A control method and device for rocket attitude based on three-swing servo engine

Abstract

The present invention provides a control method and device for a rocket attitude based on three swing servo engines. The control method includes: obtaining a rocket attitude angle command and current attitude angle, wherein the attitude angles include pitch angle φ, yaw angle ψ, and roll angle γ; calculating attitude angle deviations based on the attitude angle command and current attitude angles, and then calculating three-channel engine swing angles based on an attitude control method, which are pitch swing angle δφ, yaw swing angle δψ, and roll swing angle δγ; calculating the swing angles δ1, δ2, and δ3 corresponding to the three servo engines based on the pitch swing angle δφ, yaw swing angle δψ, and roll swing angle δγ; controlling the swing angles of the three servo engines based on the swing angles δ1, δ2, and δ3, respectively, so that the swinging of the three servo engines generates a control torque for the entire rocket; and adjusting the attitude angle deviation based on the control torque. In this embodiment of the present invention, the three engines are arranged axially symmetrically, which can adapt to different servo engine angles and ensure that the interference torque is zero.

Description

Technical Field

[0001] The present invention relates to the technical field of aircraft design, and in particular to a control method and device for a rocket attitude based on a three-swing servo engine. Background Art

[0002] When liquid rocket servo engines swing to achieve attitude control, the traditional method generally adopts a symmetrical layout, among which single servo engines, dual servo engines, and four servo engines in parallel are the most common.

[0003] The design and implementation of a rocket control system is relatively complex, and it is desired that the characteristics of the pitch and yaw channels are consistent. Although the prior art discloses a three-engine layout method and control method, such as patent number CN114200949 A, entitled A Liquid Rocket Three-Servo Engine Swinging Layout Method and Control Method, this patent only discloses a non-axisymmetric method of adopting a three-engine layout. That is, from the perspective of control only, a non-axisymmetric three-engine layout scheme is proposed for a fixed angle layout between the engines and its corresponding control method.

[0004] However, this solution can only achieve control effect and does not comprehensively consider the structural influence, resulting in the inability to eliminate the interference torque. Summary of the Invention

[0005] In view of this, the purpose of the embodiments of the present invention is to provide a control method and device for the rocket attitude based on a three-swing servo engine, so as to solve the technical problem that the existing technology does not comprehensively consider the structural influence and cannot eliminate the interference torque.

[0006] To achieve the above objectives, in a first aspect, an embodiment of the present invention provides a control method for a rocket attitude based on a three-swing servo engine, the control method comprising:

[0007] Get the rocket's attitude angle command and current attitude angle, which includes the pitch angle Yaw angle ψ and roll angle γ;

[0008] The attitude angle deviation is calculated according to the attitude angle instruction and the current attitude angle, and the three-channel swing angle of the rocket is calculated according to the attitude angle deviation. The three-channel swing angle includes the pitch swing angle Yaw angle δψ and roll angle δγ;

[0009] According to the pitch angle Calculating the yaw angle δψ and the roll angle δγ: calculating the first swing angle δ1, the second swing angle δ2 and the third swing angle δ3 corresponding to the three servo motors;

[0010] Controlling the three servo motors to swing respectively according to the first swing angle δ1, the second swing angle δ2 and the third swing angle δ3, and obtaining the control torque on the entire arrow generated by the swing of the three servo motors;

[0011] adjusting the deviation of the attitude angle according to the control torque;

[0012] The three servo engines are arranged along the circumference of the rocket, the distances between the centers of the three servo engines and the center of the rocket are respectively a first distance R1, a second distance R2 and a third distance R3, the angles between the lines connecting the centers of the three servo engines and the center of the rocket are respectively a first angle θ1, a second angle θ2 and a third angle θ3, and the swing direction of each servo engine is perpendicular to the line connecting the servo engine and the center of the rocket;

[0013] Wherein, θ1=θ3, θ2 is greater than 0 degrees and less than 180 degrees;

[0014] R2=R3,

[0015] In some possible implementations, calculating the deviation of the attitude angle according to the attitude angle instruction and the current attitude angle specifically includes:

[0016] The difference between the attitude angle instruction and the current attitude angle is used as the attitude angle deviation.

[0017] In some possible implementations, the pitch angle Calculation of the yaw angle δψ and the roll angle δγ The calculation of the first swing angle δ1, the second swing angle δ2 and the second swing angle δ3 corresponding to the three servo motors specifically includes:

[0018] By the pitch angle The first swing angle δ1, the second swing angle δ2 and the second swing angle δ3 are calculated using a conversion formula of the yaw swing angle δψ and the roll swing angle δγ with the first swing angle δ1, the second swing angle δ2 and the second swing angle δ3. The conversion formula is:

[0019]

[0020]

[0021]

[0022] The swing angles δ1, δ2 and δ3 are:

[0023]

[0024]

[0025]

[0026] in, is the pitch angle, δψ is the yaw angle, δγ is the roll angle, δ1 is the first swing angle of the first servo motor, δ2 is the second swing angle of the second servo motor, and δ3 is the third swing angle of the third servo motor.

[0027] In some possible implementations, the control torque on the entire arrow generated by the swing of the three servo motors is determined by the following formula:

[0028]

[0029]

[0030]

[0031] Among them, M xC 、M yC 、M zC They are the control moments around the x-axis, y-axis and z-axis of the rocket body, X R X is the distance between the servo engine installation position and the theoretical apex of the rocket body, c is the distance between the center of mass of the arrow and the theoretical vertex position, and P is the total thrust of the three servo engines.

[0032] In some possible implementations, the three servo motors have the same structure and provide the same thrust.

[0033] In some possible implementations, the three servo motors are independently controlled.

[0034] In some possible embodiments, a clockwise swing direction viewed from the rear of the rocket is positive.

[0035] In a second aspect, an embodiment of the present invention provides a control device for a rocket attitude based on a three-swing servo engine, the control device comprising:

[0036] The acquisition module is used to obtain the attitude angle command and current attitude angle of the rocket, which includes the pitch angle Yaw angle δψ and roll angle δγ;

[0037] The first calculation module is used to calculate the deviation of the attitude angle according to the attitude angle instruction and the current attitude angle, and calculate the three-channel swing angle of the rocket according to the deviation of the attitude angle. The three-channel swing angle includes the pitch swing angle Yaw angle δψ and roll angle δγ;

[0038] The second calculation module is used to calculate the pitch angle Calculating the yaw angle δψ and the roll angle δγ: calculating the first swing angle δ1, the second swing angle δ2 and the third swing angle δ3 corresponding to the three servo motors;

[0039] a control and acquisition module, configured to control the swing of the three servo motors according to the first swing angle δ1, the second swing angle δ2, and the third swing angle δ3, respectively, and acquire the control torque on the entire arrow generated by the swing of the three servo motors;

[0040] An adjustment module, configured to adjust the deviation of the attitude angle according to the control torque;

[0041] The three servo engines are arranged along the circumference of the rocket, the distances between the centers of the three servo engines and the center of the rocket are respectively a first distance R1, a second distance R2 and a third distance R3, the angles between the lines connecting the centers of the three servo engines and the center of the rocket are respectively a first angle θ1, a second angle θ2 and a third angle θ3, and the swing direction of each servo engine is perpendicular to the line connecting the servo engine and the center of the rocket;

[0042] Wherein, θ1=θ3, θ2 is greater than 0 degrees and less than 180 degrees;

[0043] R2=R3,

[0044] In some possible implementations, the second computing module is specifically configured to:

[0045] By the pitch angle The first swing angle δ1, the second swing angle δ2 and the third swing angle δ3 are calculated by using the conversion formula of the yaw swing angle δψ and the roll swing angle δγ with the first swing angle δ1, the second swing angle δ2 and the third swing angle δ3. The conversion formula is:

[0046]

[0047]

[0048]

[0049] The first swing angle δ1, the second swing angle δ2 and the third swing angle δ3 are respectively:

[0050]

[0051]

[0052]

[0053] in, is the pitch angle, δψ is the yaw angle, δγ is the roll angle, δ1 is the first swing angle of the first servo motor, δ2 is the second swing angle of the second servo motor, and δ3 is the third swing angle of the third servo motor.

[0054] In some possible implementations, the control torque on the entire arrow generated by the swing of the three servo motors is determined by the following formula:

[0055]

[0056]

[0057]

[0058] Among them, M xC 、M yC 、M zC They are the control moments around the x-axis, y-axis and z-axis of the rocket body, X R X is the distance between the servo engine installation position and the theoretical apex of the rocket body, c is the distance between the center of mass of the arrow and the theoretical vertex position, and P is the total thrust of the three servo engines.

[0059] In a third aspect, an embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, a control method for a rocket attitude based on a three-swing servo engine is implemented.

[0060] In a fourth aspect, an embodiment of the present invention provides a computer device, comprising:

[0061] processor;

[0062] a memory for storing instructions executable by the processor;

[0063] Wherein, the processor is configured to execute the instructions to implement a control method based on a three-swing servo engine rocket attitude.

[0064] The beneficial technical effects of the above technical solution are:

[0065] The embodiment of the present invention provides a control method and device for a rocket attitude based on a three-swing servo engine. The control method includes: obtaining the attitude angle instruction and the current attitude angle of the rocket, the attitude angle including the pitch angle Yaw angle ψ and roll angle γ; calculate the attitude angle deviation according to the attitude angle command and the current attitude angle, and then calculate the three-channel engine swing angle in combination with the attitude control method, which are the pitch swing angle Yaw angle δψ and roll angle δγ; according to pitch angle The yaw angle δψ and the roll angle δγ are used to calculate the corresponding swing angles δ1, δ2, and δ3 of the three servo engines. The swing angles δ1, δ2, and δ3 are used to control the swing of the three servo engines. The swing of the three servo engines generates a control torque for the entire arrow. The deviation of the attitude angle is adjusted according to the control torque. The embodiment of the present invention comprehensively considers the influence of the overall structure, that is, θ1 = θ3, θ2 is greater than 0 degrees and less than 180 degrees; R2 = R3, Therefore, it can adapt to different servo motor angles, which not only ensures that the interference torque is zero, but also helps to select the optimal installation position for the overall layout. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0067] Figure 1 This is a flow chart of a method for controlling a rocket attitude based on a three-swing servo engine according to an embodiment of the present invention;

[0068] Figure 2 This is a layout diagram of three servo engines surrounding the center of a rocket according to an embodiment of the present invention;

[0069] Figure 3 is a schematic diagram of a coordinate system established with the center of a rocket as the origin according to an embodiment of the present invention;

[0070] Figure 4 This is a structural block diagram of a control device for a rocket attitude based on three swing servo engines according to an embodiment of the present invention;

[0071] Figure 5 is a functional block diagram of a computer-readable storage medium according to an embodiment of the present invention;

[0072] Figure 6 This is a functional block diagram of a computer device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0073] The features and exemplary embodiments of various aspects of the present invention are described in detail below. In the detailed description that follows, many specific details are set forth in order to provide a comprehensive understanding of the present invention. However, it will be apparent to those skilled in the art that the present invention can be implemented without some of these specific details. The following description of the embodiments is intended only to provide a better understanding of the present invention by illustrating examples of the present invention. In the accompanying drawings and the following description, at least some of the well-known structures and techniques are not shown in order to avoid unnecessary ambiguity in the present invention; and, for clarity, the sizes of some structures may be exaggerated. In addition, the features, structures, or characteristics described below may be combined in any suitable manner in one or more embodiments.

[0074] Example 1

[0075] Figure 1 FIG. 1 is a flow chart of a method for controlling a rocket attitude based on a three-swing servo engine according to an embodiment of the present invention. Figure 1 As shown, the control method includes the following steps:

[0076] Step S1, obtain the rocket's attitude angle command and current attitude angle, the attitude angle includes the pitch angle The yaw angle ψ and the roll angle γ.

[0077] Specifically, during the rocket launch process, it needs to be launched according to the attitude angle command. Before launch, the flight control computer obtains the rocket's attitude angle command and the rocket's current attitude angle through sensors to understand the rocket's current attitude.

[0078] Step S2, calculating the deviation of the attitude angle according to the attitude angle instruction and the current attitude angle, and calculating the three-channel swing angle of the rocket according to the deviation of the attitude angle, wherein the three-channel swing angle includes the pitch swing angle The yaw angle δψ and the roll angle δγ.

[0079] Specifically, after obtaining the attitude angle command and the current attitude angle, it is necessary to calculate the deviation between the current attitude angle and the attitude angle command, use this deviation as an input condition, and combine the attitude control method to calculate the three-channel engine swing angle. The three channels do not refer to the swing angle of a certain engine, but to the direction of the rocket. For example, if we want to generate a torque around the z-axis (i.e., the pitch direction), the torque generated by the three engines as a whole must be around the z-axis, and the torque in other directions must be zero. This means that the first servo engine (the horizontally set servo engine) does not swing, and the other two servo engines swing in the opposite direction. The pitch torque generated by these three engines as a whole is equivalent to the swing of a large engine. The effect of rolling and yaw is similar, so that the deviation can be adjusted later. Step S3, according to the pitch angle The yaw angle δψ and the roll angle δγ are used to calculate the first swing angle δ1, the second swing angle δ2 and the third swing angle δ3 corresponding to the three servo motors respectively.

[0080] In this step, the pitch angle can be obtained by the sensor After calculating the yaw swing angle δψ and the roll swing angle δγ, the conversion formula between the three-channel swing angle and the three servo engine swing angle is determined according to the torque relationship between the servo engine thrust and the three axes of the rocket body coordinate system. Based on this conversion formula, the first swing angle δ1, the second swing angle δ2 and the third swing angle δ3 corresponding to the three servo engines are derived.

[0081] Step S4: Control the swing of the three servo motors according to the first swing angle δ1, the second swing angle δ2 and the third swing angle δ3, respectively, and obtain the control torque on the entire arrow generated by the swing of the three servo motors.

[0082] In this embodiment, the servo responds to the flight control computer instructions to drive the three servo engines to swing. The three servo engines swing to the corresponding positions to generate control torque. The control torque is calculated to evaluate the control capability and use it for rocket body modeling during design. The basic formula is: M=FL, M is the torque, F is the force, and L is the distance from the force to the rotation axis.

[0083] Step S5: adjusting the deviation of the attitude angle according to the control torque.

[0084] Specifically, in this embodiment, the deviation of the attitude angle is adjusted according to the control torque so that the current attitude angle becomes closer and closer to the attitude angle instruction, that is, the deviation is gradually reduced, and the launch is performed according to the attitude angle instruction. The smaller the deviation, the closer the actual flight trajectory of the rocket is to the designed flight trajectory.

[0085] Figure 2 : is a layout diagram of three servo engines around the center of a rocket according to an embodiment of the present invention, such as Figure 2 As shown, three servo engines are arranged along the circumference of the rocket, and the distances between the centers of the three servo engines and the center of the rocket are respectively a first distance R1, a second distance R2 and a third distance R3, and the angles between the lines connecting the centers of the three servo engines and the center of the rocket are respectively a first angle θ1, a second angle θ2 and a third angle θ3, and the swing direction of each servo engine is perpendicular to the line connecting the servo engine and the center of the rocket; wherein θ1=θ3, θ2 is greater than 0 degrees and less than 180 degrees; R2=R3,

[0086] Specifically, in this embodiment, the swing direction of the first, second, and third servo engines is tangential, and they swing perpendicularly to the line connecting the servo engine and the center of the rocket, that is, the swing direction of each servo engine is perpendicular to the line connecting the servo engine and the center of the rocket, and the combination realizes the pitch, yaw, and roll control of the rocket. The first angle θ1, the second angle θ2, and the third angle θ3 of the line connecting any two servo engine centers and the rocket center in the embodiment of the present invention, as long as θ1=θ3 and θ2 is greater than 0 degrees and less than 180 degrees, no specific angle is specified. Therefore, the layout of the three rockets in the embodiment of the present invention can adapt to different servo engine angles, which is beneficial to the overall layout to select the optimal position for installation; in addition, since R2=R3 in this embodiment, Therefore, the layout provided by the embodiment of the present invention is an axisymmetric layout structure, which can prevent coupling of the three-channel control.

[0087] The embodiment of the present invention comprehensively considers the influence of the overall structure, that is, θ1=θ3, θ2 is greater than 0 degrees and less than 180 degrees; R2=R3, Therefore, it can adapt to different servo motor angles, which not only ensures that the interference torque is zero, but also helps to select the optimal installation position for the overall layout.

[0088] In some embodiments, calculating the attitude angle deviation based on the attitude angle instruction and the current attitude angle specifically includes: taking the difference between the attitude angle instruction and the current attitude angle as the attitude angle deviation.

[0089] In some embodiments, the pitch angle The yaw angle δψ and the roll angle δγ are used to calculate the first swing angle δ1, the second swing angle δ2 and the third swing angle δ3 corresponding to the three servo motors, specifically including: The conversion formulas of the yaw angle δψ and the roll angle δγ to the first swing angle δ1, the second swing angle δ2 and the third swing angle δ3 are used to calculate the first swing angle δ1, the second swing angle δ2 and the third swing angle δ3. The conversion formulas are:

[0090]

[0091]

[0092]

[0093] The first swing angle δ1, the second swing angle δ2 and the third swing angle δ3 are:

[0094]

[0095]

[0096]

[0097] in, is the pitch angle, δψ is the yaw angle, δγ is the roll angle, δ1 is the first swing angle of the first servo motor, δ2 is the second swing angle of the second servo motor, and δ3 is the third swing angle of the third servo motor.

[0098] Figure 3 is a schematic diagram of a coordinate system established with the center of the rocket as the origin in an embodiment of the present invention, such as Figure 3 As shown, in some embodiments, the control torque generated by the swing of the three servo motors on the entire arrow is determined by the following formula:

[0099]

[0100]

[0101]

[0102] Among them, M xC 、M yC 、M zC They are the control moments around the x-axis, y-axis and z-axis of the rocket body, X R is the distance between the servo motor installation position and the theoretical vertex, X c is the distance between the center of mass of the arrow and the theoretical vertex position, and P is the total thrust of the three servo engines. In this embodiment, the theoretical vertex can be understood as the origin of the coordinate system.

[0103] Based on the above analysis, it can be concluded that there is a unique solution for the distribution of the swing angles of the three servo motors, making the control calculation more convenient. Moreover, even in the case of non-axisymmetric structures, the interference torque can be guaranteed to be zero, and the center of mass of the servo motor system is located on the axis of the rocket body. That is, although the three servo motors are not installed on the axis of the rocket, the center of mass of the entire system composed of the three servo motors is still located on the axis of the rocket. The specific analysis results are as follows:

[0104] Assume that the mass of the servo engines of the three rockets is m, refer to Figure 3 The coordinate system established, the center of mass position (Ym, Zm) coordinate calculation formula is as follows:

[0105]

[0106]

[0107] The formula for calculating the torque of the servo engine thrust on the y and z axes is as follows:

[0108]

[0109]

[0110] In the embodiment of the present invention, the installation positions of the three servo engines are at distances from the axis of the rocket body that meet the following requirements:

[0111]

[0112] The angle between the three servo engine centers and the rocket center is θ1 = θ3. Substituting into equations (1) to (4), we can obtain:

[0113]

[0114]

[0115]

[0116]

[0117] It can be seen from this that the center of mass position of this axisymmetric layout servo engine system coincides with the axis of the rocket body. When the servo engine is not swinging (that is, the swing angle is equal to zero), the thrust torque around the y and z axes is 0 N·m.

[0118] It can be seen that the embodiment of the present invention can adapt to the rocket attitude control at any angle between the three engines. Therefore, for the case of any angle between the three engines, this embodiment can constrain the radial installation position of the engine so that the center of mass of the engine system is located on the axis of the rocket body, and make the torque of the engine thrust on the rocket body zero when the swing angle of the three engines is zero.

[0119] Substituting the parameters θ2=130°, θ1=θ3=110°, R1=Zr, R2=R3=0.9962Zr described in the layout method disclosed in patent number CN114200949A in the background art into equations (1) to (4), we can obtain:

[0120] Ym2=m*0-m*0.9962*Zr*sin(65)+m*0.9962*Zr*sin(65)=0Zm2=-m*Zr+m*0.9962*Zr*cos(65)+ m*0.9962*Zr*cos(65)=-0.158*m*ZrMy2=p*0-p*0.9962*Zr*sin(65)+p*0.9962*Zr*sin(65)=0

[0121] Mz2=-p*0.9962*Zr+p*0.9962*Zr*cos(65)+p*0.9962*Zr*cos(65)

[0122] =-0.158*p*Zr

[0123] As can be seen from this, under the layout conditions disclosed in Patent No. CN114200949A (see Background Art), the servo motor system's center of mass does not coincide with the rocket body axis, and the thrust torque generated about the z-axis is non-zero when the servo motor is not oscillating. However, the present invention comprehensively considers the structural impact and completely eliminates this interfering torque.

[0124] In some embodiments, the three servo engines have the same structure, provide the same thrust, and are independently controlled to achieve an axially symmetrical arrangement of the three engines.

[0125] In the embodiment of the present invention, according to customary usage, the clockwise swing direction viewed from the rear of the rocket is defined as positive. Figure 2 and Figure 3 The direction of the arrow shown in is positive, that is, clockwise swing is positive. Other definitions are also possible, and the positive and negative signs in the formula of the control method will change.

[0126] Example 2

[0127] Figure 4 : is a structural block diagram of a control device for a rocket attitude based on a three-swing servo engine according to an embodiment of the present invention. Figure 4 As shown, the control device 100 includes:

[0128] Acquisition module 101 is used to obtain the attitude angle instruction and current attitude angle of the rocket, which includes the pitch angle yaw angle ψ and roll angle γ;

[0129] The first calculation module 102 is used to calculate the attitude angle deviation according to the attitude angle command and the current attitude angle, and calculate the three-channel swing angle of the rocket according to the attitude angle deviation. The three-channel swing angle includes the pitch swing angle Yaw angle δψ and roll angle δγ;

[0130] The second calculation module 103 is used to calculate the pitch angle The yaw angle δψ and the roll angle δγ are used to calculate the first swing angle δ1, the second swing angle δ2 and the third swing angle δ3 corresponding to the three servo motors;

[0131] The control and acquisition module 104 is used to control the swing of the three servo motors according to the first swing angle δ1, the second swing angle δ2, and the third swing angle δ3, and obtain the control torque of the three servo motors on the entire arrow generated by the swing;

[0132] An adjustment module 105 is used to adjust the deviation of the attitude angle according to the control torque;

[0133] Among them, the three servo engines are arranged along the circumference of the rocket, the distances between the centers of the three servo engines and the center of the rocket are respectively a first distance R1, a second distance R2 and a third distance R3, the angles between the lines connecting the centers of the three servo engines and the center of the rocket are respectively a first angle θ1, a second angle θ2 and a third angle θ3, and the swing direction of each servo engine is perpendicular to the line connecting the servo engine and the center of the rocket;

[0134] Wherein, θ1=θ3, θ2 is greater than 0 degrees and less than 180 degrees;

[0135] R2=R3,

[0136] In some embodiments, the second calculation module 103 is specifically configured to calculate the pitch angle The first swing angle δ1, the second swing angle δ2 and the third swing angle δ3 are calculated by using the conversion formula of the yaw swing angle δψ and the roll swing angle δγ with the first swing angle δ1, the second swing angle δ2 and the third swing angle δ3. The conversion formula is:

[0137]

[0138]

[0139]

[0140] The first swing angle δ1, the second swing angle δ2 and the third swing angle δ3 are respectively:

[0141]

[0142]

[0143]

[0144] in, is the pitch angle, δψ is the yaw angle, δγ is the roll angle, δ1 is the first swing angle of the first servo motor, δ2 is the second swing angle of the second servo motor, and δ3 is the third swing angle of the third servo motor.

[0145] In some embodiments, the control torque on the entire arrow generated by the swing of the three servo motors is determined by the following formula:

[0146]

[0147]

[0148]

[0149] Among them, MxC 、M yC 、M zC They are the control moments around the x-axis, y-axis and z-axis of the rocket body, X R X is the distance between the servo engine installation position and the theoretical apex of the rocket body, c is the distance between the center of mass of the arrow and the theoretical vertex position, and P is the total thrust of the three servo engines.

[0150] For details, please refer to Figure 1 A detailed description of the method embodiment shown.

[0151] Example 3

[0152] Figure 5 This is a functional block diagram of a computer-readable storage medium according to an embodiment of the present invention. Figure 5 As shown, an embodiment of the present invention further provides a computer-readable storage medium 200, in which a computer program 210 is stored. When the computer program 210 is executed by a processor, the following is achieved:

[0153] Get the rocket's attitude angle command and current attitude angle, which includes the pitch angle yaw angle ψ and roll angle γ;

[0154] The attitude angle deviation is calculated according to the attitude angle instruction and the current attitude angle, and the three-channel swing angle of the rocket is calculated according to the attitude angle deviation. The three-channel swing angle includes the pitch swing angle Yaw angle δψ and roll angle δγ;

[0155] According to the pitch angle The yaw angle δψ and the roll angle δγ are used to calculate the first swing angle δ1, the second swing angle δ2 and the third swing angle δ3 corresponding to the three servo motors respectively;

[0156] Controlling the three servo motors to swing according to the first swing angle δ1, the second swing angle δ2, and the third swing angle δ3, respectively, to obtain control torques on the entire arrow generated by the swings of the three servo motors;

[0157] adjusting the deviation of the attitude angle according to the control torque;

[0158] The three servo engines are arranged along the circumference of the rocket, the distances between the centers of the three servo engines and the center of the rocket are respectively a first distance R1, a second distance R2 and a third distance R3, the angles between the lines connecting the centers of the three servo engines and the center of the rocket are respectively a first angle θ1, a second angle θ2 and a third angle θ3, and the swing direction of each servo engine is perpendicular to the line connecting the servo engine and the center of the rocket;

[0159] Wherein, θ1=θ3, θ2 is greater than 0 degrees and less than 180 degrees;

[0160] R2=R3,

[0161] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present invention implements all or part of the process in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program, when executed by the processor, can implement the steps of the above-mentioned various method embodiments. Wherein, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium, etc. Of course, there are other ways of readable storage media, such as quantum memory, graphene memory, etc. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practices in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practices, computer-readable media do not include electrical carrier signals and telecommunication signals.

[0162] Example 4

[0163] Figure 6 This is a functional block diagram of a computer device according to an embodiment of the present invention. The present invention also provides a computer device, please refer to Figure 6 At the hardware level, the computer device includes a processor and, optionally, an internal bus, a network interface, and memory. The memory may include internal memory, such as high-speed random-access memory (RAM), or non-volatile memory, such as at least one disk drive. Of course, the electronic device may also include other hardware required for its services.

[0164] The processor, network interface and memory can be connected to each other through an internal bus, which can be an ISA bus, a PCI bus or an EISA bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 6 Only one bidirectional arrow is used in the diagram, but this does not mean that there is only one bus or one type of bus.

[0165] The memory is used to store programs. Specifically, the program may include program code, and the program code includes computer operating instructions. The memory may include internal memory and non-volatile memory, and provides instructions and data to the processor. The processor reads the corresponding computer program from the non-volatile memory into the internal memory and then runs it, forming a control method based on the three-pendulum servo engine rocket attitude at the logical level. The processor executes the program stored in the memory, and is specifically used to execute Figure 1 The illustrated embodiment discloses a control method for a rocket attitude based on a three-pendulum servo engine.

[0166] The above Figure 1The illustrated embodiment discloses a method for controlling a rocket's attitude based on a three-pendulum servo engine, which can be applied to or implemented by a processor. The processor may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the method described above can be performed by hardware integrated logic circuits or software instructions within the processor. The processor described above can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. The methods, steps, and logic block diagrams disclosed in the embodiments of the present invention can be implemented or executed. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in conjunction with the embodiments of the present invention can be directly executed by a hardware decoding processor or by a combination of hardware and software modules within the decoding processor. The software module can be located in a storage medium well-known in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, etc. The storage medium is located in the memory, and the processor reads the information in the memory and, in conjunction with its hardware, completes the steps of the above method.

[0167] Of course, in addition to software implementation, the electronic device of the present invention does not exclude other implementation methods, such as logic devices or a combination of software and hardware, etc., that is to say, the execution subject of the following processing flow is not limited to each logic unit, but can also be hardware or logic devices. The systems, devices, modules or units described in the above embodiments can be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer. Specifically, the computer can be, for example, a personal computer, a laptop computer, an in-vehicle human-computer interaction device, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

[0168] Although the present invention provides method operation steps as described in the embodiments or flowcharts, more or fewer operation steps may be included based on conventional or non-inventive means. The order of steps listed in the embodiments is only one way of executing the order of many steps and does not represent the only execution order. When an actual device or terminal product is executed, it can be executed in sequence or in parallel according to the method shown in the embodiments or the drawings (for example, in a parallel processor or multi-threaded processing environment, or even a distributed data processing environment).

[0169] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices, and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0170] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0171] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0172] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0173] Each embodiment in this specification is described in a related manner. Similar portions between the various embodiments can be referenced to each other. Each embodiment focuses on the differences from other embodiments. In particular, the device, electronic device, and readable storage medium embodiments are generally similar to the method embodiments, so their descriptions are relatively simple. For related portions, reference can be made to the descriptions of the method embodiments.

[0174] The above description is only a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention are included in the scope of protection of the present invention.

Claims

1. A control method for a rocket attitude based on a three-swing servo engine, characterized in that: The control method includes: Get the rocket's attitude angle command and current attitude angle, which includes the pitch angle yaw angle ψ and roll angle γ; The attitude angle deviation is calculated according to the attitude angle instruction and the current attitude angle, and the three-channel swing angle of the rocket is calculated according to the attitude angle deviation. The three-channel swing angle includes the pitch swing angle Yaw angle δψ and roll angle δγ; According to the pitch angle The yaw angle δψ and the roll angle δγ are used to calculate the first swing angle δ1, the second swing angle δ2 and the third swing angle δ3 corresponding to the three servo motors respectively; Controlling the three servo motors to swing according to the first swing angle δ1, the second swing angle δ2, and the third swing angle δ3, respectively, to obtain control torques on the entire arrow generated by the swings of the three servo motors; adjusting the deviation of the attitude angle according to the control torque; The three servo engines are arranged along the circumference of the rocket, the distances between the centers of the three servo engines and the center of the rocket are respectively a first distance R1, a second distance R2 and a third distance R3, the angles between the lines connecting the centers of the three servo engines and the center of the rocket are respectively a first angle θ1, a second angle θ2 and a third angle θ3, and the swing direction of each servo engine is perpendicular to the line connecting the servo engine and the center of the rocket; Wherein, θ1=θ3, θ2 is greater than 0 degrees and less than 180 degrees; <h2 style=";text-align:left;direction:ltr">R2=R3,<h2 style=";text-align:left;direction:ltr"> 2. The control method according to claim 1, characterized in that: The calculation of the deviation of the attitude angle according to the attitude angle instruction and the current attitude angle specifically includes: The difference between the attitude angle instruction and the current attitude angle is used as the attitude angle deviation.

3. The control method according to claim 1, wherein: According to the pitch angle The yaw angle δψ and the roll angle δγ are used to calculate the first swing angle δ1, the second swing angle δ2, and the third swing angle δ3 corresponding to the three servo motors, specifically including: By the pitch angle The first swing angle δ1, the second swing angle δ2 and the third swing angle δ3 are calculated by using the conversion formula of the yaw swing angle δψ and the roll swing angle δγ with the first swing angle δ1, the second swing angle δ2 and the third swing angle δ3. The conversion formula is: The first swing angle δ1, the second swing angle δ2 and the third swing angle δ3 are respectively: in, is the pitch angle, δψ is the yaw angle, δγ is the roll angle, δ1 is the first swing angle of the first servo motor, δ2 is the second swing angle of the second servo motor, and δ3 is the third swing angle of the third servo motor.

4. The control method according to claim 1, wherein: The control torque on the entire arrow generated by the swing of the three servo engines is determined by the following formula: Among them, M xC 、M tC 、M zC They are the control moments around the x-axis, y-axis and z-axis of the rocket body, X R X is the distance between the servo engine installation position and the theoretical apex of the rocket body, c is the distance between the center of mass of the arrow and the theoretical vertex position, and P is the total thrust of the three servo engines.

5. The control method according to any one of claims 1 to 4, characterized in that: The three servo engines have the same structure and provide the same thrust; the three servo engines are independently controlled; and the clockwise swing direction viewed from the rear of the rocket to the front is positive.

6. A control device for rocket attitude based on three swing servo engines, characterized in that: The control device comprises: The acquisition module is used to obtain the attitude angle command and current attitude angle of the rocket, which includes the pitch angle yaw angle ψ and roll angle γ; The first calculation module is used to calculate the deviation of the attitude angle according to the attitude angle instruction and the current attitude angle, and calculate the three-channel swing angle of the rocket according to the deviation of the attitude angle. The three-channel swing angle includes the pitch swing angle Yaw angle δψ and roll angle δγ; The second calculation module is used to calculate the pitch angle The yaw angle δψ and the roll angle δγ are used to calculate the first swing angle δ1, the second swing angle δ2 and the third swing angle δ3 corresponding to the three servo motors respectively; a control and acquisition module, configured to control the swing of the three servo motors according to the first swing angle δ1, the second swing angle δ2, and the third swing angle δ3, respectively, to obtain the control torque on the entire arrow generated by the swing of the three servo motors; An adjustment module, configured to adjust the deviation of the attitude angle according to the control torque; The three servo engines are arranged along the circumference of the rocket, the distances between the centers of the three servo engines and the center of the rocket are respectively a first distance R1, a second distance R2 and a third distance R3, the angles between the lines connecting the centers of the three servo engines and the center of the rocket are respectively a first angle θ1, a second angle θ2 and a third angle θ3, and the swing direction of each servo engine is perpendicular to the line connecting the servo engine and the center of the rocket; Wherein, θ1=θ3, θ2 is greater than 0 degrees and less than 180 degrees; <h2 style=";text-align:left;direction:ltr">R2=R3,<h2 style=";text-align:left;direction:ltr"> 7. The control device according to claim 6, characterized in that The second calculation module is specifically configured to: By the pitch angle The first swing angle δ1, the second swing angle δ2 and the third swing angle δ3 are calculated by using the conversion formula of the yaw swing angle δψ and the roll swing angle δγ with the first swing angle δ1, the second swing angle δ2 and the third swing angle δ3. The conversion formula is: The first swing angle δ1, the second swing angle δ2 and the third swing angle δ3 are respectively: in, is the pitch angle, δψ is the yaw angle, δγ is the roll angle, δ1 is the first swing angle of the first servo motor, δ2 is the second swing angle of the second servo motor, and δ3 is the third swing angle of the third servo motor.

8. The control device according to claim 6, characterized in that The control torque on the entire arrow generated by the swing of the three servo engines is determined by the following formula: Among them, M xC 、M yC 、M zC They are the control moments around the x-axis, y-axis and z-axis of the rocket body, X R X is the distance between the servo engine installation position and the theoretical apex of the rocket body, c is the distance between the center of mass of the arrow and the theoretical vertex position, and P is the total thrust of the three servo engines.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, a control method for a rocket attitude based on a three-swing servo engine is implemented as described in any one of claims 1 to 5.

10. A computer device, characterized in that: It includes: processor; a memory for storing instructions executable by the processor; Wherein, the processor is configured to execute the instructions to implement a control method based on a three-swing servo engine rocket attitude as described in any one of claims 1-5.

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