A sounding rocket axial attitude stabilization control device based on momentum wheel set

Abstract

The present invention relates to a sounding rocket axial attitude stabilization control device based on a momentum wheel group, and belongs to the field of aerospace equipment technology. The device comprises a nine-axis attitude sensor, a high-precision barometer, a first-order servo momentum wheel, a second-order servo momentum wheel and a core controller. The nine-axis attitude sensor, the high-precision barometer and the core controller are integrated in an aluminum packaging box and connected to the momentum wheel group through an aviation plug-in line. The device uses the fusion calculation of sensor data to apply the feedback output to the momentum control wheel group, and the momentum control wheel group outputs the corresponding target torque to achieve stable control of the axial attitude of the aircraft. The present invention has a fast response capability, and has the advantages of low energy consumption and low deadweight structure, which enhances the accuracy and stability of the aircraft attitude control. Taking advantage of the power storage, the system does not need to be equipped with a pressure tank, so as to achieve a lightweight design, while improving the compactness of the rocket body and the attitude control efficiency.

Description

Technical Field

[0001] The invention belongs to the technical field of aerospace equipment and relates to an axial attitude stabilization control device for a sounding rocket based on a momentum wheel set. Background Art

[0002] A sounding rocket is a vehicle that carries an experimental payload and relies on its own power unit to reach a preset altitude or flight path. Some high-precision experimental payloads have strict requirements on the performance of the rocket, especially key indicators such as axial spin angular velocity and angular acceleration.

[0003] Conventional sounding rocket devices often use rudder control, RCS (reaction control system), vector thrust control and other methods to stabilize the axial attitude of the rocket body.

[0004] For sounding rocket devices that use rudder control, axial attitude control is achieved by rotating the rudder, but this control method has problems such as complex mechanical structure, slow response speed, and great influence of aerodynamic force.

[0005] For a sounding rocket using an RCS attitude control system, axial attitude control is achieved by ejecting opposite airflow in the target direction.

[0006] For sounding rocket devices that use vector thrust control, the thrust vector is changed by adjusting the nozzle direction to achieve the missile's flight axial attitude control, but this control method also has obvious disadvantages. When the missile is in a state of losing thrust or insufficient thrust, the thrust vector control cannot play a role, and the missile cannot be effectively controlled in direction. At the same time, this method will result in a large energy loss and a weak adjustment effect.

[0007] In addition, most of the above-mentioned axial attitude control methods require fuel storage, which will greatly increase the mass and complexity of the system. They are also easily affected by external interference, resulting in instability in attitude control, reducing the overall performance of the sounding rocket and reducing reliability. Summary of the invention

[0008] In view of this, the purpose of the present invention is to provide an axial attitude stabilization control device for a sounding rocket based on a momentum wheel set. The invention of an axial attitude stabilization active control device, through the fusion calculation of the nine-axis attitude sensor and the barometer, applies the feedback output to the momentum control wheel set, thereby achieving stable control of the axial attitude, with both the ability of rapid response and the characteristics of relatively low energy consumption and low load, and effectively enhancing the attitude control capability of the aircraft. At the same time, by taking advantage of the advantages of electrical energy storage, the system does not need to be equipped with a pressure tank, achieving a lightweight design, and improving the compactness of the rocket body and the attitude control efficiency.

[0009] In order to achieve the above object, the present invention provides the following technical solutions:

[0010] A sounding rocket axial attitude stabilization control device based on a momentum wheel set, comprising:

[0011] Nine-axis attitude sensor, used to collect attitude information of the sounding rocket;

[0012] High-precision barometer, used to collect altitude information of sounding rockets;

[0013] The first-order servo momentum wheel comprises a servo motor with field-oriented control (FOC) vector control technology, and a first double-diaphragm coupling is provided on the output shaft thereof, one end of which is locked with the motor output shaft, and the other end is connected to a momentum wheel with a larger radius and mass;

[0014] The second-order servo momentum wheel includes a servo motor with FOC vector control technology, and a second double-diaphragm coupling is provided on its output shaft, one end of which is locked with the motor output shaft, and the other end is connected to a momentum wheel with a smaller radius and mass;

[0015] The core controller includes a processor system and integrates the functions of communication, input and output, and charge and discharge management. The nine-axis attitude sensor, high-precision barometer and core controller are integrated together and packaged in an aluminum box, and connected to the momentum wheel set through an aviation plug cable.

[0016] The beneficial effects of the present invention are as follows: the present invention has the significant advantages of rapid response, low energy consumption, light weight, high precision and high stability of attitude control. Through the data fusion calculation of the nine-axis attitude sensor and the high-precision barometer, the momentum wheel group is precisely regulated in combination with the PID algorithm, so that the rapid adjustment and precise control of the aircraft attitude can be achieved. The system adopts an electric momentum wheel group, which does not require a pressure tank and fuel storage, significantly reducing the weight of the system and improving efficiency. The modular design makes the device compact and reasonably laid out, enhancing the reliability and durability of the system. The low load characteristics of the momentum wheel group reduce the burden on the aircraft, and the integrated LoRa wireless module realizes remote monitoring of attitude data, ensuring the safety and stability of attitude control during flight. The device is particularly suitable for sounding rockets and aerospace vehicles with high-precision attitude control requirements.

[0017] Other advantages, objectives and features of the present invention will be described in the following description to some extent, and to some extent, will be obvious to those skilled in the art based on the following examination and study, or can be taught from the practice of the present invention. The objectives and other advantages of the present invention can be realized and obtained through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention will be described in detail below in conjunction with the accompanying drawings, wherein:

[0019] Figure 1 It is a schematic diagram of the structure of the device of the present invention;

[0020] Figure 2 It is a schematic diagram of the main hardware connection of the present invention;

[0021] Figure 3 It is a schematic diagram of the main software system of the present invention.

[0022] Figure markings: 1-first double diaphragm coupling; 2-first momentum wheel body; 3-brushless servo motor; 4-first motor bracket; 5-connecting line; 6-first controller box; 7-second motor bracket; 8-second controller box; 9-brushless servo motor; 10-second momentum wheel body; 11-second double diaphragm coupling. DETAILED DESCRIPTION

[0023] The following describes the embodiments of the present invention by specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in the following embodiments only illustrate the basic concept of the present invention in a schematic manner, and the following embodiments and features in the embodiments can be combined with each other without conflict.

[0024] Among them, the drawings are only used for illustrative explanations, and they only represent schematic diagrams rather than actual pictures, and should not be understood as limitations on the present invention. In order to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of actual products. For those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted.

[0025] The same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right", "front", "rear", etc. indicate the orientation or position relationship, they are based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, the terms describing the position relationship in the drawings are only used for illustrative purposes and cannot be understood as limiting the present invention. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0026] The present invention provides an active control device for axial attitude stability of a sounding rocket based on a momentum wheel group. In terms of structure, a modular device is adopted, and the functions of each module are clear. In addition, the first-order and second-order momentum wheel systems serve as backups for each other, and can work separately or in parallel to ensure high reliability. In terms of principle, the system uses the data collected by the sensor to control the first-order and second-order momentum wheels through a fusion control algorithm to achieve axial attitude control. In terms of structure, the layout is symmetrical up and down and the center of mass is coaxial. It can reduce system interference and enhance the control effect. In terms of software, the system is based on a fusion control algorithm, PID closed-loop control, and a long-distance wireless monitoring system to achieve axial attitude control.

[0027] like Figure 1 As shown in the device structure diagram, a sounding rocket axial attitude stability active control device based on a momentum wheel group includes a first double diaphragm coupling 1, a first momentum wheel body 2, a first brushless servo motor 3, a first motor bracket 4, a connecting line 5, a first controller box 6, a second motor bracket 7, a second controller box 8, a second brushless servo motor 9, a second momentum wheel body 10 and a second double diaphragm coupling 11.

[0028] The first-order momentum wheel set includes a first double diaphragm coupling 1, a first momentum wheel body 2 and a first brushless servo motor 3; the second-order momentum wheel set includes a second double diaphragm coupling 11, a second momentum wheel body 10 and a second brushless servo motor 9; the first controller box 6 and the second controller box 8 are made of aluminum, and contain a central control board with an STM32F407VET6 microprocessor as the core, and its peripheral circuits include an MPU9250 nine-axis attitude sensor, a BMP180 air pressure sensor, a power management module, a LoRa remote communication module, etc. The first controller box 6 has a first motor bracket 4 outside, which plays a role in connecting with the first-order momentum wheel set. The second controller box 8 has a second motor bracket 7 outside, which plays a role in connecting with the second-order momentum wheel set. The connecting line 5 and the second controller box 8 are aviation plugs connecting the controller and the servo motor.

[0029] The first brushless servo motor and the second brushless servo motor are outer rotor center shaft brushless motors, and the first brushless servo motor is connected to the first momentum wheel body 2 through a first double diaphragm coupling 1. The second brushless servo motor is connected to the second momentum wheel body 10 through a second double diaphragm coupling 11.

[0030] The central axis of the first-order momentum wheel set and the second-order momentum wheel set should pass through the first controller box 6; the lengths of the first motor bracket 4 and the second motor bracket 7 connecting the first controller box 6 are equal in length from top to bottom.

[0031] The momentum wheel bodies and outer rotors of the first-order momentum wheel group and the second-order momentum wheel group will be accelerated and decelerated in real time when the device is working, so as to generate momentum conservation torque and gyroscopic effect, so as to realize the control of the preset axial rotation speed of the arrow body.

[0032] like Figure 2 The hardware connection diagram is shown below:

[0033] The first-order momentum wheel system is formed by connecting an electric control controller, a first brushless servo motor, a first double-diaphragm coupling and a momentum wheel rim, and the second-order momentum wheel system is completely the same as the first-order momentum wheel system.

[0034] The main control module includes a main controller, a power module, a nine-axis gyroscope, an air pressure sensor and a LoRa wireless module.

[0035] The first-order momentum wheel system and the second-order momentum wheel system are both physically connected and communicated with the main control module using aviation plug wires.

[0036] The remote control module includes a remote monitor, a lithium battery module, a touch display screen and a LoRa wireless module.

[0037] The remote control module uses LoRa wireless transmission technology to connect and communicate with the main control module.

[0038] like Figure 3 The software system diagram is shown as follows:

[0039] The altitude sensor is an air pressure sensor; the attitude sensor is a nine-axis attitude sensor; the axial active control is a momentum wheelset control system using a PID controller; the GNSS satellite positioning system is a global positioning system in an aluminum box controller; and the remote monitoring system is a ground control system connected using LoRa wireless technology.

[0040] After the carrier (such as a sounding rocket) receives a human-imposed action signal, the core controller will start and use the MPU9250 nine-axis attitude sensor integrated in the system to collect the attitude and orientation data of the aircraft in real time. The data output by this sensor includes zero-drift three-dimensional attitude information in the form of quaternions and Euler angles, which can accurately reflect the angular changes of the aircraft in space. At the same time, the system also integrates an air pressure sensor that can measure the external air pressure and the altitude information of the aircraft in real time, and combines multi-dimensional data such as the system running time, and processes and optimizes the above sensor data through a data fusion algorithm to ensure the accuracy and stability of attitude control.

[0041] In order to achieve active attitude control, the core controller uses a real-time PID control algorithm to regulate the momentum wheel. The PID control algorithm quickly responds to attitude deviations generated during flight through the coordinated work of proportion, integration, and differentiation, accurately adjusts the rotation speed of the first-order and second-order momentum wheels, and then adjusts the angular momentum of the aircraft so that its attitude gradually returns to the preset trajectory. This attitude control method based on the momentum wheel can effectively improve the stability of the aircraft and ensure high-precision attitude control in various flight conditions.

[0042] Specifically, assume that the mass of the sounding rocket is M0, the radius of the rocket body is R0, and the mass of the first-order momentum wheel inside is M a , and the radius is R1; the mass of the second-order momentum wheel is M b , and the radius is R2; the axial attitude stability control device is axially installed relative to the arrow body; the initial momentum wheel is in a stationary state, and the mass is uniformly distributed;

[0043] Considering the influence of the reduction in the mass of the rocket's fuel combustion over time, the formula for the change in the fuel mass reduction over time is Δm=Kt, where K is a coefficient determined by the engine performance of the sounding rocket itself; Δm is the weight reduced by the fuel burning over time; T is the time since the engine was started; t is the time since the system began to adjust its attitude; U1 and U2 correspond to the magnitude coefficients of the torque power distribution of the first-order momentum wheel and the second-order momentum wheel respectively; the initial axial speed of the rocket body after the rocket body is launched is ω0; ω1(t) is the speed change of the first-order momentum wheel over time; ω2(t) is the angular velocity change of the second-order momentum wheel over time;

[0044] If we want the arrow body to obtain a fixed axial rotation angular velocity, denoted as ω3, then the formula is as follows:

[0045]

[0046] If we want the arrow body to obtain a fixed axial rotation angular acceleration, denoted as a0, then the formula is as follows:

[0047]

[0048] Through the above formula, the angular velocity change of the large and small momentum wheels can be calculated according to the change of rocket mass, the power distribution coefficient of the momentum wheel and the time parameter, so as to realize the control of the fixed rotation angular velocity of the axial target of the rocket body, or realize the control of the fixed rotation acceleration of the axial target of the rocket body.

[0049] In addition, in order to enhance the real-time monitoring and communication functions of the system, the device is also equipped with a LoRa wireless communication module. Figure 2Hardware connection diagram. During the flight, the module can transmit the aircraft's attitude parameters, air pressure data, and the operating status of the control system to the ground monitoring station in real time, making it easier for operators to monitor and analyze the rocket's flight status. The LoRa module has the characteristics of low power consumption and long-distance transmission, and is suitable for the high-speed, long-distance flight environment of sounding rockets, ensuring the stability and reliability of data transmission.

[0050] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution, which should be included in the scope of the claims of the present invention.

Claims

1. A sounding rocket axial attitude stabilization control device based on a momentum wheel set, characterized in that: include: Nine-axis attitude sensor, used to collect attitude information of the sounding rocket; High-precision barometer, used to collect altitude information of sounding rockets; A first-order servo momentum wheel assembly comprises a first brushless servo motor (3) with magnetic field oriented control vector control technology, a first double diaphragm coupling (1) is provided on the output shaft of the motor, one end of the first double diaphragm coupling is locked with the output shaft of the motor, and the other end is connected to a first-order momentum wheel with a larger radius and mass, namely a first momentum wheel body (2); A second-order servo momentum wheel assembly, comprising a second brushless servo motor (9) with magnetic field oriented control vector control technology, a second double diaphragm coupling (11) on the output shaft of the motor, one end of which is locked with the output shaft of the motor, and the other end of which is connected to a second-order momentum wheel with a smaller radius and mass, namely a second momentum wheel body (10); A first motor bracket (4), a first connecting line (5), a first controller box (6), a second motor bracket (7), and a second connecting line (8); the first controller box (6) is provided with the first motor bracket (4) outside for connecting with a first-order servo momentum wheel set; the first controller box (6) is provided with the second motor bracket (7) outside for connecting with a second-order servo momentum wheel set; the first-order servo momentum wheel set and the second-order servo momentum wheel set have their central axes passing through the first controller box (6); the lengths of the first motor bracket (4) and the second motor bracket (7) connecting the first controller box (6) are equal in length; the first connecting line (5) and the second connecting line (8) are aviation plug-ins; a core controller includes a processor system and integrates the functions of communication, input / output, and charge / discharge management; the nine-axis attitude sensor, the high-precision barometer, and the core controller are integrated together and packaged in an aluminum box and connected with the first-order and second-order servo momentum wheel sets through aviation plug-ins.

2. The sounding rocket axial attitude stabilization control device according to claim 1, characterized in that: The momentum wheel body and the outer rotor of the first-order servo momentum wheel group and the second-order servo momentum wheel group are subjected to real-time acceleration and deceleration adjustment when the device is working to generate momentum conservation torque and gyroscopic effect, so as to realize the control of the preset axial rotation speed of the arrow body.

3. The sounding rocket axial attitude stabilization control device according to claim 1, characterized in that: The core controller uses a real-time PID control algorithm to regulate the momentum wheel. Through the coordinated work of proportion, integration and differentiation, it responds to the attitude deviation generated during the flight, adjusts the rotation speed of the first-order and second-order momentum wheels, and then adjusts the angular momentum of the aircraft to return its attitude to the preset trajectory. Assume that the mass of the sounding rocket is M0, the radius of the rocket body is R0; the mass of the first-order momentum wheel is M a , and the radius is R1; the mass of the second-order momentum wheel is M b , and the radius is R2; the axial attitude stability control device is axially installed relative to the rocket body; the initial momentum wheel is in a stationary state, and the mass is uniformly distributed; Considering the influence of the reduction in the mass of the rocket's fuel combustion over time, the formula for the change in the fuel mass reduction over time is Δm=Kt, where K is a coefficient, which is determined by the engine performance of the sounding rocket itself; Δm is the weight reduced by the fuel burning over time; T is the time since the engine was started; t is the time since the system began to adjust its attitude; U1 and U2 correspond to the magnitude coefficients of the torque power distribution of the first-order momentum wheel and the second-order momentum wheel, respectively; the initial axial speed of the rocket body after the rocket body is launched is ω0; ω1(t) is the angular velocity of the first-order momentum wheel changing with time; ω2(t) is the angular velocity of the second-order momentum wheel changing with time; If we want the arrow body to obtain a fixed axial rotation angular velocity, denoted as ω3, then the formula is as follows: If we want the arrow body to obtain a fixed axial rotation angular acceleration, denoted as a0, then the formula is as follows: Through the above formula, the angular velocity change of the large and small momentum wheels is calculated according to the change in rocket mass, the power distribution coefficient of the momentum wheel and the time parameter, so as to realize the control of the fixed rotation angular velocity of the axial target of the rocket body, or realize the control of the fixed rotation acceleration of the axial target of the rocket body.

4. The sounding rocket axial attitude stabilization control device according to claim 1, characterized in that: The device is equipped with a LoRa wireless communication module, which transmits the attitude parameters, air pressure data and operating status of the control device of the aircraft to the ground monitoring station in real time during the flight, so that the operator can monitor and analyze the flight status of the rocket throughout the whole process; The ground monitoring station comprises: a remote monitor for receiving and displaying aircraft data; Lithium battery module to power the remote monitor; Touch screen display for displaying aircraft data and monitoring interface; LoRa wireless module, used to receive data packets from the core controller.

5. The sounding rocket axial attitude stabilization control device according to claim 1, characterized in that: The device adopts a design of upper and lower symmetry and coaxial center of mass to simplify mechanical analysis and control algorithms and reduce interference from gyroscopic effects.

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