A method and system for controlling the landing point of a solid booster of a solid-liquid bundled launch vehicle

Abstract

The present invention discloses a method and system for controlling the landing point of a solid booster of a solid-liquid bundled launch vehicle, and belongs to the field of launch vehicle guidance and control. The method first collects the state information of the launch vehicle, calculates the separation characteristic quantity and separation margin of the solid booster, and if the separation margin is less than or equal to zero, collects the chamber pressure value of the solid booster; if the chamber pressure of the solid booster meets the separation requirements, sends a solid booster separation signal. The present invention has a simple principle and convenient engineering implementation. It can judge whether to send a solid booster separation signal based on the state information of the launch vehicle and the chamber pressure value of the solid booster, thereby effectively controlling the landing point of the solid booster under the premise of ensuring the safe flight of the launch vehicle, ensuring the safety of the landing area of ​​the solid booster, and improving the reliability of the launch vehicle.

Description

Technical Field

[0001] The invention relates to a landing point control method and system for a solid booster of a solid-liquid bundled carrier rocket, belonging to the field of carrier rocket guidance control. Background Art

[0002] The landing point control method of the solid booster of the solid-liquid bundled launch vehicle controls the landing point deviation of the solid booster by adjusting the sending time of the solid booster separation signal, which can ensure that the solid booster falls to the pre-determined landing area after separation, ensuring the safety of the landing area. The landing point control of the solid booster is quite different from that of the liquid booster. The solid booster cannot be shut down. In order to minimize the interference of the solid booster separation process on the launch vehicle and ensure the flight safety of the launch vehicle, the separation process should also be carried out after the solid booster is burned out. The traditional landing point control method cannot meet the above requirements at the same time. How to send a solid booster separation signal at the right time according to the launch vehicle flight status information and the solid booster chamber pressure information, so as to achieve solid booster landing point control under the premise of ensuring the flight safety of the launch vehicle and improve the reliability of the launch vehicle, is a technical problem that urgently needs to be solved in this field. Summary of the invention

[0003] The technical problem solved by the present invention is: to overcome the shortcomings of the prior art, and to propose a method and system for controlling the landing point of a solid booster of a solid-liquid bundled launch vehicle, which integrates the flight status information of the launch vehicle and the chamber pressure information of the solid booster, calculates online and sends a solid booster separation signal at an appropriate time, realizes the landing point control of the solid booster under the premise of ensuring the flight safety of the launch vehicle, and improves the reliability of the launch vehicle.

[0004] The technical solution of the present invention is:

[0005] A method for controlling the landing point of a solid booster of a solid-liquid bundled launch vehicle, comprising:

[0006] (1) Collect the current speed and position of the launch vehicle and calculate the separation margin of the solid booster;

[0007] (2) determining whether the solid booster separation margin is less than or equal to zero; if so, calculating the chamber pressure value of the solid booster; otherwise, returning to step (1);

[0008] (3) judging whether the solid booster chamber pressure meets the separation requirement based on the chamber pressure value of the solid booster; if so, issuing a solid booster separation signal; otherwise, judging whether the time from the launch vehicle takeoff to the current time is less than the preset solid booster timed separation time; if so, returning to step (2) to continue collecting the chamber pressure value of the solid booster; if not, issuing a solid booster separation signal.

[0009] Preferably, the calculation of the solid booster separation margin includes:

[0010] Calculate the solid booster separation characteristic:

[0011] W=K1V x +K2V y +K3V z +K4x+K5y+K6z

[0012] Where W is the separation feature, [V x ,V y ,V z ] is the current speed of the launch vehicle, [x, y, z] is the current position of the launch vehicle, K1, K2, K3, K4, K5 and K6 are constants;

[0013] Calculate the separation margin for solid boosters:

[0014]

[0015] Where ΔW is the separation margin, is a constant;

[0016]

[0017] and is the preset nominal speed, and is the preset nominal position.

[0018] Preferably, the determining whether the solid booster separation margin is less than or equal to zero comprises:

[0019] According to the preset cycle, the separation margin of the solid booster is calculated in each cycle and the following judgment is made:

[0020] If ΔW n ≤0, it is judged that the solid booster separation margin is less than or equal to zero, ΔW n is the solid booster separation margin for the current cycle;

[0021] If 0<ΔW n ≤3ΔW n-1 / 5, ΔW n-1 is the solid booster separation margin of the previous cycle, then it is required to start from the current time Δt n After that, it is judged that the solid booster separation margin is less than or equal to zero; among which,

[0022]

[0023] Where, t s The period of providing navigation information to the navigation system, Δtn The unit is milliseconds;

[0024] If ΔW n >3ΔW n-1 / 5 and ΔW n >0, wait for the next judgment cycle to make a judgment.

[0025] Preferably, the preset period for determining whether the solid booster separation margin is less than or equal to zero is set to a period for the navigation system to provide navigation information.

[0026] Preferably, the calculating of the chamber pressure value of the solid booster comprises:

[0027] Collect pressure data from all pressure sensors of each solid booster and calculate the pressure data deviation value of each solid booster;

[0028] ΔP i12 =P i1 -P i2 , ΔP i23 =P i2 -P i3

[0029] Where P i1 , P i2 , P i3 is the pressure data of the three-way pressure sensors of the i-th solid booster sorted from large to small, ΔP i12 , ΔP i23 is the pressure data deviation value of the i-th solid booster, i is a positive integer;

[0030] The chamber pressure value of each solid booster is calculated based on the pressure data deviation value.

[0031] Preferably, calculating the chamber pressure value of each solid booster according to the pressure data deviation value includes:

[0032] If ΔP i12 <ΔP i23 , then P i =(P i1 +P i2 ) / 2;

[0033] If ΔP i12 =ΔP i23 , then P i =(P i1 +P i2 +P i3 ) / 3;

[0034] If ΔP i12 >ΔP i23 , then P i =(Pi2 +P i3 ) / 2;

[0035] Where P i is the chamber pressure value of the i-th solid booster.

[0036] Preferably, the method for judging whether the solid booster chamber pressure meets the separation requirements is: if the chamber pressure values ​​of all solid boosters are less than the separation chamber pressure judgment threshold required by the design, then the solid booster chamber pressure meets the separation requirements; otherwise, the solid booster chamber pressure does not meet the separation requirements.

[0037] Preferably, after the launch vehicle takes off and when the solid booster separation time is allowed, the current speed and current position of the launch vehicle are collected and the solid booster separation margin is calculated; the solid booster separation time is calculated based on the nominal flight trajectory of the launch vehicle.

[0038] A solid-liquid bundled launch vehicle solid booster landing point control system, comprising a solid booster separation margin calculation module, a solid main thruster chamber pressure calculation module, and a separation signal issuance judgment module;

[0039] The solid booster separation margin calculation module is used to calculate the separation margin;

[0040] The solid booster chamber pressure calculation module is used to collect and calculate the chamber pressure value of the solid booster;

[0041] The separation signal sending judgment module is used to judge the solid booster separation signal within a specified time interval, and send a solid booster separation signal when the launch vehicle status meets the solid booster separation requirements.

[0042] A computer-readable storage medium stores a computer program, and the computer program implements the above method when executed by a processor.

[0043] The advantages of the present invention compared with the prior art are:

[0044] The present invention proposes a method and system for controlling the landing point of a solid booster of a solid-liquid bundled launch vehicle. It proposes for the first time a method for collecting chamber pressure information of a solid booster and a method for controlling the landing point of a booster that integrates flight status information and chamber pressure information of a solid booster. It solves the problem of controlling the landing point of a solid booster of a solid-liquid bundled launch vehicle and sends a solid booster separation signal at the right time. It can ensure that the separation of the solid booster occurs after the solid booster is burned out and that the landing point of the solid booster is within a specified range, thereby improving the reliability of the launch vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0046] Figure 1 The present invention is a flowchart of a solid booster landing point control method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0047] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present disclosure and to be able to fully convey the scope of the present disclosure to those skilled in the art. It should be noted that, in the absence of conflict, the embodiments of the present invention and the features described in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0048] The present invention proposes a method for controlling the landing point of a solid booster of a solid-liquid bundled launch vehicle. Figure 1 As shown, including:

[0049] Step 1: Collect the launch vehicle status information, including the velocity in the launch inertial coordinate system

[0050] And separation margin ΔW. Among them:

[0051] W=K1V x +K2V y +K3V z +K4x+K5y+K6z

[0052]

[0053]

[0054] Wherein, K1, K2, K3, K4, K5 and K6 are constants, which are calculated based on the preset nominal trajectory and each deviation trajectory. In this embodiment, the values ​​are [1 0.7 -0.0006 0.003 0.003 0]; is a constant, and is the nominal velocity in the preset launch inertial coordinate system, and It is the nominal position in the preset launch inertial coordinate system.

[0055] In this embodiment, the separation margin of the solid booster is calculated in each cycle according to a preset period, and the preset period is 20 ms, which is equal to the period in which the navigation system provides navigation information.

[0056] Step 2: Determine whether the solid booster separation margin ΔW is not greater than zero; if it is less than or equal to zero, calculate the chamber pressure value of the solid booster.

[0057] The method for judging whether the solid booster separation margin ΔW is not greater than zero is:

[0058] If ΔW n ≤0, it is judged that the solid booster separation margin is less than or equal to zero, ΔW n is the solid booster separation margin for the current cycle;

[0059] If 0<ΔW n ≤3ΔW n-1 / 5, ΔW n-1 is the solid booster separation margin of the previous cycle, then it is required to start from the current time Δt n After that, it is judged that the solid booster separation margin is less than or equal to zero; among which,

[0060]

[0061] In the formula, Δt n The unit is milliseconds;

[0062] If ΔW n >3ΔW n-1 / 5 and ΔW n >0, wait for the next judgment cycle to make a judgment.

[0063] In this embodiment, the launch vehicle has four solid boosters, and the chamber pressure values ​​are recorded as P1, P2, P3, and P4 respectively; the chamber pressure value P of the i-th (i=1, 2, 3, 4) solid booster is collected. i The specific method is: collect the pressure data of the three-way pressure sensors of the i-th booster and sort them, from large to small, respectively, P i1 , P i2 and P i3 ; Calculate the pressure data deviation value:

[0064] ΔP i12 =P i1 -P i2 , ΔP i23 =P i2 -P i3

[0065] In the formula, ΔP i12 , ΔP i23 is the pressure data deviation value of the i-th solid booster;

[0066] According to the pressure data deviation value, the chamber pressure value of each solid booster is calculated:

[0067] If ΔP i12 <ΔP i23 , then P i =(P i1 +P i2 ) / 2;

[0068] If ΔP i12 =ΔP i23 , then P i =(P i1 +P i2 +P i3 ) / 3;

[0069] If ΔP i12 >ΔP i23 , then P i =(P i2 +P i3 ) / 2.

[0070] Step 3: Determine whether the solid booster chamber pressure meets the separation requirements. G And P2<P G And P3<P G And P4<P G , P G is the separation chamber pressure judgment threshold required by the design. If the solid booster chamber pressure meets the separation requirements, the solid booster separation condition is met and a solid booster separation signal is issued. Otherwise, the solid booster chamber pressure does not meet the separation requirements, and step 2 is entered to continue collecting the solid booster chamber pressure value.

[0071] The calculation starts at t0 seconds after the launch vehicle takes off. f If the solid booster separation signal is not issued within 1 second, the solid booster separation signal is issued; t0 is the allowable separation time of the solid booster, t f is the scheduled separation time of the solid booster, which is calculated based on the nominal flight trajectory of the launch vehicle.

[0072] A solid-liquid bundled launch vehicle solid booster landing point control system, comprising a solid booster separation margin calculation module, a solid main thruster chamber pressure calculation module, and a separation signal issuance judgment module;

[0073] The solid booster separation margin calculation module is used to calculate the separation margin;

[0074] The solid booster chamber pressure calculation module is used to collect and calculate the chamber pressure value of the solid booster;

[0075] The separation signal sending judgment module is used to judge the solid booster separation signal within a specified time interval, and send a solid booster separation signal when the launch vehicle status meets the solid booster separation requirements.

[0076] Through the application of the present invention, the landing point of the solid booster can be effectively controlled under the premise of ensuring the safe flight of the carrier rocket. The flight test results show that the lateral deviation of the landing point of the solid booster is within 10km and the longitudinal deviation is within 20km.

[0077] The above-described embodiments are only preferred specific implementations of the present invention. Common changes and substitutions made by those skilled in the art within the scope of the technical solution of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for controlling the landing point of a solid booster of a solid-liquid bundled launch vehicle, characterized in that: include: (1) Collect the current speed and position of the launch vehicle and calculate the separation margin of the solid booster; (2) Determine whether the solid booster separation margin is less than or equal to zero; if so, calculate the chamber pressure value of the solid booster; Otherwise, return to step (1); Determining whether the solid booster separation margin is less than or equal to zero includes: According to the preset cycle, the separation margin of the solid booster is calculated in each cycle and the following judgment is made: If ΔW n ≤0, it is judged that the solid booster separation margin is less than or equal to zero, ΔW n is the solid booster separation margin for the current cycle; If 0<ΔW n ≤3ΔW n-1 / 5, ΔW n-1 is the solid booster separation margin of the previous cycle, then it is required to start from the current time Δt n After that, it is judged that the solid booster separation margin is less than or equal to zero; among which, Where, t s The period of providing navigation information to the navigation system, Δt n The unit is milliseconds; If ΔW n >3ΔW n-1 / 5 and ΔW n >0, wait for the next judgment cycle to make a judgment; (3) judging whether the solid booster chamber pressure meets the separation requirement based on the chamber pressure value of the solid booster; if so, issuing a solid booster separation signal; otherwise, judging whether the time from the launch vehicle takeoff to the current time is less than the preset solid booster timed separation time; if so, returning to step (2) to continue collecting the chamber pressure value of the solid booster; if not, issuing a solid booster separation signal.

2. The method for controlling the landing point of a solid booster of a solid-liquid bundled launch vehicle according to claim 1, characterized in that: The calculation of the solid booster separation margin includes: Calculate the solid booster separation characteristic: W=K1V x +K2V y +K3V z +K4x+K5y+K6z Where W is the separation feature, [V x ,V y ,V z ] is the current speed of the launch vehicle, [x, y, z] is the current position of the launch vehicle, K1, K2, K3, K4, K5 and K6 are constants; Calculate the separation margin for solid boosters: Where ΔW is the separation margin, is a constant; and is the preset nominal speed, and is the preset nominal position.

3. The method for controlling the landing point of a solid booster of a solid-liquid bundled launch vehicle according to claim 1, characterized in that: The preset period for determining whether the solid booster separation margin is less than or equal to zero is set as the period for the navigation system to provide navigation information.

4. The method for controlling the landing point of a solid booster of a solid-liquid bundled launch vehicle according to claim 1, characterized in that: The calculating of the chamber pressure value of the solid booster comprises: Collect pressure data from all pressure sensors of each solid booster and calculate the pressure data deviation value of each solid booster; ΔP i12 =P i1 -P i2 ,ΔP i23 =P i2 -P i3 Where P i1 , P i2 , P i3 is the pressure data of the three-way pressure sensors of the i-th solid booster sorted from large to small, ΔP i12 , ΔP i23 is the pressure data deviation value of the i-th solid booster, i is a positive integer; The chamber pressure value of each solid booster is calculated based on the pressure data deviation value.

5. The method for controlling the landing point of a solid booster of a solid-liquid bundled launch vehicle according to claim 4, characterized in that: The chamber pressure value of each solid booster is calculated based on the pressure data deviation value, including: If ΔP i12 <ΔP i23 , then P i =(P i1 +P i2 ) / 2; If ΔP i12 =ΔP i23 , then P i =(P i1 +P i2 +P i3 ) / 3; If ΔP i12 >ΔP i23 , then P i =(P i2 +P i3 ) / 2; Where P i is the chamber pressure value of the i-th solid booster.

6. The method for controlling the landing point of a solid booster of a solid-liquid bundled launch vehicle according to claim 1, characterized in that: The method for judging whether the solid booster chamber pressure meets the separation requirements is: if the chamber pressure values ​​of all solid boosters are less than the separation chamber pressure judgment threshold required by the design, then the solid booster chamber pressure meets the separation requirements; otherwise, the solid booster chamber pressure does not meet the separation requirements.

7. The method for controlling the landing point of a solid booster of a solid-liquid bundled launch vehicle according to claim 1, characterized in that: When the launch vehicle takes off and reaches the allowable separation time of the solid boosters, the current speed and current position of the launch vehicle are collected and the separation margin of the solid boosters is calculated.

8. A landing point control system for a solid booster of a solid-liquid bundled launch vehicle, using the landing point control method for a solid booster of a solid-liquid bundled launch vehicle according to claim 1, characterized in that: It includes a solid booster separation margin calculation module, a solid main thruster chamber pressure calculation module, and a separation signal issuance judgment module; The solid booster separation margin calculation module is used to calculate the separation margin; The solid booster chamber pressure calculation module is used to collect and calculate the chamber pressure value of the solid booster; The separation signal sending judgment module is used to judge the solid booster separation signal within a specified time interval, and send a solid booster separation signal when the launch vehicle status meets the solid booster separation requirements.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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