Spacecraft swing engine swing angle command compensation method and compensation device

Abstract

The present invention provides a method and device for compensating the swing angle command of a spacecraft swing engine. The compensation method comprises: taking the arrow system axial apparent acceleration corresponding to the current moment after average filtering as an independent variable, calculating the corresponding three-channel swing angle compensation amount under the axial average apparent acceleration according to the interpolation table of the pitch, yaw and roll channel swing angle compensation amount and the standard flight trajectory arrow system axial apparent acceleration; respectively performing amplitude limiting processing on the three-channel swing angle compensation amount under the axial average apparent acceleration at the current moment, and obtaining the three-channel swing angle compensation amount after amplitude limiting under the current axial average apparent acceleration; obtaining the control amount of the three channels at the current moment according to the pitch, yaw and roll attitude angle, angular velocity and pitch, yaw and roll program angle of the arrow body; respectively subtracting the corresponding three-channel control amount from the amplitude limiting swing angle compensation amount, and calculating the expected control amount of the pitch, yaw and roll channels at the current moment. The present invention can improve the attitude control accuracy.

Description

Technical Field

[0001] The invention belongs to the technical field of aerospace rocket flight control, and in particular relates to a method and a device for compensating a swing angle instruction of a spacecraft swing engine. Background Art

[0002] As an important tool for modern space activities, the attitude control accuracy of launch vehicles and other spacecraft directly affects the success rate of launch missions. During flight, in order to achieve effective control of the rocket's attitude, the swing engine technology is usually used to generate the required control torque by adjusting the engine's jet direction. However, in actual operation, there are many deviations and interference factors that cannot be ignored, such as deviations in the engine manufacturing process, manufacturing deviations of the rocket body structure itself, installation deviations when the engine and rocket are docked, and frame deformation caused by thermal effects when the engine is in operation. These factors work together to produce a continuous constant interference torque, thereby affecting the performance of the rocket attitude control system and reducing the attitude control accuracy. Summary of the invention

[0003] In order to overcome the problems existing in the related art at least to a certain extent, the present invention provides a method and a compensation device for a swing angle command of a spacecraft swing engine.

[0004] According to a first aspect of an embodiment of the present invention, the present invention provides a method for compensating a swing angle command of a spacecraft swing engine, which comprises the following steps:

[0005] Binding the interpolation table of the pitch channel swing angle compensation, the yaw channel swing angle compensation, the roll channel swing angle compensation and the axial apparent acceleration of the standard flight trajectory arrow system;

[0006] Taking the arrow system axial apparent acceleration after average filtering corresponding to the current moment as the independent variable, according to the bound interpolation table, the pitch channel swing angle compensation amount, the yaw channel swing angle compensation amount, and the roll channel swing angle compensation amount corresponding to the axial average apparent acceleration are calculated by parabolic interpolation;

[0007] The pitch channel swing angle compensation amount, the yaw channel swing angle compensation amount and the roll channel swing angle compensation amount under the current axial average apparent acceleration are respectively subjected to limiting processing to obtain the pitch channel swing angle compensation amount, the yaw channel swing angle compensation amount and the roll channel swing angle compensation amount after limiting under the current axial average apparent acceleration;

[0008] According to the pitch, yaw and roll attitude angles and angular velocities of the rocket body and the pitch, yaw and roll program angles output by the guidance system, the control amount of the pitch channel, the control amount of the yaw channel and the control amount of the roll channel at the current moment are obtained;

[0009] The control amount of the pitch channel at the current moment and the swing angle compensation amount of the pitch channel after limiting, the control amount of the yaw channel at the current moment and the swing angle compensation amount of the yaw channel after limiting, and the control amount of the roll channel at the current moment and the swing angle compensation amount of the roll channel after limiting are respectively subtracted to calculate the expected control amount of the pitch channel, the expected control amount of the yaw channel and the expected control amount of the roll channel at the current moment, so as to compensate the control amount of the pitch channel, the yaw channel and the roll channel.

[0010] According to a spacecraft swing engine swing angle command compensation method provided by the present invention, the process of taking the arrow system axial apparent acceleration corresponding to the current moment after average filtering as the independent variable, and calculating the corresponding pitch channel swing angle compensation amount, yaw channel swing angle compensation amount, and roll channel swing angle compensation amount under the axial average apparent acceleration by parabolic interpolation according to the bound interpolation table is as follows:

[0011] According to the pulse number of the inertial group in the spacecraft, the navigation algorithm is used to calculate the axial apparent acceleration of the rocket system at the current moment during the rocket flight. ;

[0012] The arrow system axial apparent acceleration at the current moment is averaged and filtered to obtain the average axial apparent acceleration of the arrow system at the current moment:

[0013] ,

[0014] In the formula, Indicates the current forward direction including this control cycle m The average apparent axial acceleration of the arrow system within a control cycle; represents the attitude control cycle; Before N Shot Tc The apparent axial acceleration in the periodic arrow system is: Indicates the beat before the current beat Tc The apparent axial acceleration in the periodic arrow system is: Indicates the two beats before the current beat Tc Axial apparent acceleration in periodic arrow system;

[0015] According to the bound interpolation table, the corresponding swing angle compensation under the axial average apparent acceleration is calculated by parabolic interpolation:

[0016] ,

[0017] In the formula, Indicates the pitch channel swing angle compensation under the current axial average apparent acceleration. Indicates the yaw channel swing angle compensation under the current axial average apparent acceleration. Indicates the roll channel swing angle compensation under the current axial average apparent acceleration; Represents the axial apparent acceleration of the arrow system after average filtering corresponding to the current moment in the interpolation table The serial number corresponding to the axial apparent acceleration of the arrow system with the closest standard flight trajectory; Indicates the interpolation table The axial apparent acceleration of the arrow system with the serial number; Indicates the interpolation table The pitch channel swing angle compensation corresponding to the axial apparent acceleration of the arrow system under the sequence number, Indicates the interpolation table The yaw channel swing angle compensation corresponding to the axial apparent acceleration of the arrow system under the sequence number, Indicates the interpolation table The rolling channel swing angle compensation corresponding to the axial apparent acceleration of the arrow system under the sequence number; Represents the axial apparent acceleration of the arrow system after average filtering corresponding to the current moment in the interpolation table The previous serial number of the serial number corresponding to the axial apparent acceleration of the arrow system with the closest standard flight trajectory; Indicates the interpolation table The axial apparent acceleration of the arrow system with the serial number; Indicates the interpolation table The pitch channel swing angle compensation corresponding to the axial apparent acceleration of the arrow system under the sequence number, Indicates the interpolation table The yaw channel swing angle compensation corresponding to the axial apparent acceleration of the arrow system under the sequence number, Indicates the interpolation table The rolling channel swing angle compensation corresponding to the axial apparent acceleration of the arrow system under the sequence number; Represents the axial apparent acceleration of the arrow system after average filtering corresponding to the current moment in the interpolation table The next number of the number corresponding to the axial apparent acceleration of the arrow system with the closest standard flight trajectory; Indicates the interpolation table The axial apparent acceleration of the arrow system with the serial number; Indicates the interpolation table The pitch channel swing angle compensation corresponding to the axial apparent acceleration of the arrow system under the sequence number, Indicates the interpolation table The yaw channel swing angle compensation corresponding to the axial apparent acceleration of the arrow system under the sequence number, Indicates the interpolation table The rolling channel swing angle compensation amount corresponding to the axial apparent acceleration of the arrow system under the serial number.

[0018] Further, the process of obtaining the control amount of the pitch channel, the control amount of the yaw channel and the control amount of the roll channel at the current moment according to the pitch, yaw and roll attitude angles, angular velocity of the rocket body and the pitch, yaw and roll program angles output by the guidance system is:

[0019] According to the number of gyro pulses of the inertial group, the pitch, yaw and roll attitude angles of the rocket body are calculated using the navigation algorithm;

[0020] Compare the pitch attitude angle of the rocket body with the pitch program angle to obtain the pitch channel attitude angle deviation; compare the yaw attitude angle of the rocket body with the yaw program angle to obtain the yaw channel attitude angle deviation; compare the roll attitude angle of the rocket body with the roll program angle to obtain the roll channel attitude angle deviation;

[0021] Perform three-channel decoupling calculation on the attitude angle deviation of the pitch channel, the attitude angle deviation of the yaw channel and the attitude angle deviation of the roll channel to obtain the decoupled three-channel attitude angle deviation;

[0022] After integrating and correcting the decoupled three-channel attitude angle deviation and the rocket body angular velocity, the control quantity of the pitch channel, the control quantity of the yaw channel and the control quantity of the roll channel at the current moment are obtained.

[0023] Furthermore, the desired control amount of the pitch channel, the desired control amount of the yaw channel, and the desired control amount of the roll channel at the current moment are respectively:

[0024] ,

[0025] ,

[0026] ,

[0027] In the formula, represents the desired control amount of the pitch channel at the current moment, represents the desired control amount of the yaw channel, represents the desired control amount of the rolling channel; Indicates the control amount of the pitch channel, represents the control amount of the yaw channel, Indicates the control amount of the rolling channel; It indicates the swing angle compensation of the pitch channel after limiting. It indicates the swing angle compensation of the yaw channel after limiting. Indicates the swing angle compensation amount of the rolling channel after limiting.

[0028] Furthermore, the pitch channel swing angle compensation amount after limiting is , Yaw channel swing angle compensation And rolling channel swing angle compensation They are:

[0029] ,

[0030] ,

[0031] ,

[0032] In the formula, Indicates the limit value of the pitch channel swing angle compensation. Indicates the limit value of the yaw channel swing angle compensation. Indicates the limit value of the rolling channel swing angle compensation.

[0033] Furthermore, the pitch channel swing angle compensation limit value , Yaw channel swing angle compensation limit value And the rolling channel swing angle compensation limit value Designed for the apparent axial acceleration of the rocket body along the standard flight trajectory The interpolation table of the change, during the rocket flight, the axial apparent acceleration of the arrow system after the average filtering corresponding to the current moment As the independent variable, the apparent acceleration is obtained by parabola or high-order polynomial interpolation. The corresponding pitch channel swing angle compensation limit value, yaw channel swing angle compensation limit value and roll channel swing angle compensation limit value are shown below.

[0034] According to a spacecraft sway engine swing angle command compensation method provided by the present invention, the pitch channel swing angle compensation amount, the yaw channel swing angle compensation amount, and the roll channel swing angle compensation amount are obtained by offline design based on the structural shape of the spacecraft and the constant interference torque;

[0035] The standard flight trajectory arrow system axial apparent acceleration is obtained through an offline designed spacecraft standard flight trajectory.

[0036] According to a second aspect of an embodiment of the present invention, the present invention further provides an application of a method for compensating a swing angle command of a spacecraft swing engine, which comprises the following steps:

[0037] The desired control amount of the pitch channel, the desired control amount of the yaw channel and the desired control amount of the roll channel are respectively distributed, limited and sent to the servo mechanism to control the servo mechanism to perform telescopic movement;

[0038] The servo mechanism drives the rocking engine to perform a rocking motion to adjust the engine injection direction to generate the required control torque;

[0039] The generated control torque is used to control the attitude of the arrow body.

[0040] According to the third aspect of an embodiment of the present invention, the present invention also provides a spacecraft swing engine swing angle command compensation device, which includes a memory, a processor, and a computer program stored in the memory and running on the processor, and when the processor processes the computer program, it implements the spacecraft swing engine swing angle command compensation method as described in any one of the above items.

[0041] According to a fourth aspect of an embodiment of the present invention, the present invention further provides a storage medium having an executable program stored thereon, and when the executable program is called, the spacecraft swing engine swing angle command compensation method as described in any one of the above items is executed.

[0042] According to the above specific embodiments of the present invention, it can be known that there are at least the following beneficial effects: the spacecraft swing engine swing angle command compensation method provided by the present invention adopts the axial apparent acceleration of the rocket body as the independent variable for interpolating the swing angle compensation amount, which can accurately correct the swing angle loss caused by normal value interference, and improve the adaptability to the engine thrust and working time deviation characteristics, thereby improving the attitude control accuracy of the spacecraft; the present invention uses a parabolic interpolation swing angle compensation amount to make the swing angle compensation amount smooth, thereby reducing the inertia moment during the engine startup and shutdown process, and can reduce the impact on the spacecraft attitude.

[0043] It should be understood that the above general description and the following detailed description are merely exemplary and illustrative and are not intended to limit the scope of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The accompanying drawings below are part of the specification of the present invention, and illustrate embodiments of the present invention. The accompanying drawings together with the description of the specification are used to explain the principle of the present invention.

[0045] Figure 1 A flow chart of a method for compensating a swing angle command of a spacecraft swing engine provided in one embodiment of the present invention. DETAILED DESCRIPTION

[0046] In order to make the objectives, technical solutions and advantages of the embodiments of the present invention more clearly understood, the spirit of the contents disclosed by the present invention will be clearly explained with the accompanying drawings and detailed descriptions below. After understanding the embodiments of the contents of the present invention, any technician in the relevant technical field can change and modify the techniques taught by the contents of the present invention without departing from the spirit and scope of the contents of the present invention.

[0047] The exemplary embodiments and descriptions of the present invention are used to explain the present invention, but are not intended to limit the present invention. In addition, elements / components with the same or similar reference numerals used in the drawings and embodiments are used to represent the same or similar parts.

[0048] The terms “first”, “second”, etc. used in this document do not particularly refer to an order or sequence, nor are they used to limit the present invention. They are only used to distinguish elements or operations described with the same technical terms.

[0049] The directional terms used in this document, such as up, down, left, right, front or back, etc., are only used to refer to the directions of the drawings. Therefore, the directional terms used are used to illustrate and not to limit the present invention.

[0050] The words “include,” “including,” “have,” “contain,” etc. used in this document are open-ended terms, meaning including but not limited to.

[0051] As used herein, "and / or" includes any or all combinations of the items described.

[0052] As used herein, “plurality” includes “two” and “more than two”; as used herein, “plurality groups” includes “two groups” and “more than two groups”.

[0053] The terms "substantially" and "approximately" used herein are used to modify any quantity or error that may vary slightly, but these slight changes or errors do not change their essence. Generally speaking, the range of slight changes or errors modified by such terms may be 20% in some embodiments, 10% in some embodiments, 5% in some embodiments, or other values. Those skilled in the art should understand that the aforementioned values ​​can be adjusted according to actual needs and are not limited thereto.

[0054] Certain terms that are used to describe the invention are discussed below or elsewhere in the specification to provide additional guidance to those skilled in the art regarding the description of the invention.

[0055] In order to solve the problem of constant interference torque caused by the existence of multiple deviations and interference factors and improve the attitude control accuracy of spacecraft, researchers proposed a swing angle command compensation method. The traditional engine swing angle command compensation method is generally implemented by linear interpolation with flight time as the independent variable. On the one hand, the swing angle compensation amount will have an inflection point during the engine startup and shutdown process, and the swing angle compensation amount is not smooth, causing the swing angle command to have a step-like action, thereby generating a large inertia torque, which is not conducive to maintaining the attitude control accuracy; on the other hand, the swing angle compensation amount is linearly interpolated through flight time, and its adaptability to engine thrust changes and working time deviation characteristics is poor.

[0056] The spacecraft swing engine swing angle command compensation method provided by the present invention analyzes and models the above-mentioned various deviations and interferences, and calculates the corresponding compensation amount based on this, and then adds the compensation amount to the original attitude control command to form a new swing angle control command. The swing angle control command corrected by the compensation amount in this application can offset the adverse effects caused by internal and external reasons of the system, so that the spacecraft can ensure a high attitude control accuracy even when facing a complex and changeable working environment. The spacecraft swing engine swing angle command compensation method provided by the present invention can not only effectively improve the attitude stability of the rocket during flight, but also enhance the robustness of the entire control system to external uncertainties, which is of great significance to improving the technical level of spacecraft in my country and even around the world.

[0057] Combine the following Figure 1 The invention describes a method for compensating a swing angle command of a spacecraft swing engine.

[0058] like Figure 1 As shown, the spacecraft swing engine swing angle instruction compensation method provided by the present invention comprises the following steps:

[0059] S1, compensation for the pitch channel swing angle , Yaw channel swing angle compensation , Rolling channel swing angle compensation Axial apparent acceleration with standard flight trajectory arrow system Specifically, the interpolation table can be bound into the flight control computer.

[0060] Among them, the pitch channel swing angle compensation , Yaw channel swing angle compensation , Rolling channel swing angle compensation It is obtained by offline design based on the structural shape and constant interference torque of the spacecraft.

[0061] Standard flight trajectory arrow system axial apparent acceleration It is obtained through the offline design of the spacecraft standard flight trajectory. It should be noted that the standard flight trajectory of the spacecraft is designed offline, that is, the axial apparent acceleration of the standard flight trajectory arrow system can be obtained. The flight trajectory should meet the relevant performance indicators such as the spacecraft's carrying capacity, flight time constraints, standard procedure attitude angle of the flight trajectory, angle of attack constraints at separation time and standard shutdown time.

[0062] In a specific embodiment, for a certain type of launch vehicle, the pitch channel swing angle compensation amount is , Yaw channel swing angle compensation , Rolling channel swing angle compensation Axial apparent acceleration with standard flight trajectory arrow system The interpolation table can be:

[0063]

[0064] S2, the arrow system axial apparent acceleration after average filtering corresponding to the current moment The independent variable is the pitch channel swing angle compensation corresponding to the axial average apparent acceleration, which is calculated by parabolic interpolation according to the interpolation table bound to the flight control computer. , Yaw channel swing angle compensation , Rolling channel swing angle compensation , the specific process is:

[0065] S21. According to the pulse number of the inertial group in the spacecraft, use the navigation algorithm to calculate the axial apparent acceleration of the rocket system at the current moment during the rocket flight. .

[0066] S22, performing average filtering on the axial apparent acceleration of the arrow system at the current moment to obtain the axial average apparent acceleration of the arrow system corresponding to the current moment, wherein:

[0067] (1)

[0068] In formula (1), Indicates the current forward direction including this control cycle m The average apparent axial acceleration of the arrow system within a control cycle; represents the attitude control cycle; Before N Shot Tc The apparent axial acceleration in the periodic arrow system is, specifically, Indicates the beat before the current beat Tc The apparent axial acceleration in the periodic arrow system is: Indicates the two beats before the current beat Tc Axial apparent acceleration in a periodic arrow system.

[0069] S23, calculating the corresponding swing angle compensation amount under the axial average apparent acceleration by parabolic interpolation according to the interpolation table bound to the flight control computer;

[0070] (2)

[0071] In formula (2), Indicates the pitch channel swing angle compensation under the current axial average apparent acceleration. Indicates the yaw channel swing angle compensation under the current axial average apparent acceleration. Indicates the roll channel swing angle compensation under the current axial average apparent acceleration; Represents the axial apparent acceleration of the arrow system after average filtering corresponding to the current moment in the interpolation table The serial number corresponding to the axial apparent acceleration of the arrow system with the closest standard flight trajectory; Indicates the interpolation table The axial apparent acceleration of the arrow system with the serial number; Indicates the interpolation table The pitch channel swing angle compensation corresponding to the axial apparent acceleration of the arrow system under the sequence number, Indicates the interpolation table The yaw channel swing angle compensation corresponding to the axial apparent acceleration of the arrow system under the sequence number, Indicates the interpolation table The rolling channel swing angle compensation corresponding to the axial apparent acceleration of the arrow system under the sequence number; Represents the axial apparent acceleration of the arrow system after average filtering corresponding to the current moment in the interpolation table The previous serial number of the serial number corresponding to the axial apparent acceleration of the arrow system with the closest standard flight trajectory; Indicates the interpolation table The axial apparent acceleration of the arrow system with the serial number; Indicates the interpolation table The pitch channel swing angle compensation corresponding to the axial apparent acceleration of the arrow system under the sequence number, Indicates the interpolation table The yaw channel swing angle compensation corresponding to the axial apparent acceleration of the arrow system under the sequence number, Indicates the interpolation table The rolling channel swing angle compensation corresponding to the axial apparent acceleration of the arrow system under the sequence number; Represents the axial apparent acceleration of the arrow system after average filtering corresponding to the current moment in the interpolation table The next number of the number corresponding to the axial apparent acceleration of the arrow system with the closest standard flight trajectory; Indicates the interpolation table The axial apparent acceleration of the arrow system with the serial number; Indicates the interpolation table The pitch channel swing angle compensation corresponding to the axial apparent acceleration of the arrow system under the sequence number, Indicates the interpolation table The yaw channel swing angle compensation corresponding to the axial apparent acceleration of the arrow system under the sequence number, Indicates the interpolation table The rolling channel swing angle compensation amount corresponding to the axial apparent acceleration of the arrow system under the serial number.

[0072] S3, respectively, the pitch channel swing angle compensation amount under the current axial average apparent acceleration , Yaw channel swing angle compensation And rolling channel swing angle compensation Perform the limiting process to obtain the pitch channel swing angle compensation after the current axial average apparent acceleration is limited. , Yaw channel swing angle compensation And rolling channel swing angle compensation , the process is:

[0073] (3)

[0074] (4)

[0075] (5)

[0076] In formula (3) to formula (5), Indicates the limit value of the pitch channel swing angle compensation. Indicates the limit value of the yaw channel swing angle compensation. Indicates the limit value of the roll channel swing angle compensation. Among them, the limit value of the pitch channel swing angle compensation , Yaw channel swing angle compensation limit value And the rolling channel swing angle compensation limit value Can be designed to follow the standard flight trajectory axial apparent acceleration of the arrow body The interpolation table of the change, during the rocket flight, the axial apparent acceleration of the arrow system after the average filtering corresponding to the current moment As the independent variable, the apparent acceleration is obtained by parabola or high-order polynomial interpolation. The corresponding pitch channel swing angle compensation limit value, yaw channel swing angle compensation limit value and roll channel swing angle compensation limit value are further enhanced to further enhance the adaptability to engine thrust changes and working time deviation characteristics.

[0077] S4. Obtain the control value of the pitch channel at the current moment according to the pitch, yaw and roll attitude angles, angular velocity of the rocket body and the pitch, yaw and roll program angles output by the guidance system. , the control amount of the yaw channel and the control amount of the rolling channel , the process is:

[0078] S41. According to the number of gyro pulses of the inertial group, the navigation algorithm is used to calculate the pitch, yaw and roll attitude angles of the rocket body.

[0079] S42. Compare the pitch attitude angle of the rocket body with the pitch program angle to obtain the pitch channel attitude angle deviation; compare the yaw attitude angle of the rocket body with the yaw program angle to obtain the yaw channel attitude angle deviation; compare the roll attitude angle of the rocket body with the roll program angle to obtain the roll channel attitude angle deviation.

[0080] S43, performing three-channel decoupling calculation on the pitch channel attitude angle deviation, the yaw channel attitude angle deviation and the roll channel attitude angle deviation to obtain the decoupled three-channel attitude angle deviation.

[0081] S44, after synthesizing and correcting the decoupled three-channel attitude angle deviation and the rocket body angular velocity, the control amount of the pitch channel at the current moment is obtained , the control amount of the yaw channel and the control amount of the rolling channel Among them, for the first-stage flight segment, the angular velocity of the rocket body is detected by the rate gyro; for the second-stage flight segment, the angular velocity of the rocket body is detected by the inertial group.

[0082] S5, the control amount of the pitch channel at the current moment The swing angle compensation of the pitch channel after limiting , the control amount of the yaw channel at the current moment The swing angle compensation of the yaw channel after limiting , and the control amount of the scroll channel at the current moment The swing angle compensation of the rolling channel after limiting By subtracting, we can calculate the desired control amount of the pitch channel at the current moment. , the desired control amount of the yaw channel and the desired control amount of the rolling channel , to control the pitch channel , the control amount of the yaw channel and the control amount of the rolling channel To make compensation:

[0083] (6)

[0084] (7)

[0085] (8)

[0086] In the above step S23, according to the interpolation table bound to the flight control computer, the corresponding swing angle compensation amount under the axial average apparent acceleration is calculated by parabolic interpolation, and can also be calculated in the following way:

[0087] (9)

[0088] In formula (9), n represents the order of the high-order polynomial, ,in, n =1 is a quadratic polynomial, corresponding to parabolic interpolation.

[0089]

[0090]

[0091]

[0092]

[0093]

[0094] Based on the spacecraft swing engine swing angle command compensation method provided by the present invention, the present invention also provides an application of the spacecraft swing engine swing angle command compensation method for controlling the rocket body attitude, and the specific process is:

[0095] The desired control amount for the pitch channel , the desired control amount of the yaw channel and the desired control amount of the rolling channel After being distributed and limited, it is sent to the servo mechanism to control the servo mechanism to perform telescopic movement;

[0096] The servo mechanism drives the rocking engine to perform a rocking motion to adjust the engine injection direction to generate the required control torque;

[0097] The generated control torque is used to control the attitude of the arrow body.

[0098] Based on the spacecraft swing engine swing angle command compensation method provided by the present invention, the present invention also provides a spacecraft swing engine swing angle command compensation device, which includes a memory and a processor coupled to the memory, and the processor is configured to execute the spacecraft swing engine swing angle command compensation method in any embodiment of the present application based on the instructions stored in the memory.

[0099] The memory may be a system memory or a fixed non-volatile storage medium, etc. The system memory may store an operating system, an application program, a boot loader, a database, and other programs, etc.

[0100] It should be noted that the spacecraft swing engine swing angle command compensation device provided in the above embodiment and the spacecraft swing engine swing angle command compensation method embodiment belong to the same concept, and the specific implementation process is detailed in the method embodiment, which will not be repeated here.

[0101] On the other hand, the present invention further provides a computer program product, the computer program product includes a computer program, the computer program can be stored in a non-transitory computer-readable storage medium, when the computer program is executed by a processor, the computer can execute the spacecraft rocking engine swing angle instruction compensation method provided by the above methods, the method includes:

[0102] Pitch channel swing angle compensation , Yaw channel swing angle compensation , Rolling channel swing angle compensation Axial apparent acceleration with standard flight trajectory arrow system The interpolation table is bound;

[0103] The arrow system axial apparent acceleration after average filtering corresponding to the current moment The independent variable is the pitch channel swing angle compensation corresponding to the apparent acceleration, which is calculated by parabolic interpolation according to the interpolation table bound to the flight control computer. , Yaw channel swing angle compensation , Rolling channel swing angle compensation ;

[0104] The pitch channel swing angle compensation under the current axial average apparent acceleration is , Yaw channel swing angle compensation And rolling channel swing angle compensation Perform the limiting process to obtain the pitch channel swing angle compensation after the current axial average apparent acceleration is limited. , Yaw channel swing angle compensation And rolling channel swing angle compensation ;

[0105] The control value of the pitch channel at the current moment is obtained according to the pitch, yaw and roll attitude angles, angular velocity of the rocket body and the pitch, yaw and roll program angles output by the guidance system. , the control amount of the yaw channel and the control amount of the rolling channel ;

[0106] Control amount of pitch channel respectively The swing angle compensation of the pitch channel after limiting , the control amount of the yaw channel The swing angle compensation of the yaw channel after limiting , and the control amount of the rolling channel The swing angle compensation of the rolling channel after limiting To control the pitch channel , the control amount of the yaw channel and the control amount of the rolling channel Compensation is performed to calculate the desired control amount of the pitch channel at the current moment , the desired control amount of the yaw channel and the desired control amount of the rolling channel .

[0107] In another aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the spacecraft sway engine swing angle instruction compensation method provided by the above methods is executed, and the method comprises:

[0108] Pitch channel swing angle compensation , Yaw channel swing angle compensation , Rolling channel swing angle compensation Axial apparent acceleration with standard flight trajectory arrow system The interpolation table is bound;

[0109] The arrow system axial apparent acceleration after average filtering corresponding to the current moment The independent variable is the pitch channel swing angle compensation corresponding to the apparent acceleration, which is calculated by parabolic interpolation according to the interpolation table bound to the flight control computer. , Yaw channel swing angle compensation , Rolling channel swing angle compensation ;

[0110] The pitch channel swing angle compensation under the current axial average apparent acceleration is , Yaw channel swing angle compensation And rolling channel swing angle compensation Perform the limiting process to obtain the pitch channel swing angle compensation after the current axial average apparent acceleration is limited. , Yaw channel swing angle compensation And rolling channel swing angle compensation ;

[0111] The control value of the pitch channel at the current moment is obtained according to the pitch, yaw and roll attitude angles, angular velocity of the rocket body and the pitch, yaw and roll program angles output by the guidance system. , the control amount of the yaw channel and the control amount of the rolling channel ;

[0112] Control amount of pitch channel respectively The swing angle compensation of the pitch channel after limiting , the control amount of the yaw channel The swing angle compensation of the yaw channel after limiting , and the control amount of the rolling channel The swing angle compensation of the rolling channel after limiting To control the pitch channel , the control amount of the yaw channel and the control amount of the rolling channel Compensation is performed to calculate the desired control amount of the pitch channel at the current moment , the desired control amount of the yaw channel and the desired control amount of the rolling channel .

[0113] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0114] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0115] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for compensating a swing angle command of a spacecraft swing engine, characterized in that: The following steps are involved: Binding the interpolation table of the pitch channel swing angle compensation, the yaw channel swing angle compensation, the roll channel swing angle compensation and the axial apparent acceleration of the standard flight trajectory arrow system; Taking the arrow system axial apparent acceleration after average filtering corresponding to the current moment as the independent variable, according to the bound interpolation table, the pitch channel swing angle compensation amount, the yaw channel swing angle compensation amount, and the roll channel swing angle compensation amount corresponding to the axial average apparent acceleration are calculated by parabolic interpolation; The pitch channel swing angle compensation amount, the yaw channel swing angle compensation amount and the roll channel swing angle compensation amount under the current axial average apparent acceleration are respectively subjected to limiting processing to obtain the pitch channel swing angle compensation amount, the yaw channel swing angle compensation amount and the roll channel swing angle compensation amount after limiting under the current axial average apparent acceleration; According to the pitch, yaw and roll attitude angles and angular velocities of the rocket body and the pitch, yaw and roll program angles output by the guidance system, the control amount of the pitch channel, the control amount of the yaw channel and the control amount of the roll channel at the current moment are obtained; The control amount of the pitch channel at the current moment is subtracted from the swing angle compensation amount of the pitch channel after limiting, the control amount of the yaw channel at the current moment is subtracted from the swing angle compensation amount of the yaw channel after limiting, and the control amount of the roll channel at the current moment is subtracted from the swing angle compensation amount of the roll channel after limiting, and the expected control amount of the pitch channel, the expected control amount of the yaw channel, and the expected control amount of the roll channel at the current moment are calculated to compensate for the control amount of the pitch channel, the control amount of the yaw channel, and the control amount of the roll channel; The expected control amount of the pitch channel, the expected control amount of the yaw channel, and the expected control amount of the roll channel at the current moment are respectively: ， ， ， In the formula, represents the desired control amount of the pitch channel at the current moment, represents the desired control amount of the yaw channel, represents the desired control amount of the rolling channel; Indicates the control amount of the pitch channel, represents the control amount of the yaw channel, Indicates the control amount of the rolling channel; It indicates the swing angle compensation of the pitch channel after limiting. It indicates the swing angle compensation of the yaw channel after limiting. Indicates the swing angle compensation amount of the rolling channel after limiting; The pitch channel swing angle compensation amount after limiting , Yaw channel swing angle compensation And rolling channel swing angle compensation They are: ， ， ， In the formula, Indicates the limit value of the pitch channel swing angle compensation. Indicates the limit value of the yaw channel swing angle compensation. Indicates the limit value of the rolling channel swing angle compensation.

2. The spacecraft swing engine swing angle command compensation method according to claim 1, characterized in that: The process of taking the arrow system axial apparent acceleration corresponding to the current moment after the average filtering process as the independent variable and calculating the corresponding pitch channel swing angle compensation amount, yaw channel swing angle compensation amount, and roll channel swing angle compensation amount under the axial average apparent acceleration by parabolic interpolation according to the bound interpolation table is as follows: According to the pulse number of the inertial group in the spacecraft, the navigation algorithm is used to calculate the axial apparent acceleration of the rocket system at the current moment during the rocket flight. ; The arrow system axial apparent acceleration at the current moment is averaged and filtered to obtain the average axial apparent acceleration of the arrow system at the current moment: ， In the formula, Indicates the current forward direction including this control cycle m The average apparent axial acceleration of the arrow system within a control cycle; represents the attitude control cycle; Before N Shot Tc The apparent axial acceleration in the periodic arrow system is: Indicates the beat before the current beat Tc The apparent axial acceleration in the periodic arrow system is: Indicates the two beats before the current beat Tc Axial apparent acceleration in periodic arrow system; According to the bound interpolation table, the corresponding swing angle compensation under the axial average apparent acceleration is calculated by parabolic interpolation: ， In the formula, Indicates the pitch channel swing angle compensation under the current axial average apparent acceleration. Indicates the yaw channel swing angle compensation under the current axial average apparent acceleration. Indicates the roll channel swing angle compensation under the current axial average apparent acceleration; Represents the axial apparent acceleration of the arrow system after average filtering corresponding to the current moment in the interpolation table The serial number corresponding to the axial apparent acceleration of the arrow system with the closest standard flight trajectory; Indicates the interpolation table The axial apparent acceleration of the arrow system with the serial number; Indicates the interpolation table The pitch channel swing angle compensation corresponding to the axial apparent acceleration of the arrow system under the sequence number, Indicates the interpolation table The yaw channel swing angle compensation corresponding to the axial apparent acceleration of the arrow system under the sequence number, Indicates the interpolation table The rolling channel swing angle compensation corresponding to the axial apparent acceleration of the arrow system under the sequence number; Represents the axial apparent acceleration of the arrow system after average filtering corresponding to the current moment in the interpolation table The previous serial number of the serial number corresponding to the axial apparent acceleration of the closest standard flight trajectory arrow system; Indicates the interpolation table The axial apparent acceleration of the arrow system with the serial number; Indicates the interpolation table The pitch channel swing angle compensation corresponding to the axial apparent acceleration of the arrow system under the sequence number, Indicates the interpolation table The yaw channel swing angle compensation corresponding to the axial apparent acceleration of the arrow system under the sequence number, Indicates the interpolation table The rolling channel swing angle compensation corresponding to the axial apparent acceleration of the arrow system under the sequence number; Represents the axial apparent acceleration of the arrow system after average filtering corresponding to the current moment in the interpolation table The next number of the number corresponding to the axial apparent acceleration of the arrow system with the closest standard flight trajectory; Indicates the interpolation table The axial apparent acceleration of the arrow system with the serial number; Indicates the interpolation table The pitch channel swing angle compensation corresponding to the axial apparent acceleration of the arrow system under the sequence number, Indicates the interpolation table The yaw channel swing angle compensation corresponding to the axial apparent acceleration of the arrow system under the sequence number, Indicates the interpolation table The rolling channel swing angle compensation amount corresponding to the axial apparent acceleration of the arrow system under the serial number.

3. The spacecraft swing engine swing angle command compensation method according to claim 2, characterized in that: The process of obtaining the control amount of the pitch channel, the control amount of the yaw channel and the control amount of the roll channel at the current moment according to the pitch, yaw and roll attitude angles, angular velocity of the rocket body and the pitch, yaw and roll program angles output by the guidance system is as follows: According to the number of gyro pulses of the inertial group, the pitch, yaw and roll attitude angles of the rocket body are calculated using the navigation algorithm; Compare the pitch attitude angle of the rocket body with the pitch program angle to obtain the pitch channel attitude angle deviation; compare the yaw attitude angle of the rocket body with the yaw program angle to obtain the yaw channel attitude angle deviation; compare the roll attitude angle of the rocket body with the roll program angle to obtain the roll channel attitude angle deviation; Perform three-channel decoupling calculation on the attitude angle deviation of the pitch channel, the attitude angle deviation of the yaw channel and the attitude angle deviation of the roll channel to obtain the decoupled three-channel attitude angle deviation; After integrating and correcting the decoupled three-channel attitude angle deviation and the rocket body angular velocity, the control quantity of the pitch channel, the control quantity of the yaw channel and the control quantity of the roll channel at the current moment are obtained.

4. The spacecraft sway engine swing angle command compensation method according to claim 1, characterized in that: The pitch channel swing angle compensation limit value , Yaw channel swing angle compensation limit value And the rolling channel swing angle compensation limit value Designed for the apparent axial acceleration of the rocket body along the standard flight trajectory The interpolation table of the change, during the rocket flight, the axial apparent acceleration of the arrow system after the average filtering corresponding to the current moment As the independent variable, the apparent acceleration is obtained by parabola or high-order polynomial interpolation. The corresponding pitch channel swing angle compensation limit value, yaw channel swing angle compensation limit value and roll channel swing angle compensation limit value are shown below.

5. The spacecraft sway engine swing angle command compensation method according to claim 1, characterized in that: The pitch channel swing angle compensation amount, the yaw channel swing angle compensation amount, and the roll channel swing angle compensation amount are obtained by offline design based on the structural shape of the spacecraft and the constant interference torque; The standard flight trajectory arrow system axial apparent acceleration is obtained through an offline designed spacecraft standard flight trajectory.

6. A method for controlling the attitude of an arrow body, characterized in that: The method for compensating the swing angle command of a spacecraft swing engine according to any one of claims 1 to 5 further comprises: The desired control amount of the pitch channel, the desired control amount of the yaw channel and the desired control amount of the roll channel are respectively distributed, limited and sent to the servo mechanism to control the servo mechanism to perform telescopic movement; The servo mechanism drives the rocking engine to perform a rocking motion to adjust the engine injection direction to generate the required control torque; The generated control torque is used to control the attitude of the arrow body.

7. A spacecraft swing engine swing angle command compensation device, characterized in that: It comprises a memory, a processor and a computer program stored in the memory and running on the processor, and when the processor processes the computer program, it implements the spacecraft swing engine swing angle command compensation method as described in any one of claims 1-5.

8. A storage medium, characterized in that: An executable program is stored thereon, and when the executable program is called, the spacecraft swing engine swing angle instruction compensation method as described in any one of claims 1-5 is executed.

Images