A control method, device and equipment of a grid fin of a rocket sub-stage

Abstract

The application provides a control method, device and equipment of a grid fin of a rocket substage, and the method comprises the following steps: acquiring index data of a rocket substage in a recovery process; obtaining a first rudder angle of a grid fin for controlling the recovery of the rocket substage according to a first preset algorithm and real-time trajectory data and real-time speed data in the index data; obtaining a second rudder angle of the grid fin for controlling the recovery of the rocket substage according to a second preset algorithm and the first rudder angle; obtaining a target rudder angle of the grid fin for controlling the recovery of the rocket substage according to the first rudder angle and the second rudder angle; and controlling the grid fin to operate according to the target rudder angle in the recovery process of the rocket substage. The scheme provided by the application can improve the control accuracy of the grid fin of the rocket substage in the recovery process, and realize accurate and stable vertical recovery of the rocket substage.

Description

Technical Field

[0001] This invention relates to the field of rocket stage recovery control technology, and in particular to a control method, device and equipment for the grid fins of a rocket stage. Background Technology

[0002] In traditional rocket launches, single-use rocket stages are discarded and lose the opportunity for reuse, leading to high launch costs and resource waste. To reduce the cost of space missions and improve sustainability, vertical recovery of rocket stages has become a hot research topic.

[0003] Vertical recovery of rocket stages involves complex dynamic systems and control problems. During the landing phase, the stage needs to control attitude and thrust via grid fins to achieve precise vertical recovery. However, due to the nonlinear characteristics of rocket stages and the uncertainties of environmental factors, traditional control algorithms often fail to provide stable and accurate control performance. Traditional control algorithms, such as PID control, are widely used in the vertical recovery of rocket stages. PID control algorithms achieve stable control responses by adjusting the control parameters of the grid fins. However, due to the linear nature of PID control algorithms, they cannot fully account for the nonlinear characteristics and uncertainties of the system, limiting the accuracy and stability of the recovery. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a control method, device and equipment for the grid fins of a rocket stage, so as to improve the control accuracy of the grid fins during the recovery process of the rocket stage and realize accurate and stable vertical recovery of the rocket stage.

[0005] To solve the above-mentioned technical problems, the technical solution of the present invention is as follows:

[0006] A method for controlling the grid fins of a rocket stage includes:

[0007] Obtain key performance data of the rocket's sub-stages during the recovery process;

[0008] Based on the first preset algorithm and the real-time trajectory data and real-time velocity data in the index data, the first rudder angle of the grid rudder controlling the recovery of the rocket stage is obtained.

[0009] Based on the second preset algorithm and the first rudder angle, a second rudder angle for controlling the recovery of the rocket stage is obtained;

[0010] Based on the first rudder angle and the second rudder angle, the target rudder angle for controlling the recovery of the rocket stage is obtained;

[0011] During the recovery of the rocket stage, the grid fins are controlled to operate according to the target fin angle.

[0012] Optionally, based on the first preset algorithm and the real-time trajectory data and real-time velocity data in the index data, the first rudder angle of the grid fin controlling the recovery of the rocket stage is obtained, including:

[0013] Based on the real-time trajectory data and the preset target trajectory data, the membership degree characterizing the trajectory change of the rocket stage during the recovery process is obtained;

[0014] Based on the real-time velocity data and the preset target velocity data, the membership degree characterizing the velocity change of the rocket stage during the recovery process is obtained.

[0015] Based on the preset activation degree of each of the N preset rules in the first preset algorithm, the membership degree of the trajectory change, and the membership degree of the velocity change, the first rudder angle of the grid rudder controlling the recovery of the rocket stage is obtained; where N is a positive integer greater than or equal to 2.

[0016] Optionally, based on the real-time trajectory data and the preset target trajectory data, a membership degree characterizing the trajectory change of the rocket stage during the recovery process is obtained, including:

[0017] Obtain the first deviation value and the first deviation rate between the real-time trajectory data and the preset target trajectory data;

[0018] Based on the first preset membership function, the first trajectory change membership degree of the first deviation value is obtained;

[0019] The second trajectory change membership degree of the first deviation rate is obtained according to the second preset membership function.

[0020] Optionally, based on the real-time velocity data and the preset target velocity data, a membership degree characterizing the velocity change of the rocket stage during the recovery process is obtained, including:

[0021] Obtain the second deviation value and the second deviation rate between the real-time speed data and the preset target speed data;

[0022] According to the third preset membership function, the third velocity change membership of the second deviation value is obtained;

[0023] The fourth velocity change membership degree of the second deviation rate is obtained according to the fourth preset membership function.

[0024] Optionally, based on the preset activation degree of each of the N preset rules in the first preset algorithm, the membership degree of the trajectory change, and the membership degree of the velocity change, the first rudder angle of the grid fin controlling the recovery of the rocket stage is obtained, including:

[0025] Based on the first preset activation degree, second preset activation degree, third preset activation degree and fourth preset activation degree of each of the N preset rules, obtain the weight corresponding to each preset rule in the N preset rules;

[0026] The target membership degree is obtained based on the first trajectory change membership degree, the second trajectory change membership degree, the third velocity change membership degree, and the fourth velocity change membership degree;

[0027] Based on the weight of each preset rule in the N preset rules and the target membership degree, obtain the fuzzy rudder angle corresponding to each preset rule in the N preset rules;

[0028] Obtain the average value of N fuzzy rudder angles, and use the average value as the first rudder angle of the grid rudder.

[0029] Optionally, based on a second preset algorithm and the first rudder angle, a second rudder angle for controlling the recovery of the rocket stage is obtained, including:

[0030] The second rudder angle is obtained based on the preset rudder angle function of the second preset algorithm, the first trajectory change membership degree, the second trajectory change membership degree, the third velocity change membership degree, the fourth velocity change membership degree, and the first rudder angle.

[0031] Optionally, based on the first rudder angle and the second rudder angle, the target rudder angle for controlling the recovery of the rocket stage is obtained, including:

[0032] The first rudder angle and the second rudder angle are weighted and fused according to preset mixing weight parameters to obtain the target rudder angle.

[0033] A control device for the grid fins of a rocket stage, comprising:

[0034] The acquisition module is used to acquire the performance data of the rocket's sub-stage during the recovery process;

[0035] The processing module is configured to obtain a first rudder angle for controlling the recovery of the rocket stage based on a first preset algorithm and the real-time trajectory data and real-time velocity data in the index data; obtain a second rudder angle for controlling the recovery of the rocket stage based on a second preset algorithm and the first rudder angle; and obtain a target rudder angle for controlling the recovery of the rocket stage based on the first rudder angle and the second rudder angle.

[0036] The control module is used to control the grid fins to operate according to the target fin angle during the recovery of the rocket stage.

[0037] A computing device includes: a processor and a memory storing a computer program, which, when executed by the processor, performs the method described above.

[0038] A computer-readable storage medium includes instructions that, when executed on a computer, cause the computer to perform the method described above.

[0039] The above-described solution of the present invention has at least the following beneficial effects:

[0040] The above-described solution of the present invention obtains index data of the rocket stage during the recovery process; obtains a first rudder angle of the grid rudder controlling the recovery of the rocket stage based on a first preset algorithm and the real-time trajectory data and real-time velocity data in the index data; obtains a second rudder angle of the grid rudder controlling the recovery of the rocket stage based on a second preset algorithm and the first rudder angle; obtains a target rudder angle of the grid rudder controlling the recovery of the rocket stage based on the first rudder angle and the second rudder angle; and controls the grid rudder to operate according to the target rudder angle during the recovery process of the rocket stage, thereby improving the control accuracy of the grid rudder during the recovery process of the rocket stage and achieving accurate and stable vertical recovery of the rocket stage. Attached Figure Description

[0041] Figure 1 This is a flowchart of the control method for the grid fins of a rocket substage provided in an embodiment of the present invention;

[0042] Figure 2 This is a schematic diagram of the control device module for the grid fins of a rocket substage provided in an embodiment of the present invention. Detailed Implementation

[0043] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0044] First, the technical terms involved in this invention will be explained:

[0045] Rocket stage: refers to an independent, autonomous propulsion unit used during rocket launch. During launch, multiple stages of propulsion are typically used to progressively increase the rocket's speed and altitude, with each propulsion unit being an independent stage. Once a stage propulsion unit has completed its mission, it separates from the rocket, and the rocket continues to accelerate using the next stage propulsion unit.

[0046] Grid fins: Grid fins are important devices used to control the direction and attitude of aircraft or rockets. Grid fins typically consist of multiple small nozzles, each of which can be independently adjusted in angle and direction. By controlling the grid fins, precise control and adjustment of aircraft or rockets can be achieved.

[0047] like Figure 1 As shown, an embodiment of the present invention proposes a control method for the grid fins of a rocket substage, comprising:

[0048] Step 11: Obtain the performance data of the rocket stage during the recovery process;

[0049] Step 12: Based on the first preset algorithm and the real-time trajectory data and real-time velocity data in the index data, obtain the first rudder angle of the grid rudder that controls the recovery of the rocket stage;

[0050] Step 13: Based on the second preset algorithm and the first rudder angle, obtain the second rudder angle of the grid rudder that controls the recovery of the rocket stage;

[0051] Step 14: Based on the first rudder angle and the second rudder angle, obtain the target rudder angle for controlling the recovery of the rocket stage;

[0052] Step 15: During the recovery of the rocket stage, control the grid fins to operate according to the target fin angle.

[0053] In this embodiment, the index data may include, but is not limited to, real-time velocity data of the rocket stage (the real-time velocity data is vector data including magnitude and direction), acceleration, real-time mass data, current altitude, real-time trajectory data, the thrust currently experienced by the rocket stage, current wind speed, and atmospheric density, etc. During the vertical recovery process of the rocket stage, the index data should be data that changes over time. Therefore, the index data has a certain functional relationship with the time during the rocket stage recovery process, and for the currently obtained index data, there are corresponding time point data.

[0054] Furthermore, by inputting the index data into the first preset algorithm, the index data can be mapped according to the predefined rules and expert knowledge in the first preset algorithm to obtain the first rudder angle of the grid rudder used to control the operating attitude of the rocket stage during the recovery process; preferably, the first preset algorithm can be a fuzzy control algorithm; by processing the index data and obtaining the first rudder angle through the first preset algorithm, the initial adjustment and response of the grid rudder control can be realized;

[0055] Furthermore, the first rudder angle is optimized using the second preset algorithm to obtain an optimized second rudder angle, which further ensures the accuracy of subsequent acquisition of the target rudder angle, thereby ensuring the accuracy of grid rudder control; preferably, the second preset algorithm can be a nonlinear model predictive control algorithm.

[0056] Furthermore, the first and second rudder angles are fused to obtain the target rudder angle, and the grid rudders are controlled to operate according to the target rudder angle. This ensures that the rocket stage can be vertically recovered at the target speed within the target trajectory during the recovery process, thereby improving the efficiency of vertical recovery of the rocket stage and reducing the rocket's operating costs.

[0057] In an optional embodiment of the present invention, step 12 above may include:

[0058] Step 121: Based on the real-time trajectory data and the preset target trajectory data, obtain the membership degree characterizing the trajectory change of the rocket stage during the recovery process;

[0059] Step 122: Based on the real-time velocity data and the preset target velocity data, obtain the membership degree characterizing the velocity change of the rocket stage during the recovery process;

[0060] Step 123: Based on the preset activation degree of each of the N preset rules in the first preset algorithm, the membership degree of the trajectory change, and the membership degree of the velocity change, obtain the first rudder angle of the grid rudder controlling the recovery of the rocket stage; where N is a positive integer greater than or equal to 2.

[0061] In this embodiment, the trajectory change membership degree represents the first similarity between the real-time trajectory data corresponding to the trajectory change of the rocket substage during the recovery process and the preset target trajectory data in the preset target trajectory;

[0062] The membership degree of the velocity change represents the second similarity between the real-time velocity data corresponding to the velocity change of the rocket stage during the recovery process and the preset target velocity data in the preset target velocity;

[0063] In one implementable example of the present invention, the trajectory change membership degree and the velocity change membership degree can be calculated based on a preset membership function. Preferably, the preset membership function can be a trigonometric membership function.

[0064] The N preset rules are used to represent the mapping relationship between the trajectory change membership degree, the speed change membership degree and the first rudder angle. Each of the N preset rules corresponds to the trajectory change membership degree and the speed change membership degree. The N preset rules can be set based on historical experience.

[0065] The preset activation degree of each of the N preset rules represents the third degree of similarity between the current preset rule and the input real-time trajectory data or real-time speed data. The preset activation degree is a real number between 0 and 1. Here, since each preset rule corresponds to the trajectory change membership degree and the speed change membership degree, the preset activation degree of each preset rule should be a set of preset activation degrees corresponding to the trajectory change membership degree and the speed change membership degree, respectively. The value of each preset activation degree in the preset activation degree set of each preset rule can be set according to actual needs.

[0066] By acquiring the membership degrees of trajectory and velocity changes of the rocket stage during recovery, and further, based on the first activation degree corresponding to the current trajectory change membership degree and the second activation degree corresponding to the current velocity change membership degree in each preset setting, the first rudder angle of the grid rudder controlling the recovery of the rocket stage is calculated. This realizes the conversion from the input of real-time trajectory data and real-time velocity data of the rocket stage during recovery to specific rudder control commands (i.e., the first rudder angle), thereby achieving preliminary control of the rudder angle of the grid rudder during the vertical recovery of the rocket stage and ensuring the efficiency of the vertical recovery of the rocket stage.

[0067] In an optional embodiment of the present invention, step 121 above may include:

[0068] Step 1211: Obtain the first deviation value and the first deviation rate between the real-time trajectory data and the preset target trajectory data;

[0069] Step 1212: Obtain the first trajectory change membership degree of the first deviation value according to the first preset membership function;

[0070] Step 1213: Obtain the second trajectory change membership degree of the first deviation rate according to the second preset membership function.

[0071] In this embodiment, the first deviation value is the first difference between the real-time trajectory data and the preset target trajectory data, and the first deviation value represents the degree to which the actual trajectory of the current rocket substage deviates from the preset target trajectory; the first deviation rate represents the rate of change of the first deviation value.

[0072] Furthermore, the first trajectory change membership degree of the first deviation value is calculated according to the first preset membership function, and the second trajectory change membership degree of the first deviation rate is calculated according to the second preset membership function. Here, both the first and second preset membership functions can be trigonometric membership functions. By using the preset membership functions, the first trajectory change membership degree and the second trajectory change membership degree in the trajectory change membership degree are calculated respectively, providing a data basis for subsequently obtaining the first rudder angle. At the same time, it can realize the quantitative description of the trajectory change of the rocket stage during the recovery process, ensuring the accuracy of subsequent grid rudder target rudder angle acquisition, thereby improving the control accuracy of the grid rudder.

[0073] Preferably, the membership degree of the first trajectory change is described by a triangular membership function, the calculation formula of which can be expressed as: Where μ1(x) represents the membership degree of the first trajectory change, x represents the first deviation value, a represents the left endpoint value of the trigonometric function, d represents the right endpoint value of the trigonometric function, and b and c represent the peak values ​​of the trigonometric function, respectively. Here, a, b, c, and d can be set according to the actual needs in the processing process.

[0074] Preferably, the membership degree of the second trajectory change is also described by a triangular membership function, the calculation formula of which can be expressed as: Where μ2(x) represents the membership degree of the second trajectory change, and y represents the first deviation rate.

[0075] In an optional embodiment of the present invention, step 122 above may include:

[0076] Step 1221: Obtain the second deviation value and the second deviation rate between the real-time speed data and the preset target speed data;

[0077] Step 1222: Obtain the third velocity change membership degree of the second deviation value according to the third preset membership function;

[0078] Step 1223: Obtain the fourth velocity change membership degree of the second deviation rate according to the fourth preset membership function.

[0079] In this embodiment, the second deviation value is the second difference between the real-time velocity data and the preset target velocity data; the second deviation value represents the degree to which the actual velocity of the current rocket stage deviates from the preset target velocity; the second deviation rate represents the rate of change of the second deviation value.

[0080] Furthermore, the third velocity change membership degree of the second deviation value is calculated according to the third preset membership function, and the fourth velocity change membership degree of the second deviation rate is calculated according to the fourth preset membership function. Here, both the third and fourth preset membership functions can be trigonometric membership functions. By using the preset membership functions, the third and fourth velocity change membership degrees in the velocity change membership degrees are calculated respectively, providing a data basis for subsequently obtaining the first rudder angle, ensuring the accuracy of subsequent grid rudder target rudder angle acquisition, and thus improving the control accuracy of the grid rudder.

[0081] Preferably, the membership degree of the third velocity change is described by a trigonometric membership function, the calculation formula of which can be expressed as: Where μ3(x) represents the membership degree of the third velocity change, and s represents the second deviation value;

[0082] Preferably, the membership degree of the fourth velocity change is also described by a trigonometric membership function, the calculation formula of which can be expressed as: Where μ4(x) represents the membership degree of the fourth velocity change, and t represents the second deviation rate.

[0083] In an optional embodiment of the present invention, step 123 above may include:

[0084] Step 1231: Based on the first preset activation degree, second preset activation degree, third preset activation degree and fourth preset activation degree of each preset rule in the N preset rules, obtain the weight corresponding to each preset rule in the N preset rules;

[0085] Step 1232: Obtain the target membership degree based on the first trajectory change membership degree, the second trajectory change membership degree, the third velocity change membership degree, and the fourth velocity change membership degree;

[0086] Step 1233: Based on the weight of each preset rule in the N preset rules and the target membership degree, obtain the fuzzy rudder angle corresponding to each preset rule in the N preset rules;

[0087] Step 1234: Obtain the average value of N fuzzy rudder angles, and use the average value as the first rudder angle of the grid rudder.

[0088] In this embodiment, the first preset activation degree, the second preset activation degree, the third preset activation degree, and the fourth preset activation degree of each of the N preset rules are respectively set to correspond to the first deviation value, the first deviation rate, the first deviation value, and the second deviation rate. The first preset activation degree, the second preset activation degree, the third preset activation degree, and the fourth preset activation degree can all be set according to the actual needs during processing, and the set values ​​of the four preset activation degrees of different preset rules are different. Based on the first preset activation degree, the second preset activation degree, the third preset activation degree, and the fourth preset activation degree of each preset rule, the weight of the rule in each of the N preset rules can be calculated, providing a data basis for the subsequent calculation of the fuzzy rudder angle of each preset rule.

[0089] Preferably, the weight corresponding to each preset rule can be calculated using the following formula:

[0090] Among them, W i This represents the weight of the i-th preset rule among N preset rules; This represents the first preset activation level of the i-th preset rule; This represents the second preset activation level of the i-th preset rule; This represents the third preset activation level of the i-th preset rule; This represents the fourth preset activation degree of the i-th preset rule; i = 1, 2, ..., N;

[0091] Furthermore, based on the first trajectory change membership degree, the second trajectory change membership degree, the third velocity change membership degree, and the fourth velocity change membership degree, the target membership degree of each of the N preset rules can be calculated. The target membership degree of each preset rule represents the similarity or degree of affiliation between the current rudder angle of the grid rudder of the rocket stage during the recovery process and the preset rudder angle corresponding to each of the N preset rules.

[0092] Preferably, the target membership degree can be calculated using the following formula: in, k represents the target membership degree of the i-th preset rule among the N preset rules. i This represents the constant parameter set for the i-th preset rule among the N preset rules. Here, the constant parameter set for each preset rule can be set according to the actual situation of the rule or the actual needs of processing. Through the above target membership calculation formula, the target membership of each preset rule can be accurately obtained, providing a data basis for the subsequent calculation of the fuzzy rudder angle of each preset rule.

[0093] Furthermore, based on the weight corresponding to each of the N preset rules and the target membership degree corresponding to that preset rule, the fuzzy rudder angle corresponding to that preset rule is obtained, thus yielding N fuzzy rudder angles: preferably, this can be achieved using the formula: The fuzzy rudder angle of each preset rule in N preset rules is calculated; where A i This represents the fuzzy rudder angle corresponding to the i-th preset rule out of N preset rules;

[0094] Furthermore, by calculating the average of N fuzzy rudder angles for N preset rules and using the average as the first rudder angle of the grid rudder, and by calculating the first deviation and first deviation rate, the second deviation and the membership degree corresponding to the second deviation, and the weight of the preset rule, the fuzzy rudder angle of each preset rule is further obtained. The first rudder angle is obtained by weighted averaging of the N fuzzy rudder angles. This realizes the output of rudder angle control commands from fuzzy input to specific grid rudder, providing a data basis for subsequent acquisition of target rudder angles and ensuring the accuracy of grid rudder control.

[0095] In an optional embodiment of the present invention, step 14 above may include:

[0096] Step 141: Obtain the second rudder angle based on the preset rudder angle function of the second preset algorithm, the first trajectory change membership degree, the second trajectory change membership degree, the third velocity change membership degree, the fourth velocity change membership degree, and the first rudder angle.

[0097] In this embodiment, the first rudder angle is optimized by the preset rudder angle function in the second preset algorithm to obtain the second rudder angle, so as to achieve more precise rudder angle control and thus ensure the efficiency of vertical recovery of rocket stage.

[0098] Preferably, the preset rudder angle function can be expressed as: A j =f(μ1,μ2,μ3,μ4,A k ); where A j Indicates the second rudder angle; A k denoted as the first rudder angle; f represents the functional relationship of the preset rudder angle function.

[0099] In an optional embodiment of the present invention, step 15 above may include:

[0100] Step 151: According to the preset mixing weight parameters, the first rudder angle and the second rudder angle are weighted and fused to obtain the target rudder angle.

[0101] In this embodiment, the output result of the second preset algorithm is the optimized second rudder angle, and the output result of the first preset algorithm is the defuzzified first rudder angle. The first rudder angle and the second rudder angle are weighted and fused to obtain the target rudder angle. While maintaining the adaptability of grid rudder control, the control accuracy and stability of rocket stage recovery are further improved.

[0102] Here, the weight parameters for weighted fusion processing are defined: a preset mixed weight parameter α∈[0,1] is set, which is used to control the relative weights of the first preset algorithm and the second preset algorithm in the weighted fusion processing, representing the degree of contribution of the two algorithms; the preset mixed weight parameter can be adjusted according to the actual control requirements of the grid fins during the recovery process of the rocket stage;

[0103] According to preset weighting parameters, the first rudder angle and the second rudder angle are weighted and fused. Preferably, the target rudder angle can be obtained by the following calculation formula:

[0104] A = α × A k +(1-α)×A j Where A represents the target rudder angle;

[0105] Furthermore, during the recovery of the rocket stage, the grid fins are controlled to operate according to the target fin angle to improve the accuracy and stability of the vertical recovery of the rocket stage.

[0106] In the process of rocket stage recovery, preferably, by acquiring the index data of the rocket stage during the recovery process, a mathematical model (such as Newton's equations of motion) and an environmental model (such as the influence of wind speed on rocket stage recovery, the influence of atmospheric density on recovery, etc.) can be established for the rocket stage. This allows for the prediction of the stage's state evolution under different grid rudder control commands, such as position, velocity, and acceleration. At the same time, by combining the grid rudder angle control command obtained from the above embodiments of the present invention, which is the second rudder angle, precise vertical recovery of the rocket stage can be achieved, ensuring the control accuracy and stability of the rocket stage recovery.

[0107] Simultaneously, by collecting and feeding back real-time performance data of the rocket stage during recovery, the target rudder angle is corrected and adjusted based on the feedback data to maintain the stability and accuracy of the rudder control system. Through continuous control and feedback loops, the system ensures that the rocket stage can accurately and vertically land in the target area during recovery.

[0108] In the above embodiments of the present invention, by acquiring index data of the rocket stage during the recovery process; obtaining a first rudder angle of the grid rudder controlling the recovery of the rocket stage according to a first preset algorithm and the real-time trajectory data and real-time velocity data in the index data; obtaining a second rudder angle of the grid rudder controlling the recovery of the rocket stage according to a second preset algorithm and the first rudder angle; obtaining a target rudder angle of the grid rudder controlling the recovery of the rocket stage according to the first rudder angle and the second rudder angle; and controlling the grid rudder to operate according to the target rudder angle during the recovery process of the rocket stage, so as to achieve accurate and stable vertical recovery of the rocket stage and ensure the control accuracy of the grid rudder during the recovery process.

[0109] like Figure 2 As shown, an embodiment of the present invention also provides a control device 20 for the grid fins of a rocket stage, comprising:

[0110] The acquisition module 21 is used to acquire the index data of the rocket stage during the recovery process;

[0111] Processing module 22 is used to obtain a first rudder angle of the grid rudder for controlling the recovery of the rocket stage based on a first preset algorithm and the real-time trajectory data and real-time speed data in the index data; to obtain a second rudder angle of the grid rudder for controlling the recovery of the rocket stage based on a second preset algorithm and the first rudder angle; and to obtain a target rudder angle of the grid rudder for controlling the recovery of the rocket stage based on the first rudder angle and the second rudder angle.

[0112] Control module 23 is used to control the grid fins to operate according to the target fin angle during the recovery of the rocket stage.

[0113] Optionally, the processing module 22 obtains the first rudder angle of the grid fins controlling the recovery of the rocket stage based on the first preset algorithm and the real-time trajectory data and real-time velocity data in the index data, specifically for:

[0114] Based on the real-time trajectory data and the preset target trajectory data, the membership degree characterizing the trajectory change of the rocket stage during the recovery process is obtained;

[0115] Based on the real-time velocity data and the preset target velocity data, the membership degree characterizing the velocity change of the rocket stage during the recovery process is obtained.

[0116] Based on the preset activation degree of each of the N preset rules in the first preset algorithm, the membership degree of the trajectory change, and the membership degree of the velocity change, the first rudder angle of the grid rudder controlling the recovery of the rocket stage is obtained; where N is a positive integer greater than or equal to 2.

[0117] Optionally, the processing module 22 obtains a membership degree characterizing the trajectory change of the rocket stage during the recovery process based on the real-time trajectory data and the preset target trajectory data, specifically for:

[0118] Obtain the first deviation value and the first deviation rate between the real-time trajectory data and the preset target trajectory data;

[0119] Based on the first preset membership function, the first trajectory change membership degree of the first deviation value is obtained;

[0120] The second trajectory change membership degree of the first deviation rate is obtained according to the second preset membership function.

[0121] Optionally, the processing module 22 obtains a membership degree characterizing the velocity change of the rocket stage during the recovery process based on the real-time velocity data and the preset target velocity data, specifically for:

[0122] Obtain the second deviation value and the second deviation rate between the real-time speed data and the preset target speed data;

[0123] According to the third preset membership function, the third velocity change membership of the second deviation value is obtained;

[0124] The fourth velocity change membership degree of the second deviation rate is obtained according to the fourth preset membership function.

[0125] Optionally, the processing module 22 obtains the first rudder angle of the grid fin controlling the recovery of the rocket stage based on the preset activation degree of each of the N preset rules in the first preset algorithm, the membership degree of the trajectory change, and the membership degree of the velocity change, specifically for:

[0126] Based on the first preset activation degree, second preset activation degree, third preset activation degree and fourth preset activation degree of each of the N preset rules, obtain the weight corresponding to each preset rule in the N preset rules;

[0127] The target change membership degree is obtained based on the first trajectory change membership degree, the second trajectory change membership degree, the third velocity change membership degree, and the fourth velocity change membership degree;

[0128] Based on the weight of each preset rule in the N preset rules and the membership degree of the target change, the fuzzy rudder angle corresponding to each preset rule in the N preset rules is obtained;

[0129] Obtain the average value of N fuzzy rudder angles, and use the average value as the first rudder angle of the grid rudder.

[0130] Optionally, the processing module 22 obtains a second rudder angle for the grid rudder controlling the recovery of the rocket stage based on a second preset algorithm and the first rudder angle, specifically for:

[0131] The second rudder angle is obtained based on the preset rudder angle function of the second preset algorithm, the first trajectory change membership degree, the second trajectory change membership degree, the third velocity change membership degree, the fourth velocity change membership degree, and the first rudder angle.

[0132] Optionally, the processing module 22 obtains the target rudder angle of the grid rudder for controlling the recovery of the rocket stage based on the first rudder angle and the second rudder angle, specifically for:

[0133] The first rudder angle and the second rudder angle are weighted and fused according to preset mixing weight parameters to obtain the target rudder angle.

[0134] It should be noted that this device is a device corresponding to the control method of the grid fins of the rocket substage described above. All implementation methods in the above method embodiments are applicable to the embodiments of this device and can achieve the same technical effect.

[0135] Embodiments of the present invention also provide a computing device, including: a processor and a memory storing a computer program, wherein the computer program, when executed by the processor, performs the method described above. All implementations in the above method embodiments are applicable to this embodiment and can achieve the same technical effects.

[0136] Embodiments of the present invention also provide a computer-readable storage medium including instructions that, when executed on a computer, cause the computer to perform the method described above. All implementations in the above method embodiments are applicable to this embodiment and can achieve the same technical effects.

[0137] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0138] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0139] In the embodiments provided by this invention, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. For instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0140] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0141] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0142] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, essentially, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, ROM, RAM, magnetic disks, or optical disks.

[0143] Furthermore, it should be noted that in the apparatus and method of the present invention, it is obvious that the components or steps can be decomposed and / or recombined. These decompositions and / or recombinations should be considered equivalent solutions of the present invention. Moreover, the steps performing the above-described series of processes can naturally be executed in the order described, but are not necessarily required to be executed in chronological order; some steps can be executed in parallel or independently of each other. Those skilled in the art will understand that all or any step or component of the method and apparatus of the present invention can be implemented in any computing device (including processors, storage media, etc.) or network of computing devices, in hardware, firmware, software, or a combination thereof. This is something that those skilled in the art can achieve by using their basic programming skills after reading the description of the present invention.

[0144] Therefore, the object of the present invention can also be achieved by running a program or a set of programs on any computing device. The computing device can be a known general-purpose device. Therefore, the object of the present invention can also be achieved simply by providing a program product containing program code implementing the method or apparatus. That is, such a program product also constitutes the present invention, and the storage medium storing such a program product also constitutes the present invention. Obviously, the storage medium can be any known storage medium or any storage medium developed in the future. It should also be noted that in the apparatus and method of the present invention, it is obvious that the components or steps can be decomposed and / or recombined. These decompositions and / or recombinations should be considered equivalent to the present invention. Furthermore, the steps performing the above series of processes can naturally be performed in the order described, but are not necessarily required to be performed in chronological order. Some steps can be performed in parallel or independently of each other.

[0145] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A control method for grid fins on a rocket stage, characterized in that, include: Obtain key performance data of the rocket's sub-stages during the recovery process; Based on the first preset algorithm and the real-time trajectory data and real-time velocity data in the index data, the first rudder angle of the grid rudder controlling the recovery of the rocket stage is obtained. Based on the second preset algorithm and the first rudder angle, a second rudder angle for controlling the recovery of the rocket stage is obtained; Based on the first rudder angle and the second rudder angle, the target rudder angle for controlling the recovery of the rocket stage is obtained; During the recovery of the rocket stage, the grid fins are controlled to operate according to the target fin angle; Specifically, based on the first preset algorithm and the real-time trajectory data and real-time velocity data in the indicator data, the first rudder angle of the grid fin controlling the recovery of the rocket stage is obtained, including: Based on the real-time trajectory data and the preset target trajectory data, the membership degree characterizing the trajectory change of the rocket stage during the recovery process is obtained; Based on the real-time velocity data and the preset target velocity data, the membership degree characterizing the velocity change of the rocket stage during the recovery process is obtained. Based on the preset activation degree of each of the N preset rules in the first preset algorithm, the membership degree of the trajectory change, and the membership degree of the velocity change, the first rudder angle of the grid rudder controlling the recovery of the rocket stage is obtained; where N is a positive integer greater than or equal to 2. Specifically, based on the real-time trajectory data and the preset target trajectory data, the membership degree characterizing the trajectory change of the rocket stage during the recovery process is obtained, including: Obtain the first deviation value and the first deviation rate between the real-time trajectory data and the preset target trajectory data; Based on the first preset membership function, the first trajectory change membership degree of the first deviation value is obtained; Based on the second preset membership function, the second trajectory change membership degree of the first deviation rate is obtained; Specifically, based on the real-time velocity data and the preset target velocity data, the membership degree characterizing the velocity change of the rocket stage during the recovery process is obtained, including: Obtain the second deviation value and the second deviation rate between the real-time speed data and the preset target speed data; According to the third preset membership function, the third velocity change membership of the second deviation value is obtained; Based on the fourth preset membership function, the fourth velocity change membership of the second deviation rate is obtained; The second rudder angle for controlling the recovery of the rocket stage is obtained according to the second preset algorithm and the first rudder angle, including: The second rudder angle is obtained based on the preset rudder angle function of the second preset algorithm, the first trajectory change membership degree, the second trajectory change membership degree, the third velocity change membership degree, the fourth velocity change membership degree, and the first rudder angle.

2. The control method for the grid fins of a rocket stage according to claim 1, characterized in that, Based on the preset activation degree of each of the N preset rules in the first preset algorithm, the membership degree of the trajectory change, and the membership degree of the velocity change, the first rudder angle of the grid fin controlling the recovery of the rocket stage is obtained, including: Based on the first preset activation degree, second preset activation degree, third preset activation degree and fourth preset activation degree of each of the N preset rules, obtain the weight corresponding to each preset rule in the N preset rules; The target membership degree is obtained based on the first trajectory change membership degree, the second trajectory change membership degree, the third velocity change membership degree, and the fourth velocity change membership degree; Based on the weight of each preset rule in the N preset rules and the target membership degree, obtain the fuzzy rudder angle corresponding to each preset rule in the N preset rules; Obtain the average value of N fuzzy rudder angles, and use the average value as the first rudder angle of the grid rudder.

3. The control method for the grid fins of a rocket stage according to claim 1, characterized in that, Based on the first rudder angle and the second rudder angle, the target rudder angle for controlling the recovery of the rocket stage is obtained, including: The first rudder angle and the second rudder angle are weighted and fused according to preset mixing weight parameters to obtain the target rudder angle.

4. A control device for the grid fins of a rocket stage, characterized in that, include: The acquisition module is used to acquire the performance data of the rocket's sub-stage during the recovery process; The processing module is configured to obtain a first rudder angle for the grid fins controlling the recovery of the rocket stage based on a first preset algorithm and the real-time trajectory data and real-time velocity data in the index data; wherein, obtaining the first rudder angle for the grid fins controlling the recovery of the rocket stage based on the first preset algorithm and the real-time trajectory data and real-time velocity data in the index data includes: obtaining a membership degree representing the trajectory change of the rocket stage during the recovery process based on the real-time trajectory data and preset target trajectory data; obtaining a membership degree representing the velocity change of the rocket stage during the recovery process based on the real-time velocity data and preset target velocity data; obtaining the first rudder angle for the grid fins controlling the recovery of the rocket stage based on the preset activation degree of each preset rule in the first preset algorithm, the membership degree of the trajectory change, and the membership degree of the velocity change; wherein, N is a positive integer greater than or equal to 2; wherein, obtaining a membership degree representing the trajectory change of the rocket stage during the recovery process based on the real-time trajectory data and preset target trajectory data includes: obtaining a first deviation value and a first deviation rate between the real-time trajectory data and the preset target trajectory data; obtaining the first rudder angle of the grid fins controlling the recovery of the rocket stage based on the first preset membership function. The process involves: obtaining a first trajectory change membership degree for a deviation value; obtaining a second trajectory change membership degree for the first deviation rate based on a second preset membership function; wherein, obtaining a membership degree characterizing the velocity change of the rocket stage during recovery based on the real-time velocity data and preset target velocity data includes: acquiring a second deviation value and a second deviation rate between the real-time velocity data and the preset target velocity data; obtaining a third velocity change membership degree for the second deviation value based on a third preset membership function; obtaining a fourth velocity change membership degree for the second deviation rate based on a fourth preset membership function; obtaining a second rudder angle for the grid rudder controlling the recovery of the rocket stage based on a second preset algorithm and the first rudder angle; wherein, obtaining the second rudder angle for the grid rudder controlling the recovery of the rocket stage based on the second preset algorithm and the first rudder angle includes: obtaining the second rudder angle based on the preset rudder angle function of the second preset algorithm, the first trajectory change membership degree, the second trajectory change membership degree, the third velocity change membership degree, the fourth velocity change membership degree, and the first rudder angle; and obtaining a target rudder angle for the grid rudder controlling the recovery of the rocket stage based on the first rudder angle and the second rudder angle. The control module is used to control the grid fins to operate according to the target fin angle during the recovery of the rocket stage.

5. A computing device, characterized in that, include: A processor, a memory storing a computer program, wherein the computer program, when executed by the processor, performs the method as described in any one of claims 1 to 3.

6. A computer-readable storage medium, characterized in that, Includes instructions that, when executed on a computer, cause the computer to perform the method as described in any one of claims 1 to 3.

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