Rocket control system and control method for rocket landing action

Abstract

A method for controlling the horizontal translation of a rocket is provided in a manner that does not increase the manufacturing cost and operating cost and does not change the attitude of the rocket body, so as to accurately perform the landing operation of the rocket. A rocket control system includes: a gimbal actuator that controls the steering angle of a gimbal mechanism located below the center of gravity of the rocket body; a fin actuator that controls the steering angle of an attitude control fin located above the center of gravity of the rocket; a measurement unit that measures physical quantities related to the movement of the rocket body; and a control unit that controls the gimbal mechanism and the attitude control fin according to the measurement results of the measurement unit to control the horizontal translation of the rocket.

Description

Technical Field

[0001] The present invention relates to a rocket control system and a control method for rocket landing actions. Background Art

[0002] Rocket control systems for controlling the path of a rocket, particularly the path before rocket landing, are known (see, for example, Non-Patent Document 1 and Patent Document 1). When performing a rocket landing action with a rocket control system, the rocket is landed at a target location by controlling the forces in the horizontal and vertical directions.

[0003] In the same control system as a conventional rocket that does not perform landing (such as Non-Patent Document 1), path control in the horizontal direction is performed by changing the attitude of the rocket body. As Figure 8 shown, in a rocket landing action, when the attitude of the rocket body changes such that the axis of the rocket body is inclined with respect to the velocity vector V, thus having a certain angle of attack (or wind-resistant attitude) α, the rocket body will be subjected to an aerodynamic force proportional to the angle of attack α. The component of this aerodynamic force perpendicular to the rocket velocity vector V is called "lift". The lift L increases as the angle of attack α increases. The lift L generated during the landing action is basically in the horizontal direction.

[0004] On the other hand, the engine applies a thrust T to the rocket body by generating a jet flow. When the rocket body is inclined and has a certain attitude angle θ with respect to the direction of gravity, the horizontal component Th of the thrust T increases as the attitude angle θ increases.

[0005] At high altitudes where the rocket speed is high, compared with the horizontal component Th of the thrust T, the lift L is dominant, and the rocket body moves Figure 8 to the right side of the paper. On the other hand, when the rocket approaches the ground and the rocket speed decreases, compared with the lift L, the horizontal component Th of the thrust T is dominant. Thus, the rocket body moves Figure 8 to the left side of the paper.

[0006] During the descent of the rocket, sometimes the lift L will balance with the horizontal component Th of the thrust T, resulting in the rocket being unable to move either left or right for a period of time due to attitude changes (idle time). This phenomenon occurs because the direction of the engine thrust T is opposite to the velocity vector V during landing, which is a specific problem of the landing action.

[0007] To solve this problem, Patent Document 2 discloses a thruster control system that additionally adds a thruster. However, due to the addition of a new thruster, new problems such as an increase in the weight of the rocket body and an increase in manufacturing and operating costs arise. Therefore, in the prior art, it is difficult to achieve control in a manner that suppresses costs while avoiding idle control time due to attitude changes and enables the rocket to continuously translate in the horizontal direction.

[0008] Prior art documents

[0009] Patent documents

[0010] Patent Document 1: Japanese Patent Application with Publication Number 2018 - 039390

[0011] Patent Document 2: Japanese Patent Application with Publication Number 2019 - 520255

[0012] Non - patent documents

[0013] Non - patent Document 1: Liu, X., "Aerodynamic Control of Rocket Landing for Fuel Optimization", Journal of Guidance, Control, and Dynamics, Vol. 42, No. 1, January 2019, pp. 65 - 77 Summary of the invention

[0014] Problems to be solved by the present invention

[0015] The object of the present invention is to provide a rocket control system and a control method for a rocket landing action, which can accurately achieve the rocket landing action by controlling the rocket in a manner that does not increase the manufacturing cost and operating cost, avoids the ineffective control time caused by attitude changes, and enables the rocket to continuously translate in the horizontal direction.

[0016] Means for solving the problems

[0017] To solve the above problems, the present invention relates to a rocket control system, comprising: a gimbal actuator for controlling the steering angle of a gimbal mechanism located below the center of gravity of the rocket body; a fin actuator for controlling the steering angle of an attitude control fin located above the center of gravity of the rocket body; a measurement unit for measuring physical quantities related to the movement of the rocket body; and a control unit, which controls the gimbal mechanism and the attitude control fin according to the measurement results of the measurement unit to control the translation of the rocket in the horizontal direction.

[0018] In addition, the present invention relates to a method for controlling a rocket landing action, wherein the rocket comprises: a gimbal mechanism located below the center of gravity of the rocket body and capable of changing the steering angle; and an attitude control fin located above the center of gravity of the rocket body and capable of changing the steering angle, and the method comprises the following steps: measuring physical quantities related to the movement of the rocket body; and controlling the translation of the rocket in the horizontal direction by controlling the gimbal mechanism and the attitude control fin according to the measurement results of the physical quantities.

[0019] Advantages of the invention

[0020] According to the present invention, a rocket control system and a control method for a rocket landing action can be provided, which can accurately achieve the rocket landing action by controlling in a manner that does not increase the manufacturing cost and the operating cost and enables the rocket to continuously translate in the horizontal direction. Brief Description of the Drawings

[0021] Figure 1 It is a schematic diagram of the rocket 1 that is the control object of the rocket control system according to the first embodiment.

[0022] Figure 2 It is a block diagram of the structure of the rocket control system 100 according to the first embodiment.

[0023] Figure 3 It is a control block diagram for detailing the calculation process executed by the calculation control device 30.

[0024] Figure 4 An example of the translation control situation where a control force is generated in the direction (horizontal direction) perpendicular to the velocity vector of the rocket 1 is shown.

[0025] Figure 5 The simulation results of the comparative example are shown.

[0026] Figure 6 The simulation results of the embodiment of the present invention are shown.

[0027] Figure 7 It is a control block diagram for detailing the calculation process executed by the calculation control device 30 of the second embodiment.

[0028] Figure 8 It is a schematic diagram of the problems of the prior art.

[0029] Figure 9 It is a schematic diagram of a method for generating a control force without generating an attitude change.

[0030] Reference Signs in the Drawings

[0031] 1. Rocket; 11. Rocket Body; 12. Landing Device; 13. Engine; 14. Gimbal Mechanism; 15. Attitude Control Fin (Aerodynamic Rudder Surface); GC. Center of Gravity; 20. Measurement Device Group; 30. Calculation Control Device; 40. Gimbal Actuator; 50. Fin Actuator. Detailed Description of the Embodiments

[0032] In the following, embodiments of the present invention will be described with reference to the accompanying drawings. In the drawings, elements having the same function are sometimes denoted by the same reference numerals. In addition, although the drawings show embodiments and implementation examples that conform to the principles of the present disclosure, for the purpose of understanding the present disclosure, they are in no way intended to interpret the present disclosure in a limiting manner. The descriptions in this specification are only typical examples and do not limit the claims or application examples of the present disclosure at any level.

[0033] The description of the embodiments of the present invention is detailed enough for those skilled in the art to implement the present disclosure. However, it should be understood that there are other implementation forms or ways, and compositional / structural changes and substitutions of various elements can be made without departing from the scope and spirit of the technical concept of the present disclosure.

[0034] First Embodiment

[0035] Hereinafter, with reference to Figure 1 and Figure 2 the rocket control system of the first embodiment will be described. Figure 1 FIG. is a schematic view of a rocket 1 which is the control object of the rocket control system of the first embodiment. The rocket 1 includes, for example, a rocket body 11, a landing device 12, an engine 13, a gimbal mechanism 14, and attitude control wings (aerodynamic control surfaces) 15. The rocket control system is installed inside the rocket body 11 of the rocket 1.

[0036] The attitude control wings 15 are provided above the center of gravity GC of the rocket 1 (on the front end (nose cone end) side), and the engine 13 is provided below the center of gravity GC (on the rear end (tail section) side).

[0037] The engine 13 generates a jet flow from the propellant and applies a thrust to the rocket body 11. The engine 13 controls its attitude (orientation) through the gimbal mechanism 14. The gimbal mechanism 14 is driven by the following gimbal actuator. The direction of the thrust T of the engine 13 changes with the change of the angle of the gimbal mechanism 14 (gimbal angle). In addition, the attitude control wings 15 are driven to rotate by the following flap actuator. The magnitude of the lift L changes with the change of the angle of the attitude control wings 15 (flap angle). The lift L is the resultant force of the force generated by the rocket body 11 according to the angle of attack α and the force generated by the attitude control wings 15 according to the angle of attack α and the flap angle.

[0038] By separately controlling the engine 13 and the attitude control wings 15 provided above and below the center of gravity GC in the above manner, during the landing operation of the rocket 1, its attitude can be prevented from changing, and it can be prevented from being unable to move horizontally due to the horizontal component Th of the lift L and the thrust T reaching equilibrium during this period, thereby realizing the horizontal translation of the rocket 1.

[0039] In the existing control system, the gimbal rudder angle and the fin rudder angle are only used to control the moment around the center of gravity GC. However, in the control system of the present embodiment, both are also used to generate horizontal forces. That is to say, in the system of the present embodiment, starting from the state where the moment around the center of gravity GC reaches equilibrium, by simultaneously controlling the rudder angles of both the gimbal mechanism 14 and the attitude control fin 15, as Figure 9 shown, in the horizontal direction, forces ΔTh and ΔL are generated in the same direction and are inversely proportional to the distances from the center of gravity GC respectively.

[0040] According to the operation of the present embodiment, since the moments around the center of gravity GC generated by ΔTh and ΔL cancel each other out, a resultant horizontal force ΔTh + ΔL can be directly generated while keeping the moment around the center of gravity GC in balance. By utilizing this resultant force, the translation of the rocket 1 in the horizontal direction can be controlled. Compared with the control force that can change indirectly due to attitude changes, the resultant force ΔTh + ΔL that does not accompany attitude changes is hereinafter referred to as the "direct force". Figure 9 Shown is that even in the state where the horizontal component Th of the lift L and the thrust T reaches equilibrium as shown in Figure 8 shown, it can move horizontally to the left side of the paper under the action of the direct force ΔTh + ΔL in the above-mentioned manner. In addition, in the embodiments described below, the landing operation should be understood to include not only landing on the earth but also landing on a certain celestial body in the atmosphere.

[0041] Figure 2 is a structural block diagram of the rocket control system 100. The rocket control system 100 is generally composed of a measurement device group 20, a calculation and control device 30, a gimbal actuator 40, and a fin actuator 50.

[0042] The measurement device group 20 is a group of devices for detecting physical quantities (position, velocity, acceleration, attitude, angular velocity, wind-resistant attitude, etc.) related to the movement of the rocket body 11 of the rocket 1, and includes, for example, a position detection unit 21 (such as a GPS receiver), a velocity detection unit 22 (such as a velocity sensor), an acceleration detection unit 23 (such as an acceleration sensor), an attitude detection unit 24 (such as a gyroscope sensor), an angular velocity detection unit 25 (such as an angular velocity sensor), a wind-resistant attitude detection unit 26, etc. Each detection unit 21 - 26 can be composed of sensors appropriately arranged on the rocket body 11. Figure 2 The device group shown is only an example, and detectors not shown in the figure can be further added, or some of the detection units shown in the figure can be omitted. There are no specific limitations on the configuration, number, performance, etc. of the same type of sensors.

[0043] The calculation control device 30 is composed of a general computer and includes, for example, a central computing device, various memories, input / output interfaces, and computer programs. The calculation control device 30 generates rudder angle commands for the gimbal actuator 40 and the flap actuator 50 based on the physical quantities calculated by the measurement device group 20. The gimbal actuator 40 and the flap actuator 50 generate drive signals according to the received rudder angle commands to control the rudder angle of the gimbal mechanism 14 and the rudder angle of the attitude control wing 15.

[0044] Hereinafter, with reference to Figure 3 the control block diagram in, the calculation processing executed by the calculation control device 30 will be described in detail. The calculation control device 30 implements a flight path control unit 31, a wind resistance attitude / wind disturbance acceleration estimation unit 32, a translational acceleration distribution unit 33, an attitude control unit 34, and a rudder angle distribution unit 35 in the computer through the computer program stored therein.

[0045] The flight path control unit 31 determines the flight path that the rocket body 11 of the rocket 1 should take based on various physical quantities (position, velocity, acceleration, attitude, angular velocity, etc. of the rocket 1) obtained from the measurement device group 20, calculates the translational acceleration when the rocket body 11 of the rocket 1 moves translationally in the horizontal direction relative to the ground, and outputs a translational acceleration command representing the translational acceleration. The translational acceleration command here is the indication content related to the translational acceleration to be applied to the center of gravity of the rocket body 11. The adder subtracts the wind disturbance acceleration estimated by the wind resistance attitude / wind disturbance acceleration estimation unit 32 from the translational acceleration command and forwards the result of this subtraction calculation to the translational acceleration distribution unit 33. The subtraction calculation is used to eliminate the influence of the wind disturbance acceleration caused by the wind around the rocket 1.

[0046] The wind resistance attitude / wind disturbance acceleration estimation unit 32 estimates the wind resistance attitude as the attitude of the rocket body 11 of the rocket 1 against the airflow (wind) and the wind disturbance acceleration caused by the breeze based on the physical quantity (position, velocity, acceleration, attitude, acceleration, etc. of the rocket 1) data measured by the measurement device group 20. In addition to the measurement results of the measurement device group 20, the wind resistance attitude / wind disturbance acceleration estimation unit 32 also estimates the wind resistance attitude and wind disturbance acceleration of the rocket 1 based on the rudder angle commands generated according to the proposed translational acceleration fed back by the translational acceleration distribution unit 33 and the rudder angle commands generated according to the proposed angular acceleration fed back by the attitude control unit 34 (collectively referred to as "rudder angle commands"). The reason is that when estimating the wind disturbance acceleration, it is necessary to remove the influence of the rudder angle magnitudes of the gimbal mechanism 14 and the attitude control wing 15 from the measurement results of the measurement device group 20 and only consider the influence of the wind.

[0047] The translation acceleration allocation unit 33 generates a proposed translation acceleration to generate a steering angle instruction and an attitude angle instruction according to the calculated translation acceleration instruction (after subtracting the wind disturbance acceleration data) and in accordance with the allocation rules determined based on the physical quantities measured by the measuring device group 20. The proposed translation acceleration to generate a steering angle instruction corresponds to the translation acceleration generated by the direct force of the universal joint mechanism 14 and the attitude control wing 15. The translation acceleration generated by the direct force of the universal joint mechanism 14 and the attitude control wing 15 and the translation acceleration generated by the attitude change can be predicted from the physical quantities measured by the measuring device group 20. The allocation rule allocates the translation acceleration instruction to the proposed translation acceleration to generate a steering angle instruction and an attitude angle instruction according to the relative effects of the two translation accelerations. When the proposed translation acceleration to generate a steering angle instruction δ A The translational acceleration when the unit angle changes is recorded as A δA The translational acceleration when the attitude angle command γ changes by a unit angle is recorded as A γ When the above “action” is performed by A δA and A γ The final translational acceleration A is A = A δA δ A +A γ γ, in order to make A and the translation acceleration command A C The above allocation rules follow this calculation method.

[0048]

[0049] Among them, η δA and η γ is a positive real number used to adjust the allocation ratio. In addition, A C , δ A , γ is the deviation from the corresponding target state. This calculation method is only an implementation example of the allocation rule. In addition, other calculation methods can be used, or the input-output relationship obtained by machine learning without relying on calculation can be used.

[0050] Invalid control time caused by attitude change (i.e. the translation acceleration A caused by attitude change) γ The time when the translation acceleration is zero corresponds to the situation where all the translation acceleration instructions are allocated to the proposed translation acceleration to generate the steering angle instruction. By appropriately generating the proposed translation acceleration to generate the steering angle instruction and the attitude angle instruction according to this allocation rule, it is possible to avoid invalid control time due to attitude changes and control the rocket 1 in a continuous translation manner.

[0051] The proposed translational acceleration generation rudder angle command means that part or all of the translational acceleration calculated by the flight path control unit 31 is applied to the rocket 1 as a direct force generated by the gimbal mechanism 14 and the attitude control fins 15 without changing the attitude of the rocket body 11. Figure 9 The magnitude and sign of the resultant force ΔTh + ΔL of ΔTh and ΔL shown. In addition, the attitude angle command is a signal indicating the content related to the attitude angle that should be given to the rocket body 11 of the rocket 1 in order to apply the remaining part of the translational acceleration calculated by the flight path control unit 31 to the rocket 1. The allocation ratio between the proposed translational acceleration generation rudder angle command and the attitude angle command can also be changed to a ratio different from that in accordance with the above allocation rules. The ratio of the proposed translational acceleration generation rudder angle command being zero (i.e., η δA = 0) is equivalent to the existing control system that performs translational control only through the attitude change of the rocket body 11. In addition, when the ratio of the attitude angle command is zero (i.e., η γ = 0), horizontal translational control can be performed without changing the attitude of the rocket body 11. Figure 4 The rocket body attitude and path in this case are shown. Figure 4 It is used to clearly and understandably show the motion situation that can only be carried out according to this embodiment. However, in order to effectively perform translational control through the change of the attitude angle, it is more reasonable to use both the direct force generated by the gimbal mechanism and the attitude control fins and the change of the attitude angle in accordance with the above allocation rules.

[0052] The attitude control unit 34 generates a proposed angular acceleration generation rudder angle command according to the above attitude angle command, and further considering the anti-wind attitude estimated by the anti-wind attitude / wind disturbance acceleration estimation unit 32 and various physical quantities measured by the measurement device group 20. The proposed angular acceleration generation rudder angle command represents the magnitude and sign of the angular acceleration (equivalent to the moment about the center of gravity) that needs to be given to the rocket body 11 of the rocket 1 to obtain the attitude angle represented by the attitude angle command.

[0053] The rudder angle allocation unit 35 outputs the gimbal rudder angle command and the fin rudder angle command actually output to the gimbal mechanism 14 and the attitude control fins 15 according to the proposed translational acceleration generation rudder angle command and the proposed angular acceleration generation rudder angle command to be given, and considering the physical quantities (position, velocity, acceleration, attitude, acceleration, etc.) actually measured by the measurement device group 20. The angular accelerations that the gimbal mechanism 14 and the attitude control fins 15 can respectively generate can be predicted according to the physical quantities measured by the measurement device group 20. Let the gimbal rudder angle command be δ G , and the fin rudder angle command be δ F , and the angular accelerations generated when changing the unit rudder angle of the two are M δG , M δF , then the proposed translational acceleration generation rudder angle command δ Aand generate the rudder angle command δ according to the planned angular acceleration M Allocate it to δ according to the following calculation method G and δ F .

[0054]

[0055] where η δF and η δG are positive real numbers used to adjust the ratio of allocating δ M to δ F and δ G . In addition, δ F and δ G etc. are the deviation amounts from the corresponding target states respectively. The angular acceleration M obtained through the operations of δ F and δ G is M = M δF δ F + M δG δ G . Substituting it into the above formula, we get M = δ M , without δ A . That is to say, the planned translational acceleration generates the rudder angle command δA and allocates it to δ F and δ G in a way that does not generate angular acceleration (equivalent to torque) around the center of gravity GC. The above calculation method is only an implementation example of the rudder angle allocation unit 35. In addition, other calculation methods or operations / processes other than calculations can also be adopted. According to the above formula, solving for δ A and δ M we can get:

[0056]

[0057] These two formulas show how the two planned rudder angle commands δ A , δ M are defined in terms of the two physical-level rudder angles δ F and δ G . The calculations / operations performed in the rudder angle allocation unit 35 correspond one-to-one to the definitions of these two planned rudder angle commands.

[0058] As can be seen, according to the system 100 of the present embodiment, a direct force can be generated by appropriately controlling the steering angles of the gimbal mechanism 14 and the attitude control fins 15 of the engine 13 provided above and below the center of gravity GC, thereby controlling the translational acceleration in the horizontal direction. Since the control of the translational acceleration can be achieved by controlling the steering angles of the gimbal mechanism 14 and the attitude control fins 15, correct translational movement control can be realized without further adding an engine dedicated to translational movement. In addition, since the steering angle given to the gimbal mechanism 14 and the steering angle given to the attitude control fins 15 are appropriately allocated by the translational acceleration distribution unit 33 and the steering angle distribution unit 35 according to the physical quantities measured by the measurement device group 20, translational control can be performed in a manner that maintains the moment balance about the center of gravity GC, does not change the attitude of the rocket 1, and generates a thrust in the direction perpendicular to the velocity vector of the rocket 1 (horizontal direction) (see Figure 4 ).

[0059] According to the present embodiment, by combining the change in the horizontal component Th of the lift L and the thrust T generated due to the change in the attitude of the rocket body of the rocket 1, and the direct force ΔTh + ΔL generated by the gimbal mechanism 14 and the attitude control fins 15 when the attitude does not change, the rocket 1 can be moved in the horizontal direction. In contrast, when controlling the movement of the rocket in the horizontal direction only by controlling the attitude of the rocket 1, as described above in combination with Figure 8 , it is difficult to avoid the situation where the rocket cannot move left or right for a certain period of time (idle time) due to the balance between the lift L and the horizontal component Th of the thrust T. When this idle time is long, as shown in the Figure 5 comparative example, since the path cannot be controlled by changing the attitude of the rocket, the rocket body 11 of the rocket 1 may generate path fluctuations under the influence of the wind, resulting in an increase in the error of the landing point. In contrast, according to the present embodiment, since such idle time can be avoided or suppressed, path fluctuations and the error of the landing point can be suppressed (see Figure 6 ). In addition, since there is no need to use an additional thruster as in Patent Document 2, the manufacturing cost can also be suppressed. Figure 5 and Figure 6 show the simulation results of the flight path and landing position of the rocket under hundreds of wind assumptions.

[0060] In addition, the control based on the attitude control fins 15 is only effective when the speed of the rocket 1 is above a preset value. Therefore, during a period when the speed of the rocket 1 is slow before it is about to land on the ground, since the attitude control fins 15 are ineffective, the control is performed in such a way that the translational movement is maintained only by the gimbal mechanism 14. Specifically, the commanded rudder angle for generating the angular acceleration is only converted into the rudder angle of the gimbal mechanism 14, and the rudder angle of the attitude control fins 15 is not controlled. This process in which the commanded rudder angle for generating the translational acceleration is zero is equivalent to the existing control system that performs translational control only relying on the attitude change of the rocket body 11. Among them, the correct distribution can be achieved within this process only by using the above calculation formula without special consideration.

[0061] Second Embodiment

[0062] Hereinafter, with reference to Figure 7 , the rocket control system of the second embodiment will be described. Similar to the first embodiment, the rocket control system of the second embodiment also has an engine 13 and attitude control fins 15 disposed above and below the center of gravity GC, and controls the translational movement during rocket landing by controlling their rudder angles. Since the overall composition of the system 100 is the same as that of the first embodiment ( Figure 2 ), the repeated parts will not be described again. The calculation process of the calculation control device 30 in the second embodiment system is different from that of the first embodiment.

[0063] Hereinafter, with reference to Figure 7 in the control block diagram, the calculation process executed by the calculation control device 30 will be described in detail. The calculation control device 30 of the second embodiment uses a wind disturbance acceleration estimation unit 32A to replace the anti-wind attitude / wind disturbance acceleration estimation unit 32 in the first embodiment. Different from the first embodiment, the calculation control device 30 of the second embodiment does not estimate the anti-wind attitude, but calculates the anti-wind attitude based on the measurement results of the measurement device group 20 and provides this data to the wind disturbance acceleration estimation unit 32A and the attitude control unit 34. In addition to the calculation result of the anti-wind attitude, the wind disturbance acceleration estimation unit 32A estimates the wind disturbance acceleration caused by the wind based on various physical quantities (position, speed, acceleration, attitude, angular velocity, etc.) measured by the measurement device group 20 and provides it to the adder. This is the same as the first embodiment. The second embodiment can also achieve the same effect as the first embodiment.

[0064] The present invention is not limited to the above-described embodiments, and also includes various modified embodiments. For example, although the above-described embodiments have been described in detail for the sake of clarity of the present invention, the present invention is not necessarily limited to including all the configurations described above. In addition, part of the configuration of one embodiment can be replaced with the configuration of another embodiment. In addition, the configuration of another embodiment can be added to the configuration of one embodiment. Further, for part of the configuration of each embodiment, addition, deletion, or replacement of other configurations can be performed.

Claims

1. A rocket control system for controlling a rocket, characterized in that, Comprising: A gimbal actuator for controlling the rudder angle of a gimbal mechanism located below the center of gravity of the rocket body; A fin actuator for controlling the rudder angle of an attitude control fin located above the center of gravity of the rocket; A measurement unit for measuring physical quantities related to the movement of the rocket body; And A control unit for controlling the gimbal mechanism and the attitude control fin according to the measurement results of the measurement unit to control the translation of the rocket in the horizontal direction, wherein the control unit is configured to: Generate a translational acceleration generated draft rudder angle command for indicating the rudder angle to be imparted to the gimbal mechanism and the attitude control fin according to a translational acceleration command indicating translational acceleration, so as to apply part or all of the translational acceleration to the rocket without changing the attitude of the rocket body, and generate an attitude angle command providing an indication related to the attitude angle to be imparted to the rocket body, so as to apply the remaining part of the translational acceleration to the rocket by changing the attitude of the rocket body; And Determine the allocation of the translational acceleration generated draft rudder angle command and the attitude angle command according to the physical quantities measured by the measurement unit.

2. The rocket control system according to claim 1, characterized in that, The control unit is used for: Generating an angular acceleration generated draft rudder angle command for indicating the rudder angle to be imparted to the gimbal mechanism and / or the attitude control fin according to the attitude angle command in order to generate the angular acceleration to be imparted to the rocket body to obtain the attitude angle indicated by the attitude angle command; And Controlling the rudder angles of the gimbal mechanism and the attitude control fin according to the translational acceleration generated draft rudder angle command and the angular acceleration generated draft rudder angle command.

3. The rocket control system according to claim 2, wherein The control unit is used for calculating a wind disturbance acceleration, which is the acceleration of the rocket body generated by the wind around the rocket, according to the physical quantity measured by the measurement unit, and calculating the translational acceleration generated draft rudder angle command and the attitude angle command by taking the wind disturbance acceleration into account.

4. The rocket control system according to claim 3, characterized in that, In addition to the physical quantity, the control unit is further used for calculating the wind disturbance acceleration according to the translational acceleration generated draft rudder angle command and the angular acceleration generated draft rudder angle command.

5. A method for controlling the landing action of a rocket, characterized in that The rocket comprises: A gimbal mechanism located below the center of gravity of the rocket body and having a variable rudder angle; and An attitude control fin located above the center of gravity of the rocket and having a variable rudder angle, The method comprises: Measuring physical quantities related to the movement of the rocket body; Controlling the translation of the rocket in the horizontal direction by controlling the gimbal mechanism and the attitude control fin according to the measurement results of the physical quantities. Generate a translational acceleration generated draft rudder angle command for indicating the rudder angle that needs to be imparted to the gimbal mechanism and the attitude control fins according to the translational acceleration command indicating the translational acceleration, so as to apply part or all of the translational acceleration to the rocket without changing the attitude of the rocket body of the rocket, and generate an attitude angle command for providing an indication related to the attitude angle that needs to be imparted to the rocket body of the rocket, so as to apply the remaining part of the translational acceleration to the rocket by changing the attitude of the rocket body of the rocket; and Determine the allocation of the translational acceleration generated draft rudder angle command and the attitude angle command according to the physical quantity.

6. The method according to claim 5, wherein Further includes: In order to generate the angular acceleration that needs to be imparted to the rocket body of the rocket to obtain the attitude angle indicated by the attitude angle command, generate an angular acceleration generated draft rudder angle command for indicating the rudder angle that needs to be imparted to the gimbal mechanism and / or the attitude control fins according to the attitude angle command; And Control the rudder angles of the gimbal mechanism and the attitude control fins according to the translational acceleration generated draft rudder angle command and the angular acceleration generated draft rudder angle command.

7. The method according to claim 6, wherein Calculate the wind disturbance acceleration, which is the acceleration of the rocket body generated by the wind around the rocket, according to the physical quantity, and calculate the translational acceleration generated draft rudder angle command and the attitude angle command by taking the wind disturbance acceleration into account.

8. The method according to claim 7, wherein The wind disturbance acceleration is calculated in addition to the physical quantity according to the translational acceleration generated draft rudder angle command and the angular acceleration generated draft rudder angle command.

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