A control method for preventing the aftereffect thrust from interfering with the flight of a rocket body
By activating an anti-interference control strategy after rocket separation, and utilizing attitude stabilization and center of mass maneuver control, the tail-end collision problem caused by after-effect thrust was solved, thereby improving the rocket's flight efficiency and payload capacity.
Patent Information
- Application Number
- CN202310200295.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2023-02-24
- Publication Date
- 2025-12-12
- Estimated Expiration
- 2043-02-24
AI Technical Summary
Existing technologies result in the separation of rockets, where the aftereffect thrust causes the separated parts to collide with the flight vehicle, causing attitude disturbances and structural damage, and increasing the unpowered gliding time, thus reducing payload capacity.
After the first and second stage engines of the rocket separate, an anti-interference control strategy is activated. Through attitude stabilization control loop and center of mass maneuver control, the rocket body is stabilized before performing a center of mass maneuver to deviate from the original trajectory and avoid a rear-end collision.
It effectively prevents rear-end collisions, improves rocket flight efficiency and carrying capacity, and avoids increasing the time spent coasting without power.
Smart Images
Figure CN116697828B_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the field of solid rocket flight control technology, in particular to a control method for preventing the interference of afterburning thrust on a rocket flight body. BACKGROUND
[0002] Taking a three-stage launch vehicle as an example, its flight program generally includes: first stage ignition, first stage shutdown, first stage separation, second stage ignition, second stage shutdown, second stage separation, etc. Due to the characteristics of solid rocket engines, the engine cannot be shut down at will after ignition, and is generally shut down after the fuel is exhausted. Therefore, during a period of time after the first stage separation and a period of time after the second stage separation, the engine may have afterburning thrust (afterburning thrust: after the engine thrust decreases to a certain threshold, the system determines that the engine has been shut down, but there is still a certain thrust in the subsequent period of time). After the rocket separates, the two parts are the flight body and the separated body. The separated body is affected by the afterburning thrust and will generate an acceleration along the flight direction, which may collide with the front flight body, causing a large attitude disturbance to the flight body, even structural damage, and leading to flight failure. Therefore, a corresponding control strategy needs to be designed to prevent the collision between the separated body and the rocket flight body under the action of the afterburning thrust after separation. At present, the existing solution is to extend the engine sub-stage separation time, i.e. increase the unpowered flight time, after the engine of a certain stage of the rocket is shut down, so that the engine fuel is exhausted as much as possible before separation. Although this method can effectively reduce the interference of the afterburning thrust of the engine, it will increase the unpowered flight time and cause the loss of a part of the carrying capacity of the rocket. SUMMARY
[0003] To overcome the shortcomings of the existing method, the present application provides a control method for preventing the interference of the afterburning thrust of the engine on the rocket flight body. The method can prevent the attitude disturbance of the rocket flight body caused by the afterburning thrust of the engine while avoiding the loss of the carrying capacity of the rocket, thereby improving the flight efficiency and carrying capacity of the rocket flight.
[0004] The technical solution adopted by the present application is a control method for preventing the interference of afterburning thrust on a rocket flight body, which comprises the following steps:
[0005] S1, after the first stage engine of the rocket separates, the second stage of the rocket starts anti-interference control strategy for anti-interference control flight, and the duration of the anti-interference control flight is less than or equal to n1 seconds;
[0006] S2, after the anti-interference control flight in step S1 is completed, the second stage of the rocket enters a subsequent flight stage;
[0007] S3, after the second stage engine of the rocket is separated, the third stage of the rocket starts an anti-interference control strategy to perform an anti-interference control flight, and the duration of the anti-interference control flight is less than or equal to n1 seconds;
[0008] S4, after the anti-interference control flight in step S3 is completed, the third stage of the rocket enters a subsequent flight stage;
[0009] In steps S2 and S3, the specific process of starting the anti-interference control strategy to perform the anti-interference control flight is as follows: it is judged whether the rocket flight body is in an attitude stable state, if the rocket flight body is not in the attitude stable state, the attitude of the rocket flight body is first controlled through an attitude stable control loop in the rocket flight body, so that the attitude of the rocket flight body is in a stable state, and then the mass center of the rocket flight body is controlled; if the rocket flight body is in the attitude stable state, the mass center of the rocket flight body is directly controlled.
[0010] The specific process of controlling the mass center of the rocket flight body is as follows: in the pitch and yaw directions of the rocket flight body, the rocket flight body is moved in parallel along the Y axis and the Z axis of the rocket body coordinate system by a certain distance through starting the mass center control strategy, so that the rocket flight body is separated from the original motion trajectory.
[0011] The beneficial effects of the present application are as follows: by using the above-mentioned control method for preventing the aftereffect thrust from interfering with the rocket flight body, after a certain stage engine of the rocket is separated, the rocket flight body starts an anti-interference control strategy to perform an anti-interference control flight for a period of time and then enters a subsequent flight stage. In the process of the anti-interference control flight, it is first judged whether the rocket flight body is in an attitude stable state, the mass center of the rocket flight body is controlled after the rocket flight body is in the attitude stable state, so that the rocket flight body is separated from the original motion trajectory and then continues to enter the subsequent flight stage. Once the rocket flight body is separated from the original motion trajectory, the risk of the separated engine colliding with the rocket under the action of the thrust aftereffect can be effectively avoided. This method does not need to increase the time of unpowered sliding flight, avoids the loss of the carrying capacity of the rocket, and thus improves the flight efficiency and carrying capacity of the rocket flight.
[0012] Preferably, the specific process of controlling the attitude of the rocket flight body through the attitude stable control loop in the rocket flight body includes the following steps:
[0013] (1.1), the pitch attitude angle of the rocket flight body is collected in real time through an attitude sensor, and the collected pitch attitude angle is compared with a set theoretical pitch attitude angle to obtain a pitch attitude angle deviation The pitch attitude angle deviation is input into a filter to be filtered, and the filtered pitch attitude angle deviation The input is into the correction network, and the control quantity Pcy(i), Pcz(i), Pcx(i) is output by the correction network, wherein i represents the discrete value of the rocket body at the i th point in the time domain;
[0014] (1.2), the control quantity Pcy(i), Pcz(i), Pcx(i) is input into the control threshold module and the switch limit for comparison, and the control instruction Py(i), Pz(i), Px(i) of the rocket attitude control nozzle is output by the control threshold; and then the control instruction Py(i), Pz(i), Px(i) is input into the intelligent energy-saving module for processing, to obtain the action instruction Py_out(i), Pz_out(i), Px_out(i) finally output to the rocket lateral jet attitude control engine.
[0015] Through the above process, the attitude stability control loop in the rocket body is closed-loop controlled, so that the rocket body tends to be in an attitude stability state, thereby completing the center of mass maneuvering control of the rocket body.
[0016] As a preferred, the specific process of inputting the control instruction Py(i), Pz(i), Px(i) into the intelligent energy-saving module for processing is that: the action instruction output by the rocket lateral jet attitude control engine in the previous N sampling periods at the current time is counted, and the cumulative number of starts of the rocket lateral jet attitude control engine in the previous N periods is obtained through the counting. If the cumulative number of starts reaches the set initial parameter value M, the action instruction output by the attitude control engine is turned off; if the cumulative number of starts is less than the set initial parameter value M, the adaptive parameter design of the initial parameter value M is entered.
[0017] As a preferred, the specific process of the adaptive parameter design of the initial parameter value M is that: whether the absolute value of the pitch attitude angle deviation in the continuous s sampling periods is greater than the calibration value is judged, and the calibration value = control threshold value + 0.2°. If they are all greater than the calibration value, M = M + 2; if they are not all greater than the calibration value, M remains unchanged.
[0018] As a preferred, the specific process of judging whether the rocket body is in an attitude stability state is that: the rocket computer reads the control quantity Pcy(i), Pcz(i), Pcx(i) output by the correction network in the attitude stability control loop, and judges whether the condition |Pcy(i)|≤Ry, and |Pcz(i)|≤Rz, and |Pcx(i)|≤Rx is satisfied, wherein Ry, Rz, Rx represent the set threshold value; if the condition is satisfied, it indicates that the rocket body is in an attitude stability state, and if the condition is not satisfied, it indicates that the rocket body is not in an attitude stability state.
[0019] As a preference, the specific process of moving the rocket flying body along the Y axis and Z axis of the rocket body coordinate system by opening the center of mass maneuvering control strategy is as follows: the rocket computer reads the control amount Pcy(i) and Pcz(i) output by the correction network in the attitude stabilization control loop, if Pcy(i)>0 and Pcz(i)>0 are satisfied, the instruction of opening the rocket side jet nozzle T3, T4, T7, T8 for S1 seconds and then closing, and then opening the rocket side jet nozzle T2, T4, T6, T8 for S1 seconds and then closing is executed to complete the center of mass maneuvering control of the rocket flying body; if Pcy(i)<0 and Pcz(i)<0 are satisfied, the instruction of opening the rocket side jet nozzle T1, T2, T5, T6 for S1 seconds and then closing, and then opening the rocket side jet nozzle T1, T3, T5, T7 for S1 seconds and then closing is executed to complete the center of mass maneuvering control of the rocket flying body; if only Pcy(i)>0 is satisfied, the instruction of opening the rocket side jet nozzle T3, T4, T7, T8 for S1 seconds and then closing, and then opening the rocket side jet nozzle T1, T3, T5, T7 for S1 seconds and then closing is executed to complete the center of mass maneuvering control of the rocket flying body; if only Pcz(i)>0 is satisfied, the instruction of opening the rocket side jet nozzle T1, T2, T5, T6 for S1 seconds and then closing, and then opening the rocket side jet nozzle T2, T4, T6, T8 for S1 seconds and then closing is executed to complete the center of mass maneuvering control of the rocket flying body. BRIEF DESCRIPTION OF DRAWINGS
[0020] Figure 1 A flow chart of the control method for preventing the aftereffect thrust from interfering with the rocket flying body of the present application;
[0021] Figure 2 A principle diagram of the attitude stabilization control loop in the present application;
[0022] Figure 3 A structural schematic diagram of the rocket flying body in the present application;
[0023] Figure 4 (a) is a sectional view in the direction of A-A in the present application; Figure 3
[0024] Figure 4 (b) is a sectional view in the direction of B-B in the present application; Figure 3
[0025] A schematic diagram of the moving direction of the second engine substage and the third flying body after separation in the present application; Figure 5
[0026] A schematic diagram of the moving direction of the second engine substage after receiving the aftereffect thrust in the present application; Figure 6
[0027] Figure 7 The simulation curve diagram of the stable control of the attitude control engine nozzle switch state and the rocket roll attitude in the application;
[0028] Figure 8 The simulation curve diagram of the stable control of the attitude control engine nozzle switch state and the rocket roll attitude in the application;
[0029] Figure 9 The simulation curve diagram of the stable control of the attitude control engine nozzle switch state and the rocket roll attitude in the application;
[0030] Figure 10 The motion direction schematic diagram of the three-stage flying body entering the initial flight in the anti-interference control strategy in the application;
[0031] Figure 11 The flight schematic diagram of the three-stage flying body after the initial flight in the anti-interference control strategy in the application;
[0032] Figure 12 The motion trajectory schematic diagram of the two-stage engine sub-stage and the three-stage flying body after the anti-interference control strategy in the application;
[0033] Figure 13 The vertical direction displacement change process schematic diagram of the three-stage flying body entering the center of mass maneuver control in the application;
[0034] Figure 14 The pitch channel attitude change response schematic diagram of the three-stage flying body entering the center of mass maneuver control in the application;
[0035] Figure 15 The yaw channel attitude change response schematic diagram of the three-stage flying body entering the center of mass maneuver control in the application;
[0036] Figure 16 The roll channel attitude change response schematic diagram of the three-stage flying body entering the center of mass maneuver control in the application. DETAILED DESCRIPTION
[0037] The application will be further described in the following with reference to the accompanying drawings and in conjunction with the specific embodiments, and the protection scope of the application is not limited to the specific embodiments.
[0038] Those skilled in the art should understand that in the disclosure of the present application, the orientation or positional relationship indicated by the terms "longitudinal", "transverse", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like are based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore the above terms cannot be understood as a limitation on the present application.
[0039] In addition, the terms "first", "second", "third" and the like are only used to distinguish the description and cannot be understood as indicating or implying relative importance.
[0040] In the description of the embodiments of the present application, it should also be noted that unless otherwise explicitly specified and limited, the terms "set", "mount", "connected", "connected" should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.
[0041] The present application relates to a control method for preventing the aftereffect thrust from interfering with the rocket flight body, and the implementation scenario is that after the rocket performs stage separation, and before the next stage is ignited, the rocket is controlled to resist interference, and the duration is 6 seconds.
[0042] As shown in Figure 1 A control method for preventing the aftereffect thrust from interfering with the rocket flight body includes the following steps:
[0043] S1, after the first stage engine of the rocket is separated, the second stage of the rocket starts an anti-interference control strategy to perform anti-interference control flight, and the duration of the anti-interference control flight is less than or equal to 6 seconds;
[0044] S2, after the anti-interference control flight in step S1 is completed, the second stage of the rocket enters a subsequent flight stage;
[0045] S3, after the second stage engine of the rocket is separated, the third stage of the rocket starts an anti-interference control strategy to perform anti-interference control flight, and the duration of the anti-interference control flight is less than or equal to 6 seconds;
[0046] S4, after the anti-interference control flight in step S3 is completed, the third stage of the rocket enters a subsequent flight stage;
[0047] In step S2 and step S3, the specific process of starting the anti-interference control strategy to perform the anti-interference control flight is as follows:
[0048] Firstly, it is judged whether the rocket flight body is in the attitude stable state, that is, the rocket computer reads the control amount Pcy(i), Pcz(i) and Pcx(i) output by the correction network in the attitude stable control loop, and judges whether the condition |Pcy(i)|≤Ry and |Pcz(i)|≤Rz and |Pcx(i)|≤Rx are satisfied, wherein Ry, Rz and Rx represent the set threshold value; if the condition is satisfied, it indicates that the rocket body is in the attitude stable state, and if the condition is not satisfied, it indicates that the rocket body is not in the attitude stable state.
[0049] Through the judgment, it is determined whether the rocket flight body is in the attitude stable state, and if the rocket body is not in the attitude stable state, the attitude of the rocket flight body is controlled through the attitude stable control loop in the rocket flight body, so that the attitude of the rocket flight body is in the stable state; through the judgment, it is ensured that the attitude of the rocket flight body is in the stable state.
[0050] Then, the center of mass of the rocket body is controlled.
[0051] The specific process of controlling the center of mass of the rocket flight body is as follows: in the pitch and yaw direction of the rocket flight body, the rocket flight body is moved in parallel along the Y axis and Z axis of the rocket coordinate system by a certain distance through the starting of the center of mass maneuvering control strategy, so that the rocket flight body is separated from the original motion trajectory.
[0052] As shown in Figure 2 The attitude stable control loop is shown in the figure, in which the filter, the correction network, the control threshold module and the intelligent energy-saving module are connected in sequence, the output end of the intelligent energy-saving module outputs the control amount to the rocket, so as to control the attitude of the rocket flight body, and the attitude sensitive period is used to collect the pitch attitude angle of the rocket in real time; in the present application, the parameters of the attitude stable control loop are designed by using the frequency domain analysis method, and the stability index and the maneuverability index of the projectile are comprehensively considered in the design, wherein the parameters of the correction network are selected by using the frequency domain analysis method in the classical control theory, so that the amplitude margin of the rated state of the attitude control system is greater than 8dB, and the amplitude margin of the pull-off state is greater than 4.5dB.
[0053] The specific process of controlling the attitude of the rocket flight body through the attitude stable control loop in the rocket flight body includes the following steps:
[0054] (1.1), the pitch attitude angle of the rocket flight body is collected in real time by the attitude sensor, and the set theoretical pitch attitude angle is subtracted to obtain the pitch attitude angle deviation the pitch attitude angle deviation is input into a filter to be filtered, and the filtered pitch attitude angle deviation is input into a correction network, and the control quantity Pcy(i), Pcz(i), Pcx(i) is output by the correction network, wherein i represents the discrete value of the rocket body at the i th point in the time domain; the control structure of the correction network is represented as: wherein, is the pitch attitude angle deviation, and A0, A1, A2, A3, B1, B2, B3 are parameters of the correction network;
[0055] (1.2), the control quantity Pcy(i), Pcz(i), Pcx(i) is input into a control threshold module and a switch limit to be compared, and the control instruction Py(i), Pz(i), Px(i) of the rocket attitude control nozzle is output by the control threshold; and then the control instruction Py(i), Pz(i), Px(i) is input into an intelligent energy-saving module to be processed, and the action instruction Py_out(i), Pz_out(i), Px_out(i) of the rocket lateral jet attitude control engine is finally output.
[0056] The above process is used to close-loop control the attitude stability control loop in the rocket body, so that the rocket body tends to be in an attitude stable state, thereby completing the center of mass maneuvering control of the rocket body.
[0057] The specific process of inputting the control instruction Py(i), Pz(i), Px(i) into the intelligent energy-saving module for processing is: the action instruction output by the rocket lateral jet attitude control engine in the previous N sampling periods at the current time is counted, and the cumulative number of on times of the rocket lateral jet attitude control engine in the previous N periods is obtained through the counting. If the cumulative number of on times reaches the set initial parameter value M, the action instruction output by the attitude control engine is turned off; if the cumulative number of on times is less than the set initial parameter value M, the adaptive parameter design of the initial parameter value M is entered; the specific process of the adaptive parameter design of the initial parameter value M is: judging whether the absolute value of the pitch attitude angle deviation in the continuous 10 sampling periods is greater than the calibration value, and the calibration value = control threshold value + 0.2°. If they are all greater than the calibration value, M = M + 2; if they are not all greater than the calibration value, the value of M remains unchanged.
[0058] The center of mass maneuvering control of the rocket is to open a certain number of nozzles in the pitch and yaw directions of the rocket at the same time, so that it moves a certain distance along the Y and Z axes of the rocket system, so that it can effectively avoid the risk of the separated engine colliding with the rocket under the action of the thrust aftereffect. The control scheme is as follows: Figure 4As shown in the drawings, T1, T2, T5, T6 are simultaneously opened or T3, T4, T7, T8 are simultaneously opened to control the parallel movement of the arrow body upward or downward; T2, T4, T6, T8 are simultaneously opened or T1, T3, T5, T7 are simultaneously opened to control the parallel movement of the arrow body leftward or rightward, thereby realizing the parallel motion of the centroid of the arrow body;
[0059] The specific process of the parallel movement of the rocket flight body along the Y-axis and Z-axis of the arrow body coordinate system by opening the centroid motion control strategy is as follows: the arrow computer reads the control amount Pcy(i) and Pcz(i) output by the correction network in the attitude stabilization control loop, if Pcy(i)>0 and Pcz(i)>0 are satisfied, the instruction is executed: first, the rocket side jet flow nozzles T3, T4, T7, T8 are opened for S1 seconds and then closed, and then the rocket side jet flow nozzles T2, T4, T6, T8 are opened for S1 seconds and then closed, thereby completing the centroid motion control of the rocket flight body; if Pcy(i)<0 and Pcz(i)<0 are satisfied, the instruction is executed: first, the rocket side jet flow nozzles T1, T2, T5, T6 are opened for S1 seconds and then closed, and then the rocket side jet flow nozzles T1, T3, T5, T7 are opened for S1 seconds and then closed, thereby completing the centroid motion control of the rocket flight body; if only Pcy(i)>0 is satisfied, the instruction is executed: first, the rocket side jet flow nozzles T3, T4, T7, T8 are opened for S1 seconds and then closed, and then the rocket side jet flow nozzles T1, T3, T5, T7 are opened for S1 seconds and then closed, thereby completing the centroid motion control of the rocket flight body; if only Pcz(i)>0 is satisfied, the instruction is executed: first, the rocket side jet flow nozzles T1, T2, T5, T6 are opened for S1 seconds and then closed, and then the rocket side jet flow nozzles T2, T4, T6, T8 are opened for S1 seconds and then closed, thereby completing the centroid motion control of the rocket flight body.
[0060] Taking the rocket second stage separation and third stage separation as an example:
[0061] After the second stage engine of the rocket is separated, the rocket is divided into a second stage engine substage and a third stage flight body. At the beginning, the two parts move away from each other due to the separation speed, as shown in Figure 5 The arrow direction is the movement direction; due to the action of the residual thrust of the second stage engine substage, the speed gradually decreases to zero, thereby changing the speed direction to be opposite, as shown in Figure 6 If the third stage flight body does not move at this time, the second stage engine substage and the third stage flight body will collide, resulting in flight failure. Therefore, the third stage flight body needs to be controlled by the method described in the present application, so that the second stage engine substage and the third stage flight body will not collide.
[0062] First, to ensure the attitude of the three-level flight body into a stable state, namely the attitude of the three-level flight body if in unstable state, it is necessary to control its attitude, such as Figure 7-9 As shown, the attitude stability control system is mathematically simulated to verify the opening state of the attitude control engine nozzle and the rocket pitch, yaw and roll attitude stability control, and Figure 7-9 The simulation diagram can be seen that the control method for controlling the attitude of the rocket flight body through the attitude stability control loop in the rocket flight body described in the application realizes the attitude stability control of the three-level flight body, and the result meets the expectation.
[0063] After the three-level flight body realizes the attitude stability control, the center of mass displacement control is performed on the three-level flight body to move the three-level flight body upward to avoid the movement route of the second engine substage, and the control process principle is as shown in Figure 10 And Figure 11
[0064] As shown in Figure 13-16 Through mathematical simulation of the relative motion of the center of mass of the second engine substage and the three-level flight body, the relative motion of the two is obtained.
[0065] As shown in Figure 12 The second engine substage first moves left and then moves right, and the three-level flight body moves upward, and there is a minimum distance between the two in the movement process, that is, the minimum safety distance between the second engine substage and the three-level flight body, and no collision occurs, realizing the relative safety distance control and achieving the expected purpose. Figure 13 The vertical direction displacement change process of the three-level flight body in the process of center of mass maneuver control; and Figure 14-16 The attitude stability control of the three-level flight body can be seen from Figure 13-16 The simulation results shown in the simulation results meet the expected target.
Claims
1. A control method for preventing interference of a post-impulsive thrust with a flight body of a rocket, characterized by: The method comprises the following steps: S1, after the first stage engine of the rocket is separated, the second stage of the rocket starts an anti-interference control strategy to perform anti-interference control flight, and the duration of the anti-interference control flight is less than or equal to n1 seconds; S2, after the anti-interference control flight in step S1 is completed, the second stage of the rocket enters a subsequent flight stage; S3, after the second stage engine of the rocket is separated, the third stage of the rocket starts an anti-interference control strategy to perform anti-interference control flight, and the duration of the anti-interference control flight is less than or equal to n1 seconds; S4, after the anti-interference control flight in step S3 is completed, the third stage of the rocket enters a subsequent flight stage; In steps S2 and S3, the specific process of starting the anti-interference control strategy to perform anti-interference control flight is as follows: it is judged whether the rocket flight body is in an attitude stable state, if the rocket flight body is not in the attitude stable state, the attitude of the rocket flight body is controlled through an attitude stable control loop in the rocket flight body first, so that the attitude of the rocket flight body is in a stable state, and then the mass center of the rocket flight body is controlled; if the rocket flight body is in the attitude stable state, the mass center of the rocket flight body is directly controlled. The specific process of controlling the mass center of the rocket flight body is as follows: in the pitch and yaw directions of the rocket flight body, the rocket flight body is moved in parallel along the Y axis and the Z axis of the rocket body coordinate system by a certain distance through starting the mass center control strategy, so that the rocket flight body is separated from the original motion trajectory.
2. A control method for preventing the aftereffect thrust from interfering with the flight of a rocket body according to claim 1, characterized in that: The specific process of controlling the attitude of the rocket flight body through the attitude stable control loop in the rocket flight body comprises the following steps: (1.1), collecting the pitch attitude angle of the rocket flying body in real time by the attitude sensor, and comparing it with the set theoretical pitch attitude angle Carrying out the difference to obtain the pitch attitude angle deviation The pitch attitude angle deviation Input into the filter for filtering, and the filtered pitch attitude angle deviation Input into the correction network, and the control quantity Pcy(i), Pcz(i), Pcx(i) is output by the correction network, wherein i represents the discrete value of the rocket flying body at the i th point in the time domain; (1.2), the control quantity Pcy(i), Pcz(i) and Pcx(i) are input into a control threshold module and compared with a control threshold value, the control instruction Py(i), Pz(i) and Px(i) to the rocket attitude control jet are output from the control threshold module; and the control instruction Py(i), Pz(i) and Px(i) are input into an intelligent energy-saving module for processing, to obtain the action instruction Py_out(i), Pz_out(i) and Px_out(i) finally output to the rocket side jet attitude control engine.
3. A control method for preventing the aftereffect thrust from interfering with the flight of a rocket body according to claim 2, characterized in that: The specific process of inputting the control instruction Py(i), Pz(i) and Px(i) into the intelligent energy-saving module for processing is as follows: the action instructions output by the rocket side jet attitude control engine in the previous N sampling periods at the current moment are counted, the cumulative number of times of starting the rocket side jet attitude control engine in the previous N periods is obtained through counting, if the cumulative number of times of starting reaches a set initial parameter value M, the action instruction output by the attitude control engine is closed; if the cumulative number of times of starting is less than the set initial parameter value M, adaptive variable parameter design of the initial parameter value M is entered.
4. A control method for preventing the aftereffect thrust from interfering with the flight of a rocket body according to claim 3, characterized in that: The specific process of the adaptive variable parameter design for the initial parameter value M is as follows: determine the pitch attitude angle deviation within s consecutive sampling periods. Check if the absolute values are all greater than the calibration value. Calibration value = control threshold value + 0.2°. If they are all greater than the calibration value, then M = M + 2; if they are not all greater than the calibration value, then M remains unchanged.
5. A control method for preventing the aftereffect thrust from interfering with the flight of a rocket body according to claim 1, characterized in that: The specific process of judging whether the rocket flight body is in the attitude stable state is that the rocket computer reads the control amount Pcy(i), Pcz(i) and Pcx(i) output by the correction network in the attitude stable control loop, and judges whether the condition |Pcy(i)|≤Ry, |Pcz(i)|≤Rz and |Pcx(i)|≤Rx are met, wherein Ry, Rz and Rx represent the set threshold value; if the condition is met, it indicates that the rocket body is in the attitude stable state, and if the condition is not met, it indicates that the rocket body is not in the attitude stable state.
6. A control method for preventing the aftereffect thrust from interfering with the flight of a rocket body according to claim 1, characterized in that: The specific process of moving the rocket flight body along the Y axis and Z axis of the rocket body coordinate system by a certain distance by opening the center of mass control strategy is that the rocket computer reads the control amount Pcy(i) and Pcz(i) output by the correction network in the attitude stable control loop, and if Pcy(i)>0 and Pcz(i)>0 are met, the instruction is executed that the rocket side jet flow nozzles T3, T4, T7 and T8 are opened for S1 seconds and then closed, and then the rocket side jet flow nozzles T2, T4, T6 and T8 are opened for S1 seconds and then closed, so as to complete the center of mass control of the rocket flight body; if Pcy(i)≤0 and Pcz(i)≤0 are met, the instruction is executed that the rocket side jet flow nozzles T1, T2, T5 and T6 are opened for S1 seconds and then closed, and then the rocket side jet flow nozzles T1, T3, T5 and T7 are opened for S1 seconds and then closed, so as to complete the center of mass control of the rocket flight body; if only Pcy(i)>0 is met, the instruction is executed that the rocket side jet flow nozzles T3, T4, T7 and T8 are opened for S1 seconds and then closed, and then the rocket side jet flow nozzles T1, T3, T5 and T7 are opened for S1 seconds and then closed, so as to complete the center of mass control of the rocket flight body; if only Pcz(i)>0 is met, the instruction is executed that the rocket side jet flow nozzles T1, T2, T5 and T6 are opened for S1 seconds and then closed, and then the rocket side jet flow nozzles T2, T4, T6 and T8 are opened for S1 seconds and then closed, so as to complete the center of mass control of the rocket flight body.
Citation Information
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