A method and device for controlling the attitude of solid carrier with continuously adjustable thrust

Abstract

The present application relates to a method and device for controlling the attitude of a solid carrier with continuously adjustable thrust, characterized in that it includes the following steps: establishing a single-stage thrust carrier dynamics model based on the pitch and yaw channel modal dynamics and its coupling characteristics, the attitude control characteristics of a single-stage thrust solid carrier, and the three-channel rigid body dynamics; determining the single-stage thrust three-channel dynamic coefficient based on the stroke length of the three-channel attitude control valve core of the solid carrier and the full-open thrust of the three-channel attitude control; calculating the three-channel control output force of the single-stage thrust solid carrier attitude control according to the single-stage thrust carrier dynamics model and the single-stage thrust three-channel dynamic coefficient, and realizing the attitude control of the solid carrier with continuously adjustable thrust according to the three-channel control output force. The thrust can be adjusted continuously, further ensuring the accuracy and stability of the attitude control.

Description

Technical Field

[0001] The present invention relates to the field of aircraft attitude control, and in particular to a method and device for controlling the attitude of a solid carrier with continuously adjustable thrust. Background Art

[0002] Currently, solid-propellant vehicles usually use a combination of liquid attitude control and solid boosters. However, due to the special nature of its work, liquid attitude control has a short storage life. The need for flushing and deflation leads to a long launch preparation time. In addition, liquid fuel has more stringent storage and transportation requirements than solid fuel, which restricts the further improvement of launch technology.

[0003] Existing liquid attitude control and early solid attitude control usually adopt a fixed thrust method. The attitude control unit has only two states: open and closed. The output force has only two states: 0 and full thrust. As a result, the attitude control can only be fully open and fully closed. Impact torque will be generated during the opening and closing process, which has an adverse effect on the carrier system and its load. The related technology uses a solid attitude control engine that can adapt to working thermal deformation, ensure the precise thrust direction of the solid attitude control engine, and a high-precision fixed connection between the combustion chamber and the valve thruster. It can achieve thrust changes by adjusting the valve opening, thereby providing the possibility of high-precision thrust adjustment in actual flight missions. However, at present, how to further achieve precise thrust adjustment control, ensure the smoothness of attitude adjustment, and adapt to higher-precision attitude control needs has yet to be developed. Summary of the invention

[0004] The embodiments of the present invention provide a method and device for controlling the attitude of a solid carrier with continuously adjustable thrust, which can realize continuous adjustment of thrust and further ensure the accuracy and stability of attitude control.

[0005] On the one hand, an embodiment of the present invention provides a method for controlling a solid carrier posture with continuously adjustable thrust, characterized in that it comprises the steps of:

[0006] A single-stage thrust carrier dynamics model is established based on the pitch and yaw channel modal dynamics and its coupling characteristics, the attitude control characteristics of a single-stage thrust solid carrier, and the three-channel rigid body dynamics.

[0007] The three-channel dynamic coefficient of single-stage thrust is determined based on the three-channel attitude control valve core stroke length of solid carrier and the three-channel attitude control full-open thrust;

[0008] The three-channel control output force of the single-stage thrust solid carrier attitude control is calculated according to the single-stage thrust carrier dynamics model and the single-stage thrust three-channel dynamic coefficient, and the thrust continuously adjustable solid carrier attitude control is realized according to the three-channel control output force.

[0009] In some embodiments, the single-stage thrust carrier dynamics model is established based on the pitch and yaw channel modal dynamics and its coupling characteristics, the attitude control characteristics of the single-stage thrust solid carrier, and the three-channel rigid body dynamics, including the steps of:

[0010] Establishing the single-stage thrust carrier dynamics model based on the first formula;

[0011] The first formula is:

[0012]

[0013] Among them, J x (t), J y (t), J z (t) corresponds to the moment of inertia of the vehicle's roll, yaw and pitch channels, respectively, They correspond to the attitude angular acceleration of the vehicle's pitch, yaw and roll channels, respectively. They correspond to the pitch, yaw and roll angular velocities of the vehicle, respectively, z 、F y They correspond to the coupling matrices between the vehicle's pitch and yaw channels and the vehicle's rigid body and elastic body, η z (t), η y (t) respectively correspond to the vibration modes of the pitch and yaw channels caused by elasticity, ω z (t),ω y (t) corresponds to the elastic modal vibration frequency of the pitch and yaw channels, ξ z , y They correspond to the damping of the elastic modes of the pitch and yaw channels, P p (t), P y (t), P r (t) corresponds to the solid attitude control output control thrust of pitch, yaw and roll, respectively, x p 、x y They correspond to the solid attitude control force arms of the pitch and yaw channels, respectively, x r They correspond to the solid attitude control force arm of the rolling channel, x c (t) is the vehicle center of mass.

[0014] In some embodiments, the method of determining the single-stage thrust three-channel dynamic coefficient based on the three-channel attitude control valve core stroke length and the three-channel attitude control full-open thrust of solid transport comprises the steps of:

[0015] Calculate the single-stage thrust three-channel dynamic coefficient based on the second formula;

[0016] The second formula is:

[0017]

[0018] Among them, Pd3(t), Yd3(t), Rd3(t) are the dynamic coefficients of pitch, yaw and roll channels; P maxp , P maxy , P maxr is the full thrust of attitude control in pitch, yaw and roll channels, l p , l y , l r It is the stroke length of attitude control valve core for pitch, yaw and roll channels.

[0019] In some embodiments, the method of obtaining the three-channel control output force of the single-stage thrust solid carrier attitude control according to the single-stage thrust carrier dynamics model and the single-stage thrust three-channel dynamic coefficient comprises the steps of:

[0020] Calculating the three-channel control output force based on a third formula;

[0021] The third formula is:

[0022]

[0023]

[0024] in, Δψ lb (t), Δγ lb (t) corresponds to the attitude angle deviation after pitch, yaw and roll channel filtering, w cp 、w cy 、w cr They correspond to the preset control bandwidth values ​​of pitch, yaw and roll channels, T s is the actual control cycle, U p (t), U y (t), U r (t) is the intermediate variable, P p (t), P y (t), P r (t) corresponds to the control output force of pitch, yaw and roll channels respectively.

[0025] In some embodiments, the method of obtaining the three-channel control output force of the single-stage thrust solid carrier attitude control according to the single-stage thrust carrier dynamics model and the single-stage thrust three-channel dynamic coefficient comprises the steps of:

[0026] Filtering the three-channel attitude angle deviation according to the fourth formula to obtain the three-channel filtered attitude angle deviation;

[0027] The fourth formula is:

[0028]

[0029] in, Δψ(t) and Δγ(t) correspond to the unfiltered attitude angle deviations of the pitch, yaw and roll channels, respectively; A P0 , A P1 , A P2 , A P3 , B P0 , B P1 , B P2 , B P3 A is the pitch channel attitude angle deviation filter parameter value; Y0 , A Y1 , A Y2 , A Y3 , B Y0 , B Y1 , B Y2 , B Y3 A is the parameter value of the yaw channel attitude angle deviation filter; R0 , A R1 , A R2 , A R3 , B R0 , B R1 , B R2 , B R3 It is the parameter value of the roll channel attitude angle deviation filter.

[0030] On the other hand, an embodiment of the present invention further provides a solid carrier attitude control device with continuously adjustable thrust, characterized in that it comprises:

[0031] The dynamic model creation module is used to establish a single-stage thrust carrier dynamic model based on the pitch and yaw channel modal dynamics and its coupling characteristics, the attitude control characteristics of the single-stage thrust solid carrier, and the three-channel rigid body dynamics;

[0032] The dynamic coefficient design module determines the single-stage thrust three-channel dynamic coefficient based on the three-channel attitude control valve core stroke length of solid carrier and the three-channel attitude control full-open thrust;

[0033] A control output force calculation module is used to calculate the three-channel control output force of the single-stage thrust solid carrier attitude control according to the single-stage thrust carrier dynamics model and the single-stage thrust three-channel dynamic coefficient, and realize thrust continuously adjustable solid carrier attitude control according to the three-channel control output force.

[0034] In some embodiments, the kinetic model creation module is further used to:

[0035] Establishing the single-stage thrust carrier dynamics model based on the first formula;

[0036] The first formula is:

[0037]

[0038] Among them, J x (t), J y (t), J z (t) corresponds to the moment of inertia of the vehicle's roll, yaw and pitch channels, respectively, They correspond to the attitude angular acceleration of the vehicle's pitch, yaw and roll channels, respectively. They correspond to the pitch, yaw and roll angular velocities of the vehicle, respectively, z 、F y They correspond to the coupling matrices between the vehicle's pitch and yaw channels and the vehicle's rigid body and elastic body, η z (t), η y (t) respectively correspond to the vibration modes of the pitch and yaw channels caused by elasticity, ω z (t),ω y (t) corresponds to the elastic modal vibration frequency of the pitch and yaw channels, ξ z , y They correspond to the damping of the elastic modes of the pitch and yaw channels, P p (t), P y (t), P r (t) corresponds to the solid attitude control output control thrust of pitch, yaw and roll channels, respectively, x p 、x y They correspond to the solid attitude control force arms of the pitch and yaw channels, respectively, x r They correspond to the solid attitude control force arm of the rolling channel, x c (t) is the vehicle center of mass.

[0039] In some embodiments, the power coefficient design module is further used to:

[0040] Calculate the single-stage thrust three-channel dynamic coefficient based on the second formula;

[0041] The second formula is:

[0042]

[0043] Among them, Pd3(t), Yd3(t), Rd3(t) are the dynamic coefficients of pitch, yaw and roll channels; P maxp , P maxy , P maxr is the full thrust of attitude control in pitch, yaw and roll channels, l p , l y , l r It is the stroke length of attitude control valve core for pitch, yaw and roll channels.

[0044] In some embodiments, the control output force calculation module is further used to:

[0045] Calculating the three-channel control output force based on a third formula;

[0046] The third formula is:

[0047]

[0048]

[0049] in, Δψ lb (t), Δγ lb (t) corresponds to the attitude angle deviation after pitch, yaw and roll channel filtering, w cp 、w cy 、w cr They correspond to the preset control bandwidth values ​​of pitch, yaw and roll channels, T s is the actual control cycle, U p (t), U y (t), U r (t) is the intermediate variable, P p (t), P y (t), P r (t) corresponds to the control output force of the pitch, yaw and roll channels respectively.

[0050] In some embodiments, the control output force calculation module is further used to:

[0051] Filtering the three-channel attitude angle deviation according to the fourth formula to obtain the three-channel filtered attitude angle deviation;

[0052] The fourth formula is:

[0053]

[0054] in, Δψ(t) and Δγ(t) correspond to the unfiltered attitude angle deviations of the pitch, yaw and roll channels, respectively; A P0 , A P1 , A P2 , A P3 , B P0 , B P1 , B P2 , B P3 A is the pitch channel attitude angle deviation filter parameter value; Y0 , A Y1 , A Y2 , A Y3 , B Y0 , B Y1 , BY2 , B Y3 A is the parameter value of the yaw channel attitude angle deviation filter; R0 , A R1 , A R2 , A R3 , B R0 , B R1 , B R2 , B R3 It is the parameter value of the roll channel attitude angle deviation filter.

[0055] The embodiment of the present invention establishes a single-stage thrust carrier dynamics model and determines the single-stage thrust three-channel dynamic coefficient based on the stroke length of the three-channel attitude control valve core of the solid carrier and the full-open thrust of the three-channel attitude control, and calculates the three-channel control output force of the single-stage thrust solid carrier attitude control according to the single-stage thrust carrier dynamics model and the single-stage thrust three-channel dynamic coefficient, so as to realize the thrust continuously adjustable solid carrier attitude control. High-precision thrust adjustment can be carried out according to the actual flight mission, and the adjustment within the entire output range from the maximum negative thrust to the maximum positive thrust can be realized to ensure the stability of the attitude adjustment. Compared with the currently known solid attitude control, it has a broader application prospect. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0057] Figure 1 A schematic flow chart of a method for controlling a solid carrier posture with continuously adjustable thrust provided by an embodiment of the present invention;

[0058] Figure 2 A schematic diagram of the framework of a solid carrier attitude control device with continuously adjustable thrust provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0059] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0060] like Figure 1 As shown, an embodiment of the present invention provides a method for controlling a solid carrier posture with continuously adjustable thrust, comprising the steps of:

[0061] S100: Establish a single-stage thrust carrier dynamics model based on the pitch and yaw channel modal dynamics and its coupling characteristics, the attitude control characteristics of the single-stage thrust solid carrier, and the three-channel rigid body dynamics;

[0062] S200: Determine the single-stage thrust three-channel dynamic coefficient based on the three-channel attitude control valve core stroke length of solid transport and the three-channel attitude control full-open thrust;

[0063] S300: Calculate the three-channel control output force of the single-stage thrust solid carrier attitude control according to the single-stage thrust carrier dynamics model and the single-stage thrust three-channel dynamic coefficient, and realize thrust continuously adjustable solid carrier attitude control according to the three-channel control output force.

[0064] It should be noted that the three-channel rigid body dynamics refers to the rigid body dynamics characteristics of the three channels of pitch, yaw and roll. The single-stage thrust solid carrier attitude control characteristics include the single-stage thrust adjustable solid carrier attitude control, and its full-thrust is a constant value.

[0065] The embodiment of the present invention establishes a single-stage thrust carrier dynamics model and determines the single-stage thrust three-channel dynamic coefficient based on the stroke length of the three-channel attitude control valve core of the solid carrier and the full-open thrust of the three-channel attitude control, and calculates the three-channel control output force of the single-stage thrust solid carrier attitude control according to the single-stage thrust carrier dynamics model and the single-stage thrust three-channel dynamic coefficient, so as to realize the thrust continuously adjustable solid carrier attitude control. High-precision thrust adjustment can be carried out according to the actual flight mission, and the adjustment within the entire output range from the maximum negative thrust to the maximum positive thrust can be realized to ensure the stability of the attitude adjustment. Compared with the currently known solid attitude control, it has a broader application prospect.

[0066] In some embodiments, S100 includes the steps of: establishing the single-stage thrust carrier dynamics model based on the first formula;

[0067] The first formula is:

[0068]

[0069] Among them, J x (t), J y (t), J z (t) corresponds to the moment of inertia of the vehicle's roll, yaw and pitch channels, respectively, They correspond to the attitude angular acceleration of the vehicle's pitch, yaw and roll channels, respectively. They correspond to the pitch, yaw and roll angular velocities of the vehicle, respectively, z 、F yThey correspond to the coupling matrices between the vehicle's pitch and yaw channels and the vehicle's rigid body and elastic body, η z (t), η y (t) respectively correspond to the vibration modes of the pitch and yaw channels caused by elasticity, ω z (t),ω y (t) corresponds to the elastic modal vibration frequency of the pitch and yaw channels, ξ z , y They correspond to the damping of the elastic modes of the pitch and yaw channels, P p (t), P y (t), P r (t) corresponds to the solid attitude control output control thrust of pitch, yaw and roll channels, respectively, x p 、x y Corresponding to the solid attitude control force arm of the pitch and yaw channels, or the reference zero distance of the solid attitude control nozzle of the pitch and yaw channels relative to the carrier, x r They correspond to the solid attitude control force arm of the rolling channel, x c (t) is the vehicle center of mass.

[0070] In some embodiments, S200 includes the steps of: calculating the single-stage thrust three-channel dynamic coefficient based on a second formula;

[0071] The second formula is:

[0072]

[0073] Among them, Pd3(t), Yd3(t), Rd3(t) are the dynamic coefficients of pitch, yaw and roll channels; P maxp , P maxy , P maxr is the full thrust of attitude control in pitch, yaw and roll channels, l p , l y , l r It is the stroke length of attitude control valve core for pitch, yaw and roll channels.

[0074] The embodiment of the present invention drives the servo valve core to move, adjusts the output force throughout the entire servo stroke, and thus adjusts the control torque, and ultimately generates a posture adjustment torque through the combined action of the adjustable output force (the output force generated by different valve core displacements), the force arm, and the moment of inertia; since the servo valve core displacement is a continuously changing quantity, the output control force is also a continuously changing quantity, which greatly reduces the impact on the entire carrier system and increases the stability of the entire system.

[0075] In some embodiments, S300 includes the steps of: calculating the three-channel control output force based on a third formula;

[0076] The third formula is:

[0077]

[0078]

[0079] in, Δψ lb (t), Δγ lb (t) corresponds to the attitude angle deviation after pitch, yaw and roll channel filtering, w cp 、w cy 、w cr They correspond to the preset control bandwidth values ​​of pitch, yaw and roll channels, T s is the actual control cycle, U p (t), U y (t), U r (t) is the intermediate variable, P p (t), P y (t), P r (t) corresponds to the control output force of pitch, yaw and roll channels respectively.

[0080] In some embodiments, S300 further filters the three-channel attitude angle deviation according to the fourth formula to obtain the three-channel filtered attitude angle deviation;

[0081] The fourth formula is:

[0082]

[0083] in, Δψ(t) and Δγ(t) correspond to the unfiltered attitude angle deviations of the pitch, yaw and roll channels, respectively; A P0 , A P1 , A P2 , A P3 , B P0 , B P1 , B P2 , B P3 A is the pitch channel attitude angle deviation filter parameter value; Y0 , A Y1 , A Y2 , A Y3 , B Y0 , B Y1 , B Y2 , B Y3 A is the parameter value of the yaw channel attitude angle deviation filter; R0 , A R1 , A R2 , A R3 , B R0 , BR1 , B R2 , B R3 It is the parameter value of the roll channel attitude angle deviation filter.

[0084] like Figure 2 As shown, the embodiment of the present application also provides a solid carrier attitude control device with continuously adjustable thrust, which includes:

[0085] The dynamic model creation module is used to establish a single-stage thrust carrier dynamic model based on the pitch and yaw channel modal dynamics and its coupling characteristics, the attitude control characteristics of the single-stage thrust solid carrier, and the three-channel rigid body dynamics;

[0086] The dynamic coefficient design module determines the single-stage thrust three-channel dynamic coefficient based on the three-channel attitude control valve core stroke length of solid carrier and the three-channel attitude control full-open thrust;

[0087] A control output force calculation module is used to calculate the three-channel control output force of the single-stage thrust solid carrier attitude control according to the single-stage thrust carrier dynamics model and the single-stage thrust three-channel dynamic coefficient, and realize thrust continuously adjustable solid carrier attitude control according to the three-channel control output force.

[0088] In some embodiments, the kinetic model creation module is further used to:

[0089] Establishing the single-stage thrust carrier dynamics model based on the first formula;

[0090] The first formula is:

[0091]

[0092] Among them, J x (t), J y (t), J z (t) corresponds to the moment of inertia of the vehicle's roll, yaw and pitch channels, respectively, They correspond to the attitude angular acceleration of the vehicle's pitch, yaw and roll channels, respectively. They correspond to the pitch, yaw and roll angular velocities of the vehicle, respectively, z 、F y They correspond to the coupling matrices between the vehicle's pitch and yaw channels and the vehicle's rigid body and elastic body, η z (t), η y (t) respectively correspond to the vibration modes of the pitch and yaw channels caused by elasticity, ω z (t),ω y (t) corresponds to the elastic modal vibration frequency of the pitch and yaw channels, ξ z , yThey correspond to the damping of the elastic modes of the pitch and yaw channels, P p (t), P y (t), P r (t) corresponds to the solid attitude control output control thrust of pitch, yaw and roll channels, respectively, x p 、x y They correspond to the solid attitude control force arms of the pitch and yaw channels, respectively, x r They correspond to the solid attitude control force arm of the rolling channel, x c (t) is the vehicle center of mass.

[0093] In some embodiments, the power coefficient design module is further used to:

[0094] Calculate the single-stage thrust three-channel dynamic coefficient based on the second formula;

[0095] The second formula is:

[0096]

[0097] Among them, Pd3(t), Yd3(t), Rd3(t) are the dynamic coefficients of pitch, yaw and roll channels; P maxp , P maxy , P maxr is the full thrust of attitude control in pitch, yaw and roll channels, l p , l y , l r It is the stroke length of attitude control valve core for pitch, yaw and roll channels.

[0098] In some embodiments, the control output force calculation module is further used to:

[0099] Calculating the three-channel control output force based on a third formula;

[0100] The third formula is:

[0101]

[0102]

[0103] in, Δψ lb (t), Δγ lb (t) corresponds to the attitude angle deviation after pitch, yaw and roll channel filtering, w cp 、w cy 、w cr They correspond to the preset control bandwidth values ​​of pitch, yaw and roll channels, T s is the actual control cycle, U p (t), U y(t), U r (t) is the intermediate variable, P p (t), P y (t), P r (t) corresponds to the control output force of pitch, yaw and roll channels respectively.

[0104] In some embodiments, the control output force calculation module is further used to:

[0105] Filtering the three-channel attitude angle deviation according to the fourth formula to obtain the three-channel filtered attitude angle deviation;

[0106] The fourth formula is:

[0107]

[0108] in, Δψ(t) and Δγ(t) correspond to the unfiltered attitude angle deviations of the pitch, yaw and roll channels, respectively; A P0 , A P1 , A P2 , A P3 , B P0 , B P1 , B P2 , B P3 A is the pitch channel attitude angle deviation filter parameter value; Y0 , A Y1 , A Y2 , A Y3 , B Y0 , B Y1 , B Y2 , B Y3 A is the parameter value of the yaw channel attitude angle deviation filter; R0 , A R1 , A R2 , A R3 , B R0 , B R1 , B R2 , B R3 It is the parameter value of the roll channel attitude angle deviation filter.

[0109] It will be appreciated by those skilled in the art that all or some of the steps, systems, and functional modules / units in the methods disclosed above may be implemented as software, firmware, hardware, and appropriate combinations thereof. In a hardware implementation, the division between the functional modules / units mentioned in the above description does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed by several physical components in cooperation. Some or all physical components may be implemented as software executed by a processor, such as a central processing unit, a digital signal processor, or a microprocessor, or may be implemented as hardware, or may be implemented as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on a computer-readable storage medium, which may include a computer-readable storage medium (or a non-transitory medium) and a communication medium (or a temporary medium).

[0110] The above are only specific implementations of the embodiments of the present invention, but the protection scope of the embodiments of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in the embodiments of the present invention, and these modifications or replacements should be included in the protection scope of the embodiments of the present invention. Therefore, the protection scope of the embodiments of the present invention shall be based on the protection scope of the claims.

Claims

1. A method for controlling the posture of a solid carrier with continuously adjustable thrust, characterized in that: It includes the steps of: A single-stage thrust carrier dynamics model is established based on the pitch and yaw channel modal dynamics and its coupling characteristics, the attitude control characteristics of a single-stage thrust solid carrier, and the three-channel rigid body dynamics. The three-channel dynamic coefficient of single-stage thrust is determined based on the three-channel attitude control valve core stroke length of solid carrier and the three-channel attitude control full-open thrust; Calculating the three-channel control output force of the single-stage thrust solid carrier attitude control according to the single-stage thrust carrier dynamics model and the single-stage thrust three-channel dynamic coefficient, and realizing thrust continuously adjustable solid carrier attitude control according to the three-channel control output force; The method of establishing a single-stage thrust carrier dynamics model based on pitch and yaw channel modal dynamics and coupling characteristics thereof, attitude control characteristics of a single-stage thrust solid carrier, and three-channel rigid body dynamics comprises the following steps: Establishing the single-stage thrust carrier dynamics model based on the first formula; The first formula is: Among them, J x (t), J y (t), J z (t) corresponds to the moment of inertia of the vehicle's roll, yaw and pitch channels, respectively, They correspond to the attitude angular acceleration of the vehicle's pitch, yaw and roll channels, respectively. They correspond to the pitch, yaw and roll angular velocities of the vehicle, respectively, z 、F y They correspond to the coupling matrices between the vehicle's pitch and yaw channels and the vehicle's rigid body and elastic body, η z (t), η y (t) respectively correspond to the vibration modes of the pitch and yaw channels caused by elasticity, ω z (t),ω y (t) corresponds to the elastic modal vibration frequency of the pitch and yaw channels, ξ z , y They correspond to the damping of the elastic modes of the pitch and yaw channels, P p (t), P y (t), P r (t) corresponds to the solid attitude control output control thrust of pitch, yaw and roll, respectively, x p 、x y They correspond to the solid attitude control force arms of the pitch and yaw channels, respectively, x r They correspond to the solid attitude control force arm of the rolling channel, x c (t) is the vehicle's centre of mass; The method for determining the single-stage thrust three-channel dynamic coefficient based on the stroke length of the three-channel attitude control valve core and the three-channel attitude control full-open thrust of solid transport comprises the following steps: Calculate the single-stage thrust three-channel dynamic coefficient based on the second formula; The second formula is: Among them, Pd3(t), Yd3(t), Rd3(t) are the dynamic coefficients of pitch, yaw and roll channels; P maxp , P maxy , P maxr is the full thrust of attitude control in pitch, yaw and roll channels, l p , l y , l r It is the stroke length of attitude control valve core for pitch, yaw and roll channels.

2. A method for controlling the attitude of a solid carrier with continuously adjustable thrust as claimed in claim 1, characterized in that: The method of obtaining the three-channel control output force of the single-stage thrust solid carrier attitude control according to the single-stage thrust carrier dynamics model and the single-stage thrust three-channel dynamic coefficient comprises the following steps: Calculating the three-channel control output force based on a third formula; The third formula is: in, Δψ lb (t), Δγ lb (t) corresponds to the attitude angle deviation after pitch, yaw and roll channel filtering, w cp 、w cy 、w cr They correspond to the preset control bandwidth values ​​of pitch, yaw and roll channels, T s is the actual control cycle, U p (t), U y (t), U r (t) is the intermediate variable, P p (t), P y (t), P r (t) corresponds to the control output force of the pitch, yaw and roll channels respectively.

3. A method for controlling the attitude of a solid carrier with continuously adjustable thrust as claimed in claim 2, characterized in that: The method of obtaining the three-channel control output force of the single-stage thrust solid carrier attitude control according to the single-stage thrust carrier dynamics model and the single-stage thrust three-channel dynamic coefficient comprises the following steps: Filtering the three-channel attitude angle deviation according to the fourth formula to obtain the three-channel filtered attitude angle deviation; The fourth formula is: in, Δψ(t) and Δγ(t) correspond to the unfiltered attitude angle deviations of the pitch, yaw and roll channels, respectively; A P0 , A P1 , A P2 , A P3 , B P0 , B P1 , B P2 , B P3 A is the pitch channel attitude angle deviation filter parameter value; Y0 , A Y1 , A Y2 , A Y3 , B Y0 , B Y1 , B Y2 , B Y3 A is the parameter value of the yaw channel attitude angle deviation filter; R0 , A R1 , A R2 , A R3 , B R0 , B R1 , B R2 , B R3 It is the parameter value of the roll channel attitude angle deviation filter.

4. A solid carrier attitude control device with continuously adjustable thrust, characterized in that: It includes: The dynamic model creation module is used to establish a single-stage thrust carrier dynamic model based on the pitch and yaw channel modal dynamics and its coupling characteristics, the attitude control characteristics of the single-stage thrust solid carrier, and the three-channel rigid body dynamics; The dynamic coefficient design module determines the single-stage thrust three-channel dynamic coefficient based on the three-channel attitude control valve core stroke length of solid carrier and the three-channel attitude control full-open thrust; A control output force calculation module, which is used to calculate the three-channel control output force of the single-stage thrust solid carrier attitude control according to the single-stage thrust carrier dynamics model and the single-stage thrust three-channel dynamic coefficient, and realize the thrust continuously adjustable solid carrier attitude control according to the three-channel control output force; The kinetic model creation module is also used for: Establishing the single-stage thrust carrier dynamics model based on the first formula; The first formula is: Among them, J x (t), J y (t), J z (t) corresponds to the moment of inertia of the vehicle's roll, yaw and pitch channels, respectively, They correspond to the attitude angular acceleration of the vehicle's pitch, yaw and roll channels, respectively. They correspond to the pitch, yaw and roll angular velocities of the vehicle, respectively, z 、F y They correspond to the coupling matrices between the vehicle's pitch and yaw channels and the vehicle's rigid body and elastic body, η z (t), η y (t) respectively correspond to the vibration modes of the pitch and yaw channels caused by elasticity, ω z (t),ω y (t) corresponds to the elastic modal vibration frequency of the pitch and yaw channels, ξ z , y They correspond to the damping of the elastic modes of the pitch and yaw channels, P p (t), P y (t), P r (t) corresponds to the solid attitude control output control thrust of pitch, yaw and roll channels, respectively, x p 、x y They correspond to the solid attitude control force arms of the pitch and yaw channels, respectively, x r They correspond to the solid attitude control force arm of the rolling channel, x c (t) is the vehicle's centre of mass; The power coefficient design module is also used for: Calculate the single-stage thrust three-channel dynamic coefficient based on the second formula; The second formula is: Among them, Pd3(t), Yd3(t), Rd3(t) are the dynamic coefficients of pitch, yaw and roll channels; P maxp , P maxy , P maxr is the full thrust of attitude control in pitch, yaw and roll channels, l p , l y , l r It is the stroke length of attitude control valve core for pitch, yaw and roll channels.

5. The solid carrier attitude control device with continuously adjustable thrust as claimed in claim 4, characterized in that: The control output force calculation module is also used for: Calculating the three-channel control output force based on a third formula; The third formula is: in, Δψ lb (t), Δγ lb (t) corresponds to the attitude angle deviation after pitch, yaw and roll channel filtering, w cp 、w cy 、w cr They correspond to the preset control bandwidth values ​​of pitch, yaw and roll channels, T s is the actual control cycle, U p (t), U y (t), U r (t) is the intermediate variable, P p (t), P y (t), P r (t) corresponds to the control output force of the pitch, yaw and roll channels respectively.

6. A solid carrier attitude control device with continuously adjustable thrust as claimed in claim 5, characterized in that: The control output force calculation module is also used for: Filtering the three-channel attitude angle deviation according to the fourth formula to obtain the three-channel filtered attitude angle deviation; The fourth formula is: in, Δψ(t) and Δγ(t) correspond to the unfiltered attitude angle deviations of the pitch, yaw and roll channels, respectively; A P0 , A P1 , A P2 , A P3 , B P0 , B P1 , B P2 , B P3 A is the pitch channel attitude angle deviation filter parameter value; Y0 , A Y1 , A Y2 , A Y3 , B Y0 , B Y1 , B Y2 , B Y3 A is the parameter value of the yaw channel attitude angle deviation filter; R0 , A R1 , A R2 , A R3 , B R0 , B R1 , B R2 , B R3 It is the parameter value of the roll channel attitude angle deviation filter.

Images