rocket inter-stage separation segment drive turntable as described above.

[0025] The beneficial effect of the present application is that in the above method, by obtaining the attitude angle and angular velocity components at the initial moment of separation and the final moment of separation of the aircraft, and substituting them into formula (1) to formula (4), the cubic bridging function of the attitude angle of the interstage separation section can be obtained. The cubic bridging function obtained by solving the obtained cubic bridging function can make the attitude angle of the aircraft in the interstage separation section (that is, from the initial moment of separation to the final moment of separation) achieve a smooth transition, thereby avoiding the jamming of the drive turntable due to the discontinuity of the attitude angle and angular velocity. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

[0027] Figure 1 A flow chart of a control method for a rocket inter-stage separation stage drive turntable provided in the present application.

[0028] Figure 2 A schematic diagram of a terminal device provided for this application. DETAILED DESCRIPTION

[0029] The present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the relevant invention, rather than to limit the invention. It is also necessary to explain that, for ease of description, only the parts related to the invention are shown in the accompanying drawings.

[0030] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0031] Example 1

[0032] Please refer to Figure 1 A control method for a rocket inter-stage separation stage drive turntable provided in the present application comprises the following steps:

[0033] S1: Get the aircraft t =0, relative to the ground coordinate system: pitch angle , yaw angle , Roll Angle ;

[0034] Get the aircraft in t = 0, the angular velocity relative to the ground coordinate system in the aircraft coordinate system is: x Angular velocity component of rotation in the direction of the axis ,along y Angular velocity component of rotation in the direction of the axis And along z Angular velocity component of rotation in the direction of the axis ; t =0 is the initial separation moment of the aircraft;

[0035] S2: Get the aircraft t = T When , relative to the ground coordinate system: pitch angle , yaw angle , Roll Angle ;

[0036] Get the aircraft in t = T When , the angular velocity of rotation relative to the ground coordinate system in the aircraft coordinate system is: x Angular velocity component of rotation in the direction of the axis ,along y Angular velocity component of rotation in the direction of the axis And along z Angular velocity component of rotation in the direction of the axis ; t = T Time is the separation termination time of the aircraft;

[0037] S3: Control the pitch angle of the aircraft between the separation start time and the separation end time according to formula (1) to formula (4) , yaw angle and roll angle :

[0038] (one);

[0039] (two);

[0040] (three);

[0041] (Four).

[0042] It is known to those skilled in the art that an aircraft has an aircraft body coordinate system Oxyz , coordinate origin O is the center of mass of the aircraft; Ox The axis coincides with the longitudinal axis of the aircraft, and the direction pointing toward the head is positive; Oy The axis is located in the longitudinal symmetry plane of the aircraft, Ox The axis is vertical, pointing upward is positive; Oz It is perpendicular to the other two axes and forms the right-hand rule.

[0043] The ground has a ground coordinate system O 0 x 0 y 0 z 0 , coordinate origin O 0 It is the launch point of the aircraft; O 0 x 0 The axis is the intersection of the aircraft track plane and the horizontal plane, and the one pointing to the target is positive; O 0 y 0 The axis is vertically upward; O 0 z 0 The axis is perpendicular to the other two axes and forms the right-hand rule.

[0044] According to the above definition, the attitude of the aircraft relative to the ground coordinate system is composed of the attitude angle (pitch angle , yaw angle , Roll Angle ) is determined; the components of the angular velocity of the aircraft body coordinate system relative to the ground coordinate system on each axis of the aircraft body coordinate system are , , ;

[0045] In order to explain the working principle of the present application, an example of an aircraft stage separation is used for illustration, and the specific steps are as follows:

[0046] S1: Get the aircraft t =0, relative to the ground coordinate system: pitch angle , yaw angle , Roll Angle , its specific value is:

[0047] ;

[0048] ;

[0049] ;

[0050] Get the aircraft in t = 0, the angular velocity relative to the ground coordinate system in the aircraft coordinate system is: x Angular velocity component of rotation in the direction of the axis ,along y Angular velocity component of rotation in the direction of the axis And along z Angular velocity component of rotation in the direction of the axis ; t =0 is the initial separation moment of the aircraft; its specific value is:

[0051] ;

[0052] ;

[0053] ;

[0054] S2: Get the aircraft t = T When , relative to the ground coordinate system: pitch angle , yaw angle , Roll Angle , its specific value is:

[0055] ;

[0056] ;

[0057] ;

[0058] Get the aircraft in t = T When , the angular velocity of rotation relative to the ground coordinate system in the aircraft coordinate system is: x Angular velocity component of rotation in the direction of the axis ,along y Angular velocity component of rotation in the direction of the axis And along z Angular velocity component of rotation in the direction of the axis ; t = Tis the separation termination time of the aircraft; its specific value is:

[0059] ;

[0060] ;

[0061] ;

[0062] ;

[0063] S3: Control the aircraft at the initial separation moment ( t =0) to the separation termination time ( t = T =0.15s) , yaw angle and roll angle ; Specifically:

[0064] s31: Substituting the above values ​​into formula (1) to formula (4), the solution is:

[0065] ;

[0066] ;

[0067] ;

[0068] ;

[0069] ;

[0070] ;

[0071] ;

[0072] ;

[0073] ;

[0074] ;

[0075] ;

[0076] ;

[0077] s32: Substitute the above solution into formula (1) to obtain the pitch angle , yaw angle and roll angle The cubic bridging function of the interstage separation attitude angle is:

[0078]

[0079] in, ;

[0080] s33: Control the aircraft at the initial moment of separation with the above-mentioned interstage separation stage attitude angle cubic bridge function ( t =0) to the separation termination time ( t = T =0.15s) , yaw angle and roll angle .

[0081] Working principle: In the above method, by obtaining the attitude angle and angular velocity components at the initial moment of separation and the final moment of separation of the aircraft, and substituting them into formula (1) to formula (4), the cubic bridging function of the attitude angle of the interstage separation section can be obtained. By solving the cubic bridging function, the attitude angle of the aircraft in the interstage separation section (i.e., from the initial moment of separation to the final moment of separation) can be smoothly transitioned, avoiding the jamming of the drive turntable due to the discontinuity of the attitude angle and angular velocity.

[0082] It should be further explained that the aircraft can be arranged on a driving turntable, and the driving turntable is used to drive the aircraft to simulate a flight attitude, that is, the above step S3 is specifically: the driving turntable controls the pitch angle of the aircraft between the initial separation moment and the final separation moment according to the cubic bridge function obtained by formula (1) to formula (4) and the attitude angle and angular velocity components of the aircraft at the initial separation moment and the final separation moment. , yaw angle and roll angle .

[0083] In some embodiments, the formula (II) is given by t =0 and t = T Substituting into the above formula (5), formula (6) and formula (1) to solve, we obtain:

[0084] (five);

[0085] (six).

[0086] Specifically, is the rate of change of the pitch angle, is the rate of change of the yaw angle, is the rate of change of the roll angle.

[0087] In some embodiments, the control method of the rocket inter-stage separation stage drive turntable further includes the following steps:

[0088] Before the initial moment of separation of the aircraft, the pitch angle, yaw angle and roll angle of the aircraft are controlled with first preset parameters.

[0089] Specifically, the aircraft is in an unseparated state before the initial separation moment, and the first preset parameter can be set according to actual needs, that is, when the aircraft is in an unseparated state, the pitch angle, yaw angle and roll angle of the aircraft are set according to actual flight needs.

[0090] In some embodiments, the control method of the rocket inter-stage separation stage drive turntable further includes the following steps:

[0091] After the separation termination moment of the aircraft, the pitch angle, yaw angle and roll angle of the aircraft are controlled with second preset parameters.

[0092] Specifically, the aircraft is in a completely separated state after the separation termination moment, and the second preset parameter can be set according to actual needs, that is, when the aircraft is in a completely separated state, the pitch angle, yaw angle and roll angle of the aircraft are set according to actual flight needs.

[0093] Example 2

[0094] This embodiment provides a terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the control method steps of the rocket inter-stage separation segment driving turntable as described in Example 1 are implemented.

[0095] like Figure 2 As shown, the terminal device 400 includes a central processing unit (CPU) 401, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 402 or the program loaded from the storage part to the random access memory (RAM) 403. In the random access memory 403, various programs and data required for system operation are also stored. The central storage unit 401, the read-only memory 402 and the random access memory 403 are connected to each other through a bus 404. An input / output (I / O) interface 405 is also connected to the bus 404.

[0096] The following components are connected to the input / output interface 405: an input section 406 including a keyboard, a mouse, etc.; an output section 407 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 408 including a hard disk, etc.; and a communication section 409 including a network interface card such as a LAN card, a modem, etc. The communication section 409 performs communication processing via a network such as the Internet. A drive is also connected to the input / output interface 405 as needed. A removable medium 411, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 410 as needed, so that a computer program read therefrom is installed into the storage section 408 as needed.

[0097] In particular, according to an embodiment of the present invention, the above reference process Figure 1 The described process can be implemented as a computer software program. For example, embodiment 1 of the present invention includes a computer program product, which includes a computer program carried on a computer readable medium, and the computer program contains program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication part, and / or installed from a removable medium. When the computer program is executed by a central processing unit (CPU) 401, the above-mentioned functions defined in the system of the present application are executed.

[0098] Example 3

[0099] This embodiment provides a computer-readable storage medium, which has a computer program. When the computer program is executed by a processor, it implements the control method steps of the rocket inter-stage separation segment drive turntable as described in Example 1.

[0100] It should be noted that the computer-readable medium shown in the present invention may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present invention, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device. In the present invention, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable program code. This propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. The program code contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0101] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present invention. In this regard, each box in the flow chart or block diagram can represent a module, a program segment, or a part of a code, and the above-mentioned module, program segment, or a part of a code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flow chart, and the combination of the boxes in the block diagram or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0102] The units involved in the embodiments of the present invention may be implemented by software or hardware, and the units described may also be set in a processor. The names of these units do not constitute limitations on the units themselves under certain circumstances. The units or modules described may also be set in a processor, for example, it may be described as: a processor includes a receiving module, a data processing module, and an output module.

[0103] The names of these units or modules do not, in certain cases, constitute limitations on the units or modules themselves;

[0104] As another aspect, the computer readable medium may be included in the electronic device described in the above embodiment; or it may exist independently without being assembled into the electronic device. The above computer readable medium carries one or more programs, and when the above one or more programs are executed by an electronic device, the electronic device implements the control method of the driving turntable of the rocket stage separation stage in the above embodiment.

[0105] For example, the electronic device may implement Figure 1 As shown in:

[0106] S1: Get the aircraft t =0, relative to the ground coordinate system: pitch angle , yaw angle , Roll Angle ;

[0107] Get the aircraft in t = 0, the angular velocity relative to the ground coordinate system in the aircraft coordinate system is: x Angular velocity component of rotation in the direction of the axis ,along y Angular velocity component of rotation in the direction of the axis And along z Angular velocity component of rotation in the direction of the axis ; t =0 is the initial separation moment of the aircraft;

[0108] S2: Get the aircraft t = T When , relative to the ground coordinate system: pitch angle , yaw angle , Roll Angle ;

[0109] Get the aircraft in t = T When , the angular velocity of rotation relative to the ground coordinate system in the aircraft coordinate system is: x Angular velocity component of rotation in the direction of the axis ,along y Angular velocity component of rotation in the direction of the axis And along z Angular velocity component of rotation in the direction of the axis ; t = T Time is the separation termination time of the aircraft;

[0110] S3: Control the pitch angle of the aircraft between the separation start time and the separation end time according to formula (1) to formula (4) , yaw angle and roll angle :

[0111] (one);

[0112] (two);

[0113] (three);

[0114] (Four).

[0115] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the inventive concept. For example, the above features are replaced with (but not limited to) technical features with similar functions disclosed in the present application.

Claims

1. A control method for a driving turntable of a rocket stage separation section, characterized in that: The following steps are involved: Get the aircraft in t =0, relative to the ground coordinate system: pitch angle , yaw angle , Roll Angle ; Get the aircraft in t = 0, the angular velocity relative to the ground coordinate system in the aircraft coordinate system is: x Angular velocity component of rotation in the direction of the axis ,along y Angular velocity component of rotation in the direction of the axis And along z Angular velocity component of rotation in the direction of the axis ; t =0 is the initial separation moment of the aircraft; Get the aircraft in t = T When , relative to the ground coordinate system: pitch angle , yaw angle , Roll Angle ; Get the aircraft in t = T When , the angular velocity of rotation relative to the ground coordinate system in the aircraft coordinate system is: x Angular velocity component of rotation in the direction of the axis ,along y Angular velocity component of rotation in the direction of the axis And along z Angular velocity component of rotation in the direction of the axis ; t = T Time is the separation termination time of the aircraft; According to formula (1) to formula (4), the pitch angle of the aircraft is controlled between the initial separation moment and the final separation moment. , yaw angle and roll angle : (one); (two); (three); (Four).

2. The control method of a rocket stage separation drive turntable according to claim 1, characterized in that: The formula (ii) is given by t =0 and t = T Substituting into the above formula (5), formula (6) and formula (1) to solve, we obtain: (five); (six).

3. The control method of a rocket stage separation drive turntable according to claim 1, characterized in that: The following steps are also included: Before the initial moment of separation of the aircraft, the pitch angle, yaw angle and roll angle of the aircraft are controlled with first preset parameters.

4. The control method of a rocket stage separation drive turntable according to claim 1, characterized in that: The following steps are also included: After the separation termination moment of the aircraft, the pitch angle, yaw angle and roll angle of the aircraft are controlled with second preset parameters.

5. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the control method steps of the rocket inter-stage separation stage driving turntable as described in any one of claims 1 to 4 are implemented.

6. A computer-readable storage medium, the computer-readable storage medium having a computer program, characterized in that: When the computer program is executed by a processor, the control method steps of the rocket inter-stage separation stage drive turntable as described in any one of claims 1 to 4 are implemented.

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