A rocket vertical landing guidance method, device, equipment and storage medium

Abstract

The application provides a rocket vertical landing guidance method, device, equipment and storage medium, wherein the rocket vertical landing guidance method comprises the following steps: obtaining current height information and speed information of the rocket; inputting the height information and the speed information into a fuel suboptimal switching function to obtain a closing function value and an opening function value, the fuel suboptimal switching function being obtained by introducing a vibration damping parameter into a fuel optimal switching function, and the vibration damping parameter being used for adjusting the width of a region between phase trajectories determined according to the fuel suboptimal switching function; inputting the closing function value and the opening function value into a switching control function to obtain a switching amount of phase plane control; determining a thrust value of the rocket based on the switching amount, and guiding the rocket to land vertically according to the thrust value. The application solves the technical problem of the system producing a chattering phenomenon or an overshoot phenomenon by improving the phase plane control method in the prior art.

Description

Technical Field

[0001] Embodiments of the present invention relate to the aerospace field, and in particular to a rocket vertical landing guidance method, device, equipment, and storage medium. Background Art

[0002] Launch vehicles are the primary means of transportation for human spaceflight and space exploration. Currently, the high cost, complexity, and risks of disposable launch vehicles severely constrain the development of the entire aerospace industry. Reusable rockets, capable of returning to Earth after a single launch mission, offer significant advantages in maintainability and reusability. Against this backdrop, developing safe, reliable, and cost-effective reusable rockets has become a common goal for major space nations. However, current technologies for achieving reusable rockets are prone to system flutter or overshoot, posing a pressing technical challenge. Summary of the Invention

[0003] The present application provides a method, device, equipment and storage medium for rocket vertical landing guidance, which solves the technical problem of system flutter or overshoot by improving the phase plane control method in the prior art.

[0004] A first aspect of the present invention provides a method for guiding a rocket vertically while landing, comprising:

[0005] Obtain the current altitude information and speed information of the rocket; input the altitude information and speed information into the fuel suboptimal switching function to obtain the off function value and the on function value. The fuel suboptimal switching function is obtained by introducing the vibration elimination parameter into the fuel optimal switching function. The vibration elimination parameter is used to adjust the width of the area between the phase trajectories determined according to the fuel suboptimal switching function; input the off function value and the on function value into the switching control function to obtain the switching quantity of the phase plane control; determine the thrust value of the rocket based on the switching quantity, and guide the rocket to vertical landing according to the thrust value.

[0006] The present invention's method for vertical rocket landing guidance introduces a vibration cancellation parameter into the suboptimal fuel switching function. This parameter influences the number of switching cycles between high and low operating conditions by adjusting the width of the region between phase trajectories. Too narrow a range results in frequent switching, while too wide a range can cause the rocket position to reach zero before any switching occurs, while speed requirements are not met. Therefore, introducing an appropriate vibration cancellation parameter can control the number of switching cycles, effectively reducing system chatter or overshoot caused by overly frequent or slow switching.

[0007] In combination with the first aspect, in the first embodiment of the first aspect, the vibration elimination parameters include an off-function vibration elimination parameter and an on-function vibration elimination parameter, both of which are greater than 0 and less than 1, and the off-function vibration elimination parameter is greater than the on-function vibration elimination parameter.

[0008] With reference to the first aspect, in a second embodiment of the first aspect, the switch quantity comprises a first switch quantity and a second switch quantity, and the step of determining the thrust value of the rocket based on the switch quantity comprises:

[0009] when the switch quantity is the first switch quantity, adjusting the thrust value of the rocket to the minimum thrust value;

[0010] when the switch quantity is the second switch quantity, adjusting the thrust value of the rocket to the maximum thrust value.

[0011] The method for vertical landing guidance of the rocket can adjust the thrust value of the rocket guidance by switching between the regions of the phase trajectory through two switch quantities.

[0012] With reference to the second embodiment of the first aspect, in a third embodiment of the first aspect, the switch quantity of the phase plane control comprises:

[0013] if the on function value is less than zero, determining the switch quantity as the second switch quantity;

[0014] if the off function value is greater than or equal to zero, determining the switch quantity as the first switch quantity;

[0015] if the on function value is greater than or equal to zero and the off function value is less than zero, determining the switch quantity of the previous guidance period as the switch quantity of the current period.

[0016] The method for vertical landing guidance of the rocket can realize the switch retention function.

[0017] With reference to the first aspect, in a fourth embodiment of the first aspect, the step of determining the thrust value of the rocket based on the switch quantity comprises:

[0018] obtaining a thrust adjustment coefficient of a previous guidance period;

[0019] determining a current thrust adjustment coefficient according to the thrust adjustment coefficient of the previous guidance period, the switch quantity of the phase plane control, and a preset thrust adjustment coefficient increment value;

[0020] determining the thrust value of the rocket according to the current thrust adjustment coefficient, the maximum thrust value, and the minimum thrust value.

[0021] The method for vertical landing guidance of the rocket can avoid sudden changes in the total thrust size and make the thrust change process smoother by setting the maximum increment of the thrust adjustment coefficient in a single guidance period, thereby improving the chattering or overshoot phenomenon of the rocket in-flight attitude adjustment.

[0022] In combination with the fourth embodiment of the first aspect, in a fifth embodiment of the first aspect, the step of determining the thrust value of the rocket according to the current thrust adjustment coefficient, the maximum thrust value and the minimum thrust value comprises:

[0023] clipping the current thrust adjustment coefficient to obtain a clipped thrust adjustment coefficient;

[0024] determining the thrust value of the rocket according to the clipped thrust adjustment coefficient, the maximum thrust value and the minimum thrust value.

[0025] The method for vertical landing guidance of the rocket provided by the application makes the thrust value of the rocket change more smoothly between the minimum value and the maximum value through clipping the thrust adjustment coefficient, avoids sudden change of the total thrust value, and causes the rocket to vibrate or overshoot.

[0026] In combination with the first aspect, in a sixth embodiment of the first aspect, the fuel sub-optimal switching function comprises:

[0027] the upper half branch:

[0028] the lower half branch:

[0029] wherein S1 represents the upper half branch of the fuel sub-optimal switching function, S2 represents the lower half branch of the fuel sub-optimal switching function, y represents the current height of the rocket, represents the current speed of the rocket, is the modulus of , and α1 and α2 are damping parameters.

[0030] The method for vertical landing guidance of the rocket provided by the application introduces the damping parameters into the fuel sub-optimal switching function, the damping parameters affect the switching frequency of the on-off quantity high-low working condition by adjusting the width of the region between the phase trajectories, too narrow width will cause frequent switching, and too wide width will cause the rocket position to be 0 while the speed does not meet the requirement. Therefore, introducing appropriate damping parameters can control the switching frequency of the on-off quantity, and can improve the vibration phenomenon or overshoot phenomenon generated by the system due to too frequent or too slow switching of the on-off quantity.

[0031] The second aspect of the application provides a device for vertical landing guidance of a rocket, comprising:

[0032] an acquisition module configured to acquire current height information and speed information of the rocket;

[0033] a first operation module configured to input the height information and the speed information into a fuel sub-optimal switching function to obtain a switching function value and an on function value, the fuel sub-optimal switching function being obtained by introducing damping parameters into a fuel optimal switching function, and the damping parameters being used to adjust the width of a region between phase trajectories determined according to the fuel sub-optimal switching function;

[0034] The second operation module is configured to input the on-off function value and the open function value into a switch control function to obtain a switch value of phase plane control;

[0035] The control module is configured to determine a thrust value of the rocket based on the switch value and to guide the rocket to land vertically according to the thrust value.

[0036] The functions performed by the components of the rocket vertical landing guidance device provided by the present application have been applied in any method embodiment of the first aspect, and thus will not be described here again.

[0037] The third aspect of the present application provides a computer device, comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory complete mutual communication through the communication bus; the memory is used for storing a computer program; and the processor is used for executing the program stored on the memory to realize the steps of the rocket vertical landing guidance method of the first aspect.

[0038] The fourth aspect of the present application provides a computer readable storage medium, which stores computer instructions, and the computer instructions are used for making a computer execute the rocket vertical landing guidance method provided by the first aspect of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0039] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the drawings needed in the specific embodiments or the prior art description will be briefly introduced as follows. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.

[0040] Figure 1A The phase trajectory schematic diagram provided by an embodiment of the present application;

[0041] Figure 1B The phase trajectory schematic diagram provided by an embodiment of the present application;

[0042] Figure 2 The time fuel optimal closed loop control phase trajectory schematic diagram of the double integral system provided by an embodiment of the present application;

[0043] Figure 3 The rocket vertical landing guidance method flowchart (I) provided by an embodiment of the present application;

[0044] Figure 4 The phase plane control diagram of the rocket vertical landing guidance method provided by an embodiment of the present application;

[0045] Figure 5Schematic diagram (II) of a flow chart of a rocket vertical landing guidance method provided by one embodiment of the present invention;

[0046] Figure 6 Schematic diagram of a rocket vertical landing guidance method according to an embodiment of the present invention (III);

[0047] Figure 7 A schematic structural diagram of a rocket vertical landing guidance device provided by an embodiment of the present invention;

[0048] Figure 8 A schematic diagram of the computer device structure of a rocket vertical landing guidance method provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0049] To make the purpose, technical solutions, and advantages of the embodiments of the present disclosure more clear, the technical solutions of the embodiments of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present disclosure. Obviously, the described embodiments are part of the embodiments of the present disclosure, not all of the embodiments. Based on the described embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0050] Unless otherwise defined, technical or scientific terms used in this disclosure should have the ordinary meaning understood by people with ordinary skills in the field to which this disclosure belongs. The use of "a", "an" or "the" and similar words in this disclosure does not indicate a limit on quantity, but rather indicates the presence of at least one. "Include" or "comprising" and similar words mean that the elements or objects preceding the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects.

[0051] In addition, the technical features involved in different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0052] The present invention uses the phase plane method to control the vertical landing guidance of a rocket. The phase plane method is a graphical method for solving second-order differential equations and a time-domain analysis method. It can not only analyze the stability and self-oscillation of the system, but also provide a clear image of the system's motion trajectory. This method is generally applicable when the linear part of the system is first-order or second-order. The details are as follows:

[0053] Basic concepts:

[0054] Assume that the second-order system can be described by the following differential equation:

[0055]

[0056] The above formula can also be expressed as

[0057] If x=x1,

[0058]

[0059] Dividing the two equations, we get:

[0060]

[0061] This is a first-order differential equation with x2 as the dependent variable and x1 as the independent variable.

[0062] The study of equation (1) can be transformed into the study of equation (2). The solution of the equation can be expressed by the relationship between x and t or by the relationship between x1 and x2.

[0063] In fact, if (1) is regarded as the motion equation of a particle, x1(t) is used to represent the position of the particle and x2(t) is used to represent the velocity of the particle.

[0064] Use x1 and x2 to describe the solution of the equation, that is, use the "state" of the particle to represent the movement of the particle.

[0065] In physics, states are also called phases. Therefore, the plane coordinate system formed by x1 and x2 (i.e., dx1 / dt) is called the phase plane. Each state of a system corresponds to a point on the phase plane. The trajectory of the system's state on the phase plane during a change is called a phase trajectory, and a graph consisting of a cluster of phase trajectories corresponding to different initial states is called a phase plane diagram. The method of analyzing system performance using phase plane diagrams is called the phase plane method.

[0066] For example, the differential equation of the second-order system when ζ = 0 is:

[0067]

[0068] x=x1, Then it can be written as

[0069]

[0070] Dividing the two equations, we get: Right now

[0071] Separate the variables and do the integration:

[0072] The phase trajectory equation is obtained:

[0073] The equation corresponds to a cluster of ellipses, which are self-sustaining oscillations. The size of the ellipses changes with different initial conditions, such as Figure 1A shown. Figure 1B represents the relationship between the variable x and the variable t under a certain initial condition.

[0074] upper half plane, is positive, x↑, arrow to the right; lower half plane, is negative, x↓, arrow to the left; the arrow direction on the phase trajectory is clockwise.

[0075] For example, the application of phase plane control in the spacecraft docking problem:

[0076] In the final stage of spacecraft docking, the tracking spacecraft is generally equipped with positive and negative reaction control system (RCS) cold gas nozzles on three body axes to provide power guarantee for precise approach orbit control. Open-loop orbit control leads to large end state error. Generally, closed-loop control can suppress interference and achieve high control precision. At the same time, under the condition of ensuring precise docking control, the minimum fuel consumption is the optimization index.

[0077] Consider the following ideal double-integrator system:

[0078]

[0079] where u is a switching control function, whose value domain is {-1, 0, +1}.

[0080] The time-fuel optimal control index is:

[0081] ρ is the time weighting factor.

[0082] In optimal control theory, as shown in Figure 2 , the closed-loop control law that makes the above double-integrator system reach the origin from any initial state (x 10 , x 20 ) and minimizes the optimal control index is:

[0083]

[0084] where

[0085] S1(x1, x2) = 0 is the closing line, and S2(x1, x2) = 0 is the opening line.

[0086] On the phase plane, the trajectory of the aforementioned double-integrator system under the action of the control law u is shown in Figure 2

[0087] ​In the figure, u=+1, that is, positive acceleration is generated, followed by relative speed>0, and the relative distance decreases (moving in the direction that makes the relative distance approach 0); u=0, that is, no acceleration, continues to move in the direction of relative distance 0 at a uniform speed; u=-1, that is, negative acceleration is generated, the speed decreases, and the distance continues to approach point 0. When reaching point 0, the speed and position both reach zero.

[0088] The physical meaning of the S1 and S2 functions is: corresponding to the phase trajectory boundary (speed, position relationship) under specific acceleration conditions, the state is gradually approaching the 0 point in the area between the two boundaries through the control instruction u.

[0089] This application scheme applies the phase plane method to the final deceleration and landing stage of the recovery rocket. The thrust of the engine of the recovery rocket's final deceleration and landing stage is determined by the Y-direction (i.e., height direction) speed and position relationship during the recovery rocket's final deceleration and landing.

[0090] In view of the technical problems mentioned in the background technology, the embodiment of the present invention provides a rocket vertical landing guidance method, such as Figure 3 As shown, the steps of the method include:

[0091] Step S310, obtaining the current altitude information and speed information of the rocket.

[0092] For example, for reusable launch vehicles, since the launch vehicle body needs to be recovered, as an optional method, a navigation system is generally installed on the launch vehicle body for navigation. The navigation system usually includes an inertial measurement unit, a satellite navigation receiver, a radio altimeter and a navigation computer.

[0093] The inertial measurement unit collects the acceleration and angular velocity information of the rocket body and sends it to the navigation computer of each rocket body; the navigation computer determines the speed information of the rocket body based on the acceleration and angular velocity information and the satellite navigation data sent by the rocket body's satellite guidance receiver; the radio altimeter is used to collect the vertical height of the rocket body and the ground and send it to the rocket body's navigation computer.

[0094] It should be noted that the above-mentioned method of obtaining the rocket height information and speed information is an optional method of the present invention and is not limited to the above-mentioned method.

[0095] In step S320, the height information and speed information are input into the fuel suboptimal switching function to obtain the closing function value and the opening function value. The fuel suboptimal switching function is obtained by introducing the vibration elimination parameter into the fuel optimal switching function. The vibration elimination parameter is used to adjust the width of the area between the phase trajectories determined according to the fuel suboptimal switching function.

[0096] For example, Figure 4As shown in the figure, the area formed by the closing line and the opening line determined by the fuel suboptimal switching function in the phase plane is the area between the phase trajectories. The closing line and the opening line are the boundaries of the area between the phase trajectories, and are also the conditions for the rocket to adjust its attitude in the air. If the area between the phase trajectories is too wide, the rocket attitude may not have time to adjust before the position is 0, and the speed does not meet the requirements; if the area between the phase trajectories is too narrow, the rocket attitude may need to be adjusted frequently, which will cause the rocket to vibrate. Therefore, the vibration cancellation parameter is introduced. The vibration cancellation parameter can adjust the width of the area between the phase trajectories. By selecting the appropriate vibration cancellation parameter, the appropriate area width can be obtained, and the rocket attitude can be adjusted within the appropriate adjustment frequency, thereby improving the flutter or overshoot phenomenon of the rocket's air attitude adjustment.

[0097] Step S330: Input the closing function value and the opening function value into the switch control function to obtain the switching value of the phase plane control.

[0098] Exemplarily, the switch control function is a control law set for the rocket, and the corresponding switch quantity is obtained based on the off function value and the on function value.

[0099] Step S340: Determine the thrust value of the rocket based on the switch value, and guide the rocket for vertical landing according to the thrust value.

[0100] Exemplarily, each switch value has a corresponding relationship with the thrust value of the rocket. The thrust value of the rocket is determined according to the switch value, and the rocket's air posture, such as acceleration, speed, etc., is changed by the thrust value of the rocket.

[0101] The present invention's method for vertical rocket landing guidance introduces a vibration cancellation parameter into the suboptimal fuel switching function. This parameter influences the number of switching cycles between high and low operating conditions by adjusting the width of the region between phase trajectories. Too narrow a range results in frequent switching, while too wide a range can cause the rocket position to reach zero before any switching occurs, while speed requirements are not met. Therefore, introducing an appropriate vibration cancellation parameter can control the number of switching cycles and improve system chatter or overshoot caused by overly frequent or slow switching.

[0102] In an optional embodiment, the vibration cancellation parameter includes an off-function vibration cancellation parameter and an on-function vibration cancellation parameter, both of which are greater than 0 and less than 1, and the off-function vibration cancellation parameter is greater than the on-function vibration cancellation parameter.

[0103] In an optional embodiment, the switch value includes a first switch value and a second switch value, and the step of determining the thrust value of the rocket based on the switch value includes:

[0104] When the switch value is the first switch value, the thrust value of the rocket is adjusted to the minimum thrust value.

[0105] When the switch quantity is the second switch quantity, the rocket thrust value is adjusted to the maximum thrust value.

[0106] Exemplarily, since the rocket can only realize single-direction start, compared with the traditional phase plane control, the state quantity of -1 is removed. The two switch quantities of 0 and 1 are reserved, 0 represents the first switch quantity in the embodiment, and 1 represents the second switch quantity in the embodiment, which respectively correspond to the minimum thrust P ymin and the maximum thrust P ymax .

[0107] The rocket vertical landing guidance method provided by the embodiment of the present application is shown in the figure. Figure 4 The rocket thrust value is adjusted by switching between the regions of the phase trajectories through the two switch quantities.

[0108] In an optional embodiment, the switch quantity of the phase plane control in the rocket vertical landing guidance method provided by the embodiment of the present application comprises:

[0109] If the on function value is less than zero, the switch quantity is determined as the second switch quantity;

[0110] If the off function value is greater than or equal to zero, the switch quantity is determined as the first switch quantity;

[0111] If the on function value is greater than or equal to zero and the off function value is less than zero, the switch quantity of the last guidance period is determined as the switch quantity of the current period.

[0112] Exemplarily, as shown in formula (3), since the rocket can only realize single-direction start, compared with the traditional phase plane control, the state quantity of -1 is removed. The two switch quantities of 0 and 1 are reserved, and the control law of the traditional phase plane method is improved, and the specific control strategy is as follows:

[0113]

[0114] Wherein, δ y0 is the switch quantity of the last guidance period, and δ y0 may be 0 or 1, for example, the switch quantity of the last guidance period is 0, that is, δ y0 = 0, at this time, the rocket outputs the minimum thrust, and this state of the rocket outputting the minimum thrust will not change in a certain condition range, which is embodied in the above formula (3) as follows: when S2≥ 0 and S1< 0, the switch quantity of the last guidance period is kept unchanged, and maintained for a period of time until the switching condition is met to switch the state.

[0115] When δ y0 = 1, the logic is the same as above.

[0116] The rocket vertical landing guidance method provided by the embodiment of the present application can realize the switch keeping function due to the existence of the maintaining condition of the switch quantity state.

[0117] In an alternative embodiment, if Figure 5 As shown, the rocket vertical landing guidance method provided by the embodiment of the present invention includes:

[0118] Step S510, obtaining the current altitude information and speed information of the rocket.

[0119] In step S520, the height information and speed information are input into the fuel suboptimal switching function to obtain the closing function value and the opening function value. The fuel suboptimal switching function is obtained by introducing the vibration elimination parameter into the fuel optimal switching function. The vibration elimination parameter is used to adjust the width of the area between the phase trajectories determined according to the fuel suboptimal switching function.

[0120] Step S530: Input the closing function value and the opening function value into the switch control function to obtain the switching value of the phase plane control.

[0121] In this embodiment, steps S510 to S530 are similar to steps S110 to S130 in the above embodiment and are not described again here.

[0122] Step S540: Obtain the thrust adjustment coefficient of the previous guidance cycle.

[0123] For example, let the thrust adjustment coefficient of the previous guidance cycle be t 10 ,The adjustment parameters of the previous guidance cycle will be stored in the corresponding registers, waiting for the system to call.

[0124] Step S550: Determine the current thrust adjustment coefficient based on the thrust adjustment coefficient of the previous guidance cycle, the switching value of the phase plane control, and the preset thrust adjustment coefficient increment value.

[0125] For example, because vertical guidance uses on-off commands, the thrust command cannot change continuously. To avoid sudden changes in total thrust and make the thrust change process smoother, the maximum increment of the thrust adjustment coefficient within a single guidance cycle is set to Δc.

[0126] As shown in formula (4), let the current thrust adjustment coefficient be t1, and initialize t1 to 0, then

[0127]

[0128] Step S560, determining the thrust value of the rocket according to the current thrust adjustment coefficient, the maximum thrust value, and the minimum thrust value.

[0129] For example, as shown in formula (5), let the thrust value of the rocket be P′ y , then:

[0130] P′ y =P ymin+ t1(P ymax - P ymin ) (5)

[0131] The rocket thrust value is related to the maximum rocket thrust value, the minimum rocket thrust value and the current thrust adjustment coefficient.

[0132] Step S570, according to the thrust value, the rocket is vertically landed.

[0133] In this embodiment, step S570 is similar to step S140 in the above embodiment, and will not be described here.

[0134] The rocket vertical landing guidance method provided by the embodiment of the application adopts the form of switch command in vertical guidance, and the thrust command cannot be continuously changed. In order to avoid the sudden change of the total thrust size and make the thrust change process smoother, the maximum increment of the thrust adjustment coefficient in a single guidance period is set as Δc, which can improve the chattering or overshoot phenomenon of the rocket in-flight attitude adjustment.

[0135] In an optional embodiment, as shown in FIG. 6, the rocket vertical landing guidance method provided by the embodiment of the application comprises: Figure 6 Step S610, current height information and speed information of the rocket are obtained.

[0136] Step S620, the height information and the speed information are input into a fuel suboptimal switch function to obtain a closing function value and an opening function value, the fuel suboptimal switch function is obtained by introducing a vibration elimination parameter into a fuel optimal switch function, and the vibration elimination parameter is used to adjust the width of the region between the phase trajectories determined according to the fuel suboptimal switch function.

[0137] Step S630, the closing function value and the opening function value are input into a switch control function to obtain a switch quantity of phase plane control.

[0138] Step S640, a thrust adjustment coefficient of a previous guidance period is obtained.

[0139] Step S650, according to the thrust adjustment coefficient of the previous guidance period, the switch quantity of phase plane control and a preset thrust adjustment coefficient increment value, a current thrust adjustment coefficient x1 is determined.

[0140] In this embodiment, steps S610 to S650 are similar to steps S510 to S550 in the above embodiment, and will not be described here.

[0141] Step S660, the current thrust adjustment coefficient is limited in amplitude to obtain a limited thrust adjustment coefficient.

[0142] For example, the thrust adjustment coefficient x1 is limited in amplitude, and the specific process is shown in formula (6).

[0143] ​

[0144]

[0145] When t1<0, the thrust adjustment coefficient is 0, and the rocket thrust value is the minimum value; when t1>1, the thrust adjustment coefficient is 1, and the rocket thrust value is the maximum value; when 0≤t1≤1, the thrust adjustment coefficient is t1, and the rocket thrust value is between the minimum value and the maximum value, including the maximum value and the minimum value.

[0146] Step S670, determining the thrust value of the rocket based on the thrust adjustment coefficient after limiting, the maximum thrust value, and the minimum thrust value.

[0147] In this embodiment, step S670 is similar to step S560 in the above embodiment and will not be described again here.

[0148] Step S680: guiding the rocket for vertical landing according to the thrust value.

[0149] In this embodiment, step S680 is similar to step S570 in the above embodiment and will not be described again here.

[0150] The method for guiding a rocket vertical landing provided by an embodiment of the present invention limits the thrust adjustment coefficient so that the rocket thrust value changes more smoothly between the minimum and maximum values, thereby avoiding sudden changes in the total thrust size that may cause rocket vibration or overshoot.

[0151] As an optional embodiment of the present invention, Figure 4 As shown, the fuel suboptimal switching function includes:

[0152] Upper half:

[0153] Lower half:

[0154] Among them, S1 represents the upper half of the fuel suboptimal switching function, S2 represents the lower half of the fuel suboptimal switching function, y represents the current altitude of the rocket, Indicates the current speed of the rocket, for The modulus of α1 and α2 are vibration cancellation parameters.

[0155] For example, Figure 4 As shown in the figure, the suboptimal fuel switching function is obtained by introducing the vibration elimination parameter into the optimal fuel switching function. To open the line, The α1 and α2 parameters are the closing line. Only α1 and α2 require configuration, which affects the number of high and low operating condition switches. The difference between the two affects the width of the region between phase trajectories S1 and S2. The phase trajectory is controlled by commands to vary within the range of S1 and S2 and approach zero. Too narrow a range will result in frequent switching, while too wide a range may result in the position being zero before a switch occurs, and the speed may not meet the requirements.

[0156] The rocket vertical landing guidance method provided by an embodiment of the present invention introduces a vibration cancellation parameter into the suboptimal fuel switching function. This parameter influences the number of switching times between high and low operating conditions by adjusting the width of the region between phase trajectories. Too narrow a range results in frequent switching, while too wide a range can cause the rocket position to reach zero before any switching occurs, while speed requirements are not met. Therefore, introducing an appropriate vibration cancellation parameter can control the number of switching times and improve system chatter or overshoot caused by overly frequent or slow switching.

[0157] Figure 7 An embodiment of the present invention provides a device for guiding a rocket vertically landing. The device for guiding a rocket vertically landing in this embodiment includes:

[0158] The acquisition module 710 is used to obtain the current altitude information and speed information of the rocket. For details, please refer to the description of step S110 in the above embodiment and will not be repeated here.

[0159] The first operation module 720 is used to input the height information and speed information into the fuel suboptimal switching function to obtain the closing function value and the opening function value. The fuel suboptimal switching function is obtained by introducing the vibration elimination parameter into the fuel optimal switching function. The vibration elimination parameter is used to adjust the width of the area between the phase trajectories determined according to the fuel suboptimal switching function. For details, please refer to the description of step S120 in the above embodiment and will not be repeated here.

[0160] The second operation module 730 is used to input the closing function value and the opening function value into the switch control function to obtain the switching value of the phase plane control. For details, please refer to the description of step S130 in the above embodiment and will not be repeated here.

[0161] The control module 740 is used to determine the thrust value of the rocket based on the switch value, and guide the rocket to vertical landing according to the thrust value. For details, please refer to the description of step S140 in the above embodiment, which will not be repeated here.

[0162] As an optional embodiment of the present invention, the control module 740 includes:

[0163] The first control submodule is used to adjust the thrust value of the rocket to the minimum thrust value when the switch value is the first switch value.

[0164] The second control submodule is configured to adjust the rocket thrust value to a maximum thrust value when the switch value is a second switch value.

[0165] As an optional embodiment of the present application, the second operation module 730 further comprises:

[0166] The first judgment submodule is configured to determine the switch value as a second switch value if the open function value is less than zero.

[0167] The second judgment submodule is configured to determine the switch value as a first switch value if the close function value is greater than or equal to zero.

[0168] The third judgment submodule is configured to determine the switch value of the previous guidance period as the switch value of the current period if the open function value is greater than or equal to zero and the close function value is less than zero.

[0169] As an optional embodiment of the present application, the control module 740 further comprises:

[0170] The acquisition submodule is configured to acquire the thrust adjustment coefficient of the previous guidance period, and details are described in the description of step S540 in the above embodiment, which will not be repeated here.

[0171] The first confirmation submodule is configured to determine the current thrust adjustment coefficient according to the thrust adjustment coefficient of the previous guidance period, the switch value of the phase plane control, and a preset thrust adjustment coefficient increment value, and details are described in the description of step S550 in the above embodiment, which will not be repeated here.

[0172] The second confirmation submodule is configured to determine the rocket thrust value according to the current thrust adjustment coefficient, the maximum thrust value, and the minimum thrust value, and details are described in the description of step S560 in the above embodiment, which will not be repeated here.

[0173] As an optional embodiment of the present application, the second confirmation submodule comprises:

[0174] The limiting unit is configured to limit the current thrust adjustment coefficient to obtain a limited thrust adjustment coefficient, and details are described in the description of step S660 in the above embodiment, which will not be repeated here.

[0175] The confirmation unit is configured to determine the size of the rocket thrust value according to the limited thrust adjustment coefficient, the maximum thrust value, and the minimum thrust value, and details are described in the description of step S670 in the above embodiment, which will not be repeated here.

[0176] An embodiment of the present application provides a computer device, as shown in the figure, the device comprises one or more processors 810 and a memory 820, the memory 820 comprises a persistent memory, a volatile memory and a hard disk, Figure 8 Figure 8 ​The apparatus may further include an input device 830 and an output device 840.

[0177] The processor 810, the memory 820, the input device 830 and the output device 840 may be connected via a bus or other means. Figure 8 The bus connection is taken as an example.

[0178] The processor 810 may be a central processing unit (CPU). The processor 810 may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or a combination of the above chips. The general-purpose processor may be a microprocessor or the processor may be any conventional processor. The memory 820 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and application programs required for at least one function; the data storage area may store data created according to the use of the rocket vertical landing guidance device, etc. In addition, the memory 820 may include a high-speed random access memory and may also include a non-transitory memory, such as at least one disk storage device, a flash memory device, or other non-transitory solid-state storage device. In some embodiments, the memory 820 may optionally include a memory remotely located relative to the processor 810, and these remote memories may be connected to the rocket vertical landing guidance device via a network. The input device 830 can receive a calculation request (or other digital or character information) input by a user and generate key signal input related to the rocket vertical landing guidance device. The output device 840 can include a display device such as a display screen to output the calculation results.

[0179] An embodiment of the present invention provides a computer-readable storage medium that stores computer instructions. The computer storage medium stores computer-executable instructions that can execute the rocket vertical landing guidance method in any of the above-mentioned method embodiments. The storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM), a random access memory (RAM), a flash memory, a hard disk drive (HDD), or a solid-state drive (SSD). The storage medium can also include a combination of the above-mentioned types of memory.

[0180] The logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing the logical functions, and can be embodied in any computer-readable storage medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (e.g., a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device). For purposes of this specification, a "computer-readable storage medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable storage media include the following: an electrical connection with one or more wires (electronic devices), a portable computer disk cartridge (magnetic devices), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disc read-only memory (CDROM). In addition, the computer-readable storage medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, deciphering, or processing in another suitable manner as necessary, and then stored in a computer memory.

[0181] It should be understood that various parts of the present disclosure can be implemented using hardware, software, firmware, or a combination thereof. In the above-described embodiments, multiple steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used to implement the hardware: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application-specific integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0182] In the description of this specification, the description with reference to the terms "this embodiment", "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present disclosure. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples, unless there is any contradiction. In the description of the present disclosure, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0183] The above are merely preferred embodiments of the present disclosure and are not intended to limit the present disclosure. Any modifications, equivalent replacements, and simple improvements made to the essential contents of the present disclosure shall be included in the scope of protection of the present disclosure.

Claims

1. A method for guiding a rocket to vertically land, characterized in that: include: Get the current altitude and speed information of the rocket; Inputting the height information and the speed information into a fuel suboptimal switching function to obtain an off function value and an on function value, wherein the fuel suboptimal switching function is obtained by introducing a vibration elimination parameter into the fuel optimal switching function, and the vibration elimination parameter is used to adjust the width of the region between phase trajectories determined according to the fuel suboptimal switching function; Inputting the closing function value and the opening function value into the switch control function to obtain the switching value of the phase plane control; determining a thrust value of the rocket based on the switch value, and guiding the rocket to vertical landing according to the thrust value; The suboptimal fuel switching function includes: Upper half: Lower half: Among them, S1 represents the upper half of the fuel suboptimal switching function, S2 represents the lower half of the fuel suboptimal switching function, y represents the current altitude of the rocket, Indicates the current speed of the rocket, for The modulus of α1 and α2 are vibration cancellation parameters.

2. The method for guiding a rocket to vertically land according to claim 1, characterized in that: The vibration elimination parameters include an off-function vibration elimination parameter and an on-function vibration elimination parameter. Both the off-function vibration elimination parameter and the on-function vibration elimination parameter are greater than 0 and less than 1. The off-function vibration elimination parameter is greater than the on-function vibration elimination parameter.

3. The method for guiding a rocket to vertically land according to claim 1, characterized in that: The switch value includes a first switch value and a second switch value, and the step of determining the thrust value of the rocket based on the switch value includes: When the switch value is the first switch value, adjusting the thrust value of the rocket to a minimum thrust value; When the switch value is the second switch value, the thrust value of the rocket is adjusted to a maximum thrust value.

4. The method for guiding a rocket to vertically land according to claim 3, characterized in that: The switching quantity of the phase plane control includes: If the open function value is less than zero, the switch value is determined to be the second switch value; If the off function value is greater than or equal to zero, the switch value is determined to be the first switch value; If the on-function value is greater than or equal to zero and the off-function value is less than zero, the switching value of the previous guidance cycle is determined as the switching value of the current cycle.

5. The method for guiding a rocket to vertically land according to claim 1, characterized in that: The step of determining the thrust value of the rocket based on the switch value includes: Get the thrust adjustment coefficient of the previous guidance cycle; determining a current thrust adjustment coefficient according to the thrust adjustment coefficient of the previous guidance cycle, a switching value of the phase plane control, and a preset thrust adjustment coefficient increment value; The thrust value of the rocket is determined according to the current thrust adjustment coefficient, the maximum thrust value, and the minimum thrust value.

6. The method for guiding a rocket to vertically land according to claim 5, characterized in that: The step of determining the thrust value of the rocket according to the current thrust adjustment coefficient, the maximum thrust value, and the minimum thrust value comprises: limiting the current thrust adjustment coefficient to obtain a limited thrust adjustment coefficient; The thrust value of the rocket is determined according to the thrust adjustment coefficient, the maximum thrust value, and the minimum thrust value after the limiting.

7. A device for guiding a rocket to vertical landing, characterized in that: include: The acquisition module is used to obtain the current altitude and speed information of the rocket; a first computing module, configured to input the height information and the speed information into a fuel suboptimal switching function to obtain an off function value and an on function value, wherein the fuel suboptimal switching function is obtained by introducing a vibration cancellation parameter into the fuel optimal switching function, wherein the vibration cancellation parameter is used to adjust the width of the region between phase trajectories determined according to the fuel suboptimal switching function; A second operation module is used to input the closing function value and the opening function value into the switch control function to obtain the switching value of the phase plane control; a control module, configured to determine a thrust value of the rocket based on the switch value, and guide the rocket to vertical landing according to the thrust value; The suboptimal fuel switching function includes: Upper half: Lower half: Among them, S1 represents the upper half of the fuel suboptimal switching function, S2 represents the lower half of the fuel suboptimal switching function, y represents the current altitude of the rocket, Indicates the current speed of the rocket, for The modulus of α1 and α2 are vibration cancellation parameters.

8. A computer device, characterized in that: It includes a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus; Memory for storing computer programs; The processor is used to implement the steps of the rocket vertical landing guidance method described in any one of claims 1 to 6 when executing the program stored in the memory.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the rocket vertical landing guidance method as described in any one of claims 1 to 6 are implemented.

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