Missile rudder deflection dynamic distribution method based on four-rudder control

Abstract

The application discloses a missile rudder deflection dynamic distribution method based on four-rudder control and belongs to the technical field of flight control. Compared with a traditional missile channel rudder deflection distribution mode, when distributing three channel rudder deflections of the missile, the application fully considers the sizes of the pitch channel and the yaw channel rudder deflections, and the roll channel rudder deflection is differentially distributed on four single rudders according to the relative sizes of the pitch channel and the yaw channel required rudder deflections. The distribution scheme can effectively improve the use rate of the rudder deflection, makes the three channels pay a large rudder deflection, improves the control precision of the missile and increases the flight stability. The application is simple in calculation, stable in performance and easy to realize in engineering.

Description

TECHNICAL FIELD

[0001] The application relates to a missile rudder deflection dynamic distribution method based on four-rudder control and belongs to the technical field of missile flight control. BACKGROUND

[0002] The missile based on four-rudder control is a commonly used missile control mode. Figure 2 As shown in the figure, four rudders in the shape of "X" are installed at the tail of the missile, and the rudders are deflected to generate aerodynamic force and moment, thereby controlling the movement of the missile. From the tail of the missile, looking along the flight direction, the rudder at the upper left corner is defined as 1 rudder, and along the clockwise direction, they are 2 rudder, 3 rudder and 4 rudder respectively. The deflection of 1 rudder and 3 rudder controls the movement of the yaw channel of the missile, 2 rudder and 4 rudder control the movement of the pitch channel of the missile, and 1 rudder, 2 rudder, 3 rudder and 4 rudder control the movement of the roll channel of the missile. From the control effect of each rudder, it can be seen that the pitch channel and the yaw channel do not affect each other, but there is a rudder deflection resource conflict problem between the pitch channel, the yaw channel and the roll channel. In order to ensure the stability of flight, the missile usually adopts the method of giving priority to meeting the roll channel rudder deflection demand, that is, the roll channel needs how much rudder deflection, and how much rudder deflection is allocated, and the remaining rudder deflection is allocated to the pitch channel and the yaw channel. Therefore, if the pitch channel or the yaw channel and the roll channel have large rudder deflection demand at the same time, the pitch channel or the yaw channel will have the phenomenon of amplitude limiting, that is, the actual rudder deflection is less than the required rudder deflection, thereby affecting the control precision and flight stability of the missile.

[0003] The current missile rudder bias distribution scheme is to divide the rolling channel rudder bias equally to four single rudders, the maximum available rudder bias of the pitch channel and the yaw channel is the same, and the maximum available rudder bias of the missile is reduced by the rolling rudder bias. This distribution method is relatively simple and easy to implement, but it is not the optimal distribution method. In the distribution scheme, only the coordinated distribution between the pitch channel and the rolling channel and the yaw channel and the rolling channel is considered, and the coordination problem between the pitch channel and the yaw channel is not considered. For example, when the pitch channel and the rolling channel have large rudder bias requirements, and the yaw channel has small rudder bias requirements, two rudders or four rudders will be full, and the rudder bias of one rudder and three rudders is small. At this time, the actual rudder bias paid by the yaw channel and the rolling channel is the same as the required rudder bias, and the pitch rudder bias is limited, and the rudder bias paid will be less than the required rudder bias. The present application considers that when there is a large difference in the required rudder bias of the pitch channel and the yaw channel, the rudder bias of the rolling channel distributed to the four single rudders is not evenly distributed, but is distributed according to the required rudder bias of the pitch channel and the yaw channel, and more is distributed to the single rudder corresponding to the channel with small rudder bias requirement in the pitch channel and the yaw channel. In this way, the channel with large rudder bias requirement in the pitch channel and the yaw channel can pay as much rudder bias as possible without being limited. Compared with the traditional scheme, the distribution scheme provided by the present application considers the relative size between the pitch channel and the yaw channel, and dynamically distributes the rolling channel to the four single rudders according to the required rudder bias of the pitch channel and the yaw channel, so that the three channels can pay large rudder bias without being limited. SUMMARY

[0004] The technical problem solved by the present application is to overcome the shortcomings of the prior art and provide a missile rudder bias dynamic distribution method based on four rudder control, which dynamically configures four single rudder rudder commands according to the required rudder bias of the pitch channel, the yaw channel and the rolling channel, so that the three channels can pay large rudder bias, and solves the problem of system performance degradation caused by rudder bias resource conflict when the missile has large rudder bias requirement.

[0005] The technical solution of the present application is a missile rudder bias dynamic distribution method based on four rudder control, the missile contains a controller unit, a rudder bias dynamic distribution unit and a rudder system, which comprises:

[0006] Step one, the missile controller unit calculates the pitch channel, yaw channel and rolling channel rudder commands and sends them to the missile rudder bias dynamic distribution unit;

[0007] Step two, the missile rudder bias dynamic distribution unit limits the amplitude of the rolling channel rudder command obtained in step one;

[0008] Step three, according to the rolling channel rudder command limited in amplitude in step two and the pitch channel and yaw channel rudder commands obtained in step one, the size of the rudder bias of the pitch channel and the yaw channel rudder command exceeding the amplitude limit is calculated;

[0009] Step four, according to the size of the rudder deflection of the pitch channel and the yaw channel rudder command exceeding the limit in step three, calculate the rudder deflection value that the pitch channel rudder command needs to be reduced;

[0010] Step five, according to the size of the rudder deflection of the pitch channel and the yaw channel rudder command exceeding the limit in step three, calculate the rudder deflection value that the yaw channel rudder command needs to be reduced;

[0011] Step six, according to the rudder deflection values that the pitch and yaw channels need to be reduced calculated in step four and step five, calculate the limit values of the pitch channel and the yaw channel rudder command;

[0012] Step seven, according to the limit values of the pitch channel and the yaw channel rudder command calculated in step six, limit the pitch channel and the yaw channel rudder command;

[0013] Step eight, according to the roll channel rudder command obtained in step two and the pitch channel and the yaw channel rudder command obtained in step seven, calculate four single rudder commands;

[0014] Step nine, according to the four single rudder commands obtained in step eight, determine whether there is a single rudder command exceeding the rudder deflection limit value, if so, calculate the size of the single rudder command exceeding the rudder deflection limit value;

[0015] Step ten, according to the size of the single rudder command exceeding the rudder deflection limit value obtained in step nine, re-distribute and calculate the four single rudder commands;

[0016] Step eleven, send the single rudder commands calculated in step ten to the rudder system to control the movement of the missile.

[0017] Further, the calculation formula for limiting the roll channel rudder command in step two is: Where DR is the roll channel rudder command, DR max is the maximum available rudder deflection of the missile, and is a pre-set constant value.

[0018] Further, the size of the rudder deflection of the pitch channel and the yaw channel rudder command exceeding the limit in step three is: Where DP is the pitch channel rudder command, DY is the yaw channel rudder command, ΔUp is the size of the rudder deflection of the pitch channel rudder command exceeding the limit, ΔUy is the size of the rudder deflection of the yaw channel rudder command exceeding the limit, D max is the maximum available rudder deflection of the missile, and is a pre-set constant value.

[0019] Further, the calculation formula for the rudder deflection value that the pitch channel rudder command needs to be reduced in step four is where ΔUp1 is the rudder deflection value that the pitch channel rudder command needs to be reduced, and ΔUpy is a calculation intermediate variable.

[0020] Further, the calculation formula of the rudder deflection value that the yaw channel rudder command needs to be reduced in the step five is: where ΔUy1 is the rudder deflection value that the yaw channel rudder command needs to be reduced.

[0021] Further, the calculation formula of the pitch channel and yaw channel rudder command limiting values in the step six is:

[0022] where Upmax is the pitch channel rudder command limiting value, Uymax is the yaw channel rudder command limiting value, and Up1 and Uy1 are calculation intermediate variables.

[0023] Further, the calculation formula of the pitch channel and yaw channel limiting processing in the step seven is:

[0024] where DP is the pitch channel rudder command, DY is the yaw channel rudder command, Upmax is the pitch channel rudder command limiting value, and Uymax is the yaw channel rudder command limiting value.

[0025] Further, the calculation formula of the four single-rudder rudder commands in the step eight is:

[0026] where D1 is the 1-rudder rudder command, D2 is the 2-rudder rudder command, D3 is the 3-rudder rudder command, and D4 is the 4-rudder rudder command.

[0027] Further, the calculation formula of the single-rudder rudder command exceeding the rudder deflection limiting value size in the step nine is:

[0028]

[0029] where ΔR is the single-rudder rudder command exceeding the rudder deflection limiting value size.

[0030] Further, the calculation formula of the single-rudder rudder command re-distribution in the step ten is:

[0031] If |D1|<Dmax, |D2|<Dmax, |D3|<Dmax, and |D4|<Dmax, then:

[0032]

[0033] If |D1|≥Dmax or |D2|≥Dmax, then:

[0034]

[0035] If |D3| >= Dmax or |D4| >= Dmax, then:

[0036]

[0037] A missile rudder dynamic distribution system based on four rudders control comprises a missile controller unit, a missile rudder dynamic distribution unit and a rudder system; the missile controller unit calculates the pitch rudder command, the yaw rudder command and the roll rudder command of the missile and sends them to the missile rudder dynamic distribution unit; the missile rudder dynamic distribution unit is the rudder dynamic distribution function provided by the application; the rudder system receives the single-rudder command and controls the missile rudder deflection, thereby controlling the movement of the missile.

[0038] Compared with the prior art, the application has the advantages that:

[0039] Compared with the traditional missile channel rudder distribution mode, when distributing the rudder of the three channels of the missile, the size of the pitch channel and the yaw channel rudder is fully considered, and the roll channel rudder is differentially distributed to the four single rudders according to the relative size of the pitch channel and the yaw channel demand rudder. Compared with the traditional distribution scheme, this distribution scheme can effectively improve the utilization rate of the rudder, make the three channels pay a large rudder, improve the control accuracy of the missile and increase the flight stability. The application is simple to calculate, stable in performance and easy to implement in engineering. BRIEF DESCRIPTION OF DRAWINGS

[0040] Figure 1 A flowchart of the missile rudder dynamic distribution scheme based on four rudder controls provided by the application is shown in the figure;

[0041] Figure 2 A missile schematic diagram based on four rudder controls provided by the application is shown in the figure. DETAILED DESCRIPTION

[0042] In order to better understand the above technical solutions, the technical solutions of the application will be described in detail below through the accompanying drawings and specific embodiments. It should be understood that the embodiments and specific features in the embodiments of the application are detailed descriptions of the technical solutions of the application, rather than limitations of the technical solutions of the application. In the case of no conflict, the technical features in the embodiments and the embodiments of the application can be combined with each other.

[0043] The application provides a missile rudder dynamic distribution method based on four rudder controls, and the method comprises the steps of (as shown in the figure): Figures 1-2

[0044] ​Step one, the missile controller unit calculates the roll channel, yaw channel and pitch channel rudder commands and sends them to the missile rudder dynamic distribution unit;

[0045] Step two, the missile rudder dynamic distribution unit limits the roll channel rudder command obtained in step one;

[0046] Step three, according to the roll channel rudder command limited in step two and the pitch channel and yaw channel rudder commands obtained in step one, the size of the rudder deflection of the pitch channel and yaw channel rudder commands exceeding the limit is calculated;

[0047] Step four, according to the size of the rudder deflection of the pitch channel and yaw channel rudder commands exceeding the limit obtained in step three, the rudder deflection value that the pitch channel rudder command needs to be reduced is calculated;

[0048] Step five, according to the size of the rudder deflection of the pitch channel and yaw channel rudder commands exceeding the limit obtained in step three, the rudder deflection value that the yaw channel rudder command needs to be reduced is calculated;

[0049] Step six, according to the rudder deflection values that the pitch and yaw channels need to be reduced respectively calculated in steps four and five, the limit values of the pitch channel and yaw channel rudder commands are calculated;

[0050] Step seven, according to the limit values of the pitch and yaw channel rudder commands calculated in step six, the pitch channel and yaw channel rudder commands are limited;

[0051] Step eight, according to the roll channel rudder command obtained in step two and the pitch channel and yaw channel rudder commands obtained in step seven, the four single rudder commands are calculated;

[0052] Step nine, according to the four single rudder commands obtained in step eight, it is judged whether there is a single rudder command exceeding the rudder deflection limit value, if there is, the size of the single rudder command exceeding the rudder deflection limit value is calculated;

[0053] Step ten, according to the size of the single rudder command exceeding the rudder deflection limit value obtained in step nine, the four single rudder commands are recalculated and distributed;

[0054] Step eleven, the single rudder commands calculated in step ten are sent to the rudder system to control the movement of the missile.

[0055] Further, the calculation formula for limiting the roll channel rudder command in step two is:

[0056] wherein DR is the roll channel rudder command, DR max is the maximum available rudder deflection of the roll channel of the missile, and is a pre-set constant value.

[0057] Further, the calculation formula of the size of the rudder deflection of the pitch channel and the yaw channel rudder command exceeding the limit is:

[0058] wherein DP is the pitch channel rudder command, DY is the yaw channel rudder command, ΔUp is the size of the rudder deflection of the pitch channel rudder command exceeding the limit, ΔUy is the size of the rudder deflection of the yaw channel rudder command exceeding the limit, D max is the maximum available rudder deflection of the missile, and D is a preset constant.

[0059] Further, the calculation formula of the size of the rudder deflection of the pitch channel rudder command needing to be reduced is:

[0060] wherein ΔUp1 is the size of the rudder deflection of the pitch channel rudder command needing to be reduced, and ΔUpy is an intermediate variable.

[0061] Further, the calculation formula of the size of the rudder deflection of the yaw channel rudder command needing to be reduced is:

[0062] wherein ΔUy1 is the size of the rudder deflection of the yaw channel rudder command needing to be reduced.

[0063] Further, the calculation formula of the limit value of the pitch channel and the yaw channel rudder command is:

[0064] wherein Upmax is the limit value of the pitch channel rudder command, Uymax is the limit value of the yaw channel rudder command, Up1 and Uy1 are intermediate variables.

[0065] Further, the calculation formula of the limit processing of the pitch channel and the yaw channel is:

[0066]

[0067]

[0068] Further, the calculation formula of the four single-rudder rudder commands in the eighth step is:

[0069] wherein D1 is the 1-rudder rudder command, D2 is the 2-rudder rudder command, D3 is the 3-rudder rudder command, and D4 is the 4-rudder rudder command.

[0070] Further, the calculation formula of the size of the single-rudder rudder command exceeding the limit value of the rudder deflection is:

[0071] wherein AR is the size of the single-rudder command exceeding the rudder deflection limit value.

[0072] Further, the calculation formula of the single-rudder command re-distribution in the step ten is:

[0073] If |D1| < Dmax, |D2| < Dmax, |D3| < Dmax, |D4| < Dmax, then:

[0074]

[0075] If |D1| ≥ Dmax or |D2| ≥ Dmax, then:

[0076]

[0077] If |D3| ≥ Dmax or |D4| ≥ Dmax, then:

[0078]

[0079] Based on the same inventive concept, the application further provides a missile controller unit, a missile rudder deflection dynamic distribution unit, and a rudder system for implementing the four-rudder control-based missile rudder deflection dynamic distribution scheme. The missile controller unit calculates the pitch rudder command, the yaw rudder command, and the roll rudder command of the missile and sends them to the missile rudder deflection dynamic distribution unit. The missile rudder deflection dynamic distribution unit is the rudder deflection dynamic distribution function provided by the application. The rudder system receives the single-rudder command, controls the missile rudder deflection deflection, and further controls the missile movement.

[0080] In the scheme provided in the embodiments of the application, reference is made to Figure 1Step 1: The missile controller unit calculates the pitch, yaw, and roll rudder commands and sends them to the missile rudder deflection dynamic allocation unit. Step 2: The missile rudder deflection dynamic allocation unit limits the roll rudder command obtained in Step 1. Step 3: Based on the limited roll rudder command from Step 2 and the pitch and yaw rudder commands from Step 1, the unit calculates the rudder deflection exceeding the limit for the pitch and yaw rudder commands. Step 4: Based on the rudder deflection exceeding the limit for the pitch and yaw rudder commands obtained in Step 3, the unit calculates the rudder deflection value that needs to be reduced for the pitch rudder command. Step 5: Based on the rudder deflection exceeding the limit for the pitch and yaw rudder commands obtained in Step 3, the unit calculates the rudder deflection value that needs to be reduced for the yaw rudder command. Step 6: Based on the calculations in Steps 4 and 5... Step 7: Based on the pitch and yaw channel rudder command limit values ​​obtained in Step 6, limit the pitch and yaw channel rudder commands. Step 8: Based on the roll channel rudder commands obtained in Step 2 and the pitch and yaw channel rudder commands obtained in Step 7, calculate four single rudder commands. Step 9: Based on the four single rudder commands obtained in Step 8, determine if any single rudder command exceeds the rudder deflection limit value; if so, calculate the magnitude by which the single rudder command exceeds the rudder deflection limit value. Step 10: Based on the magnitude by which the single rudder command exceeds the rudder deflection limit value obtained in Step 9, redistribute and calculate the four single rudder commands. Step 11: Send the single rudder commands calculated in Step 10 to the rudder system to control the missile's movement.

[0081] In one embodiment of the present invention, the maximum available rudder deflection DR of the missile roll channel is preset. max The maximum usable rudder deflection of the missile is 20°. max The angle is 35°. The missile controller unit calculates the missile's pitch rudder command DP as 25°, yaw rudder command DY as 10° and roll rudder command DR as 15°.

[0082] In this embodiment, the specific workflow is described as follows:

[0083] The roll channel rudder command is limited according to the following formula:

[0084] Wherein, DR stands for Rolling Channel Rudder Command. max The maximum available rudder deflection for the missile roll channel is a preset value. The roll rudder command of 15° does not exceed the maximum available rudder deflection for the roll channel, therefore, after limiting, the roll rudder command remains at 15°.

[0085] Calculate the rudder deflection when rudder commands in the pitch and yaw channels exceed the limits using the following formula:

[0086] where DP is the pitch channel rudder command, DY is the yaw channel rudder command, ΔUp is the amount of rudder deflection that the pitch channel rudder command exceeds the limit, ΔUy is the amount of rudder deflection that the yaw channel rudder command exceeds the limit, D max is the maximum available rudder deflection for the missile, and is a pre-set constant. Through calculation, ΔUp is -5° and ΔUy is 10°.

[0087] The amount of rudder deflection that the pitch channel rudder command needs to be reduced is calculated according to the following equation:

[0088] where ΔUp1 is the amount of rudder deflection that the pitch channel rudder command needs to be reduced, and ΔUpy is an intermediate variable. Through calculation, ΔUpy is 5° and ΔUp1 is 0°.

[0089] The amount of rudder deflection that the yaw channel rudder command needs to be reduced is calculated according to the following equation:

[0090] where ΔUy1 is the amount of rudder deflection that the yaw channel rudder command needs to be reduced. Through calculation, ΔUy1 is 0°.

[0091] The limit values for the pitch and yaw channel rudder commands are calculated according to the following equations:

[0092] where Upmax is the limit value for the pitch channel rudder command, Uymax is the limit value for the yaw channel rudder command, and Up1 and Uy1 are intermediate variables. Through calculation, Up1 is 25°, Uy1 is 10°, Upmax is 25°, and Uymax is 10°.

[0093] The pitch and yaw channels are limited according to the following equations:

[0094] Through calculation, DP is 25° and DY is 10°.

[0095] The four single-rudder commands are calculated according to the following equations:

[0096] where D1 is the 1-rudder command, D2 is the 2-rudder command, D3 is the 3-rudder command, and D4 is the 4-rudder command. Through calculation, D1 is 25°, D2 is 10°, D3 is -5°, and D4 is 40°.

[0097] The amount of rudder deflection that the single-rudder commands exceed the limit is calculated according to the following equations:

[0098] wherein AR is the size of the rudder command exceeding the rudder deflection limit value. After calculation, AD is 5°.

[0099] The single-rudder command is redistributed according to the following formula:

[0100] If |D1|<Dmax, |D2|<Dmax, |D3|<Dmax, |D4|<Dmax, then:

[0101]

[0102] If |D1|≥Dmax or |D2|≥Dmax, then:

[0103]

[0104] If |D3|≥Dmax or |D4|≥Dmax, then:

[0105]

[0106] After calculation, D1 is 30°, D2 is 15°, D3 is -10°, and D4 is 35°.

[0107] The application provides a missile rudder deflection dynamic distribution scheme, which dynamically configures four single-rudder commands, effectively improves the use rate of rudder deflection, makes the pitch channel, yaw channel and roll channel all pay a large rudder deflection, and solves the problem of system performance decline caused by rudder deflection resource conflict when the missile needs a large rudder deflection.

[0108] Obviously, those skilled in the art can make various modifications and variations to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application belong to the scope of the claims of the present application and the equivalent technologies thereof, the present application also intends to include these modifications and variations.

[0109] The contents not described in detail in the specification of the present application are the known technologies of those skilled in the art.

Claims

1. A method for dynamic allocation of missile rudder deflection based on four-blade control, wherein the missile comprises a controller unit, a rudder deflection dynamic allocation unit, and a rudder system, characterized in that, include: Step 1: The missile controller unit calculates the rudder commands for the pitch, yaw, and roll channels and sends them to the missile rudder deflection dynamic allocation unit. Step 2: The missile rudder deflection dynamic allocation unit performs amplitude limiting processing on the rolling channel rudder command obtained in Step 1. Step 3: Based on the roll channel rudder command after the amplitude limit in Step 2 and the pitch and yaw channel rudder commands obtained in Step 1, calculate the rudder deflection of the pitch and yaw channel rudder commands that exceeds the amplitude limit. Step 4: Based on the rudder deflection magnitude of the pitch and yaw channel rudder commands exceeding the limit obtained in Step 3, calculate the rudder deflection value that needs to be reduced for the pitch channel rudder commands. Step 5: Based on the rudder deflection magnitude of the pitch and yaw channel rudder commands exceeding the limit obtained in Step 3, calculate the rudder deflection value that needs to be reduced for the yaw channel rudder commands. Step 6: Based on the rudder deflection values ​​that need to be reduced for the pitch and yaw channels calculated in Steps 4 and 5, calculate the rudder command limit values ​​for the pitch and yaw channels. Step 7: Based on the pitch and yaw channel rudder command limit values ​​calculated in Step 6, limit the pitch and yaw channel rudder commands. Step 8: Based on the roll channel rudder command obtained in Step 2 and the pitch and yaw channel rudder commands obtained in Step 7, calculate the four single rudder commands. Step 9: Based on the four single rudder commands obtained in Step 8, determine whether any single rudder command exceeds the rudder deflection limit. If so, calculate the extent by which the single rudder command exceeds the rudder deflection limit. Step 10: Based on the magnitude of the single rudder command exceeding the rudder deflection limit obtained in Step 9, recalculate the four single rudder commands. Step 11: Send the single rudder command calculated in Step 10 to the rudder system to control the missile's movement.

2. The missile rudder deflection dynamic allocation method based on four-blade rudder control according to claim 1, characterized in that, The calculation formula for limiting the roll channel rudder command in step two is as follows: ,in, For rolling channel rudder commands, The maximum available rudder deflection for the missile roll channel is a preset value.

3. The missile rudder deflection dynamic allocation method based on four-blade rudder control according to claim 2, characterized in that, In step three, the rudder deflection exceeding the limit in the pitch and yaw channels is: ， in, For pitch control rudder commands. This is a yaw channel rudder command. The magnitude of rudder deflection when the rudder command in the pitch channel exceeds the limit. The magnitude of rudder deflection when the rudder command for the yaw channel exceeds the limit. This represents the maximum usable rudder deflection for the missile, which is a pre-set value.

4. The missile rudder deflection dynamic allocation method based on four-blade rudder control according to claim 3, characterized in that, The formula for calculating the rudder deflection value that needs to be reduced in the pitch channel rudder command in step four is as follows: ， in The rudder deflection value that needs to be reduced for the pitch channel rudder command. To calculate intermediate variables.

5. The missile rudder deflection dynamic allocation method based on four-blade rudder control according to claim 4, characterized in that, The formula for calculating the rudder deflection value that needs to be reduced in the yaw channel rudder command in step five is as follows: ， in The rudder deflection value that needs to be reduced for the yaw channel rudder command.

6. The missile rudder deflection dynamic allocation method based on four-blade rudder control according to claim 5, characterized in that, The formula for calculating the pitch and yaw channel rudder command limit values ​​in step six is ​​as follows: ， in The pitch channel rudder command limit value. This is the yaw channel rudder command limit value. and To calculate intermediate variables.

7. The missile rudder deflection dynamic allocation method based on four-blade rudder control according to claim 6, characterized in that, The calculation formula for limiting the pitch and yaw channels in step seven is as follows: ； in, For pitch control rudder commands. This is a yaw channel rudder command. The pitch channel rudder command limit value. This is the yaw channel rudder command limit value.

8. A method for dynamic allocation of missile rudder deflection based on four-blade rudder control according to claim 7, characterized in that, The calculation formulas for the four single-rudder commands in step eight are as follows: ， in For 1, rudder command. For 2-rudder commands, This is a 3-rudder command. This is a 4-rudder command.

9. A method for dynamic allocation of missile rudder deflection based on four-blade rudder control according to claim 8, characterized in that, The formula for calculating the magnitude of the single rudder command exceeding the rudder deflection limit in step nine is as follows: ， in, The single rudder command exceeds the rudder deflection limit. The calculation formula for the single rudder command reallocation in step ten is as follows: 。

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