Liquid recoverable carrier rocket control system and control method

Abstract

The invention discloses a liquid recoverable carrier rocket control system and control method, and belongs to the technical field of rocket recovery control. Comprising a flight control combination, a recovery control combination, an inertia measurement combination, a battery, a safety control combination, an engine controller, an optical target camera, a laser range finder, a comprehensive collecting and editing device, a relay measurement and control terminal and a space-based telemetering phased array antenna. The flight control combination and the recovery control combination are arranged in the second rocket sublevel and the first rocket sublevel respectively, partial hot backup is achieved through the two control combinations, and the reliability of the system is improved. In the first-stage flight section with the worst and most dangerous mechanical environment, the recovery control combination can serve as hot backup execution work of the flight control combination, and normal recovery of the first sub-stage cannot be affected even if flight failure is caused by abnormity of the second-stage rocket. Effective control over launch and recovery of the carrier rocket can be met, and a necessary control system is provided for recovery of the carrier rocket.

Description

Technical Field

[0001] The present invention relates to the field of rocket recovery control technology, and in particular to a liquid recoverable launch vehicle control system and a control method. Background Art

[0002] A reusable rocket is a rocket that can safely return some of its key components, such as the first stage or even the upper stage, to the ground after completing its launch mission, and then be used again for subsequent space launch missions after a series of processes such as testing, repair and maintenance. Traditional rockets are usually used once, and all components are basically discarded after launch. Reusable rockets break this conventional pattern and aim to reduce space launch costs and improve launch efficiency through reuse.

[0003] In daily practice, the inventors found that the existing technical solutions have the following problems: The electrical system architectures of existing launch vehicles are relatively backward and cannot meet the needs of recoverable and reusable rockets. In view of this, it is necessary to provide a new technical solution to solve the above problems. Summary of the invention

[0004] In order to solve the above-mentioned technical problems, the present application provides a liquid recoverable launch vehicle control system and control method, which can meet the effective control of the launch and recovery of the launch vehicle and provide the necessary control system for the recovery of the launch vehicle.

[0005] To achieve the above-mentioned purpose, the present application adopts the following technical solutions: a liquid recoverable launch vehicle control system, including: a flight control assembly, a recovery control assembly, an inertial measurement assembly, a battery, a safety control assembly, an engine controller, an optical target camera, a laser rangefinder, an integrated acquisition and editing device, a relay measurement and control terminal, and a space-based telemetry phased array antenna; The recovery control assembly, the optical target camera and the laser rangefinder are all arranged on the first stage of the rocket; The flight control assembly, the security control assembly, the relay measurement and control terminal and the space-based telemetry phased array antenna are all arranged on the second stage of the rocket; The inertial measurement unit includes a first-stage inertial measurement unit arranged at the first stage of the rocket and a second-stage inertial measurement unit arranged at the second stage of the rocket; The engine controller includes a first-stage engine controller arranged at the first stage of the rocket and a second-stage engine controller arranged at the second stage of the rocket; The comprehensive collection and editing device comprises a first-stage comprehensive collection and editing device arranged on the first stage of the rocket and a second-stage comprehensive collection and editing device arranged on the second stage of the rocket; The battery includes a primary power supply battery arranged in the first stage of the rocket and a secondary power supply battery arranged in the second stage of the rocket; The relay measurement and control terminal is communicatively connected with the space-based telemetry phased array antenna; The first-level inertial measurement unit, the first-level engine controller, the optical target camera, the laser rangefinder, the first-level comprehensive acquisition and editing device, and the first-level power supply battery are all communicatively connected to the recovery control unit; The secondary inertial measurement unit, the security control unit, the secondary engine controller, the relay measurement and control terminal, the secondary comprehensive acquisition and editing device and the secondary power supply battery are all connected to the flight control unit in communication; The flight control assembly is communicatively connected with the recovery control assembly.

[0006] Preferably, the flight control assembly and the recovery control assembly are communicatively connected via a dual-channel hot-backup RS422 bus.

[0007] Preferably, the first-level inertial measurement combination includes a first inertial measurement combination and a second inertial measurement combination; the second-level inertial measurement combination includes a third inertial measurement combination and a fourth inertial measurement combination; in a default state, the launch flight phase mainly uses the second-level inertial measurement combination to perform rocket attitude measurement, and the first-level inertial measurement combination assists in measuring rocket attitude information; in a fault state, the first-level inertial measurement combination can independently perform rocket attitude information measurement.

[0008] Preferably, the first inertial measurement unit, the second inertial measurement unit, the first-level engine controller, and the first-level integrated acquisition and editing device are all connected to the recovery control unit through a 1553B bus; The relay measurement and control terminal is connected to the secondary comprehensive editing and compiling device through an RS422 bus; The third inertial measurement unit, the fourth inertial measurement unit, the safety control unit, the secondary engine controller and the secondary integrated acquisition and editing device are all connected to the flight control unit through a 1553B bus; The optical target camera and the laser rangefinder are both communicatively connected to the recovery control assembly via an RS422 bus.

[0009] Preferably, it also includes a first-stage camera device arranged at the first stage of the rocket and a second-stage camera device arranged at the second stage of the rocket; the first-stage power supply battery and the second-stage power supply battery both include a battery management system circuit and a battery cell; The primary camera device and the battery management system circuit of the primary power supply battery are both communicatively connected to the recycling control assembly via Ethernet; The secondary camera device and the battery management system circuit of the secondary power supply battery are both connected to the flight control combination communication via Ethernet.

[0010] Preferably, it also includes a liquid level camera for measuring the propellant level in the propellant tank; the liquid level camera includes a first-stage fuel tank liquid level camera and a first-stage liquid oxygen liquid level camera arranged in the first stage of the rocket, and a second-stage fuel tank liquid level camera and a second-stage liquid oxygen liquid level camera arranged in the second stage of the rocket.

[0011] Preferably, the first-stage fuel tank liquid level camera and the first-stage liquid oxygen liquid level camera are communicatively connected to the recovery control combination via an RS422 bus; the second-stage fuel tank liquid level camera and the second-stage liquid oxygen liquid level camera are communicatively connected to the flight control combination via an RS422 bus.

[0012] Preferably, it also includes ground equipment for testing liquid recoverable launch vehicles; the ground equipment is communicatively connected to the flight control combination and the recovery control combination via Ethernet.

[0013] According to another aspect of the present application, a liquid recyclable launch vehicle control method is also provided, and the liquid recyclable launch vehicle is controlled by using the liquid recyclable launch vehicle control system, comprising: When the liquid reusable launch vehicle control system is in the ground test state, the liquid reusable launch vehicle control system receives all legal commands sent by the ground equipment through Ethernet, and performs action responses to the received legal commands; When the control system of a liquid recoverable launch vehicle is switched from the ground test state to the flight state, the flight control assembly and the recovery control assembly will no longer respond to all commands sent by the ground equipment through Ethernet after receiving the ignition command; When the control system of the liquid recoverable launch vehicle is in a normal flight state, the flight control assembly and the recovery control assembly communicate through the A bus in the dual-channel hot backup RS422 bus, and the recovery control assembly periodically reports the working status of the rocket's first sub-stage to the flight control assembly; When the A bus in the RS422 bus fails to respond continuously, the flight control combination and the recovery control combination will actively switch to the B bus for communication and will not switch back to the A bus in the RS422 bus. When both the A bus and the B bus in the dual hot-backup RS422 bus between the flight control combination and the recovery control combination are in an abnormal state, and the recovery control combination cannot receive periodic command actions from the flight control combination through the two hot-backup RS422 channels, and cannot be restored within a period of time, the recovery control combination will autonomously continue to implement subsequent control solution, swing angle output and timing actions based on the information collected by the first-level inertial measurement combination and wait for communication to be restored.

[0014] Preferably, when the control system of the liquid reusable launch vehicle is in a ground test state, the first rocket stage and the second rocket stage are individually ground tested or the first rocket stage and the second rocket stage are jointly ground tested; When the first and second stages of the rocket are undergoing joint ground testing, the ground equipment communicates with the flight control assembly via Ethernet, and the flight control assembly exchanges information with the recovery control assembly via the RS422 bus.

[0015] Compared with the prior art, this application has at least the following beneficial effects: 1. The present invention can meet the effective control of launch and recovery of carrier rockets and provide a necessary control system for the recovery of carrier rockets.

[0016] 2. The first and second stages of the liquid recyclable launch vehicle control system of the present invention can work independently, and the two control combinations can realize partial hot backup, thereby improving the reliability of the system. In the first stage flight segment with the worst mechanical environment and the most dangerous, the recovery control combination can perform work as a hot backup of the flight control combination, and even if the second stage rocket fails to fly due to an abnormality, it will not affect the normal recovery of the first stage.

[0017] 3. The core control bus between the first and second stages of the rocket of the present invention adopts the 1553B bus; the measurement system of the bus that is not related to the success or failure of the flight, the ground test bus, the lithium battery control and telemetry information are all transmitted using ordinary Ethernet; the recovery-related information transmission is all transmitted using an independent RS422 bus; the first and second stage control systems of the rocket are connected using a dual redundant RS422 bus to achieve key data interaction.

[0018] 4. The first and second stage propellant tanks of the rocket of the present invention both use cameras to measure the liquid level, and the liquid level results are directly sent to the controller through the RS422 bus, which effectively improves the accuracy of the liquid level measurement. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Hereinafter, some specific embodiments of the present invention will be described in detail in an exemplary and non-limiting manner with reference to the accompanying drawings. The same reference numerals in the accompanying drawings indicate the same or similar components or parts. It should be understood by those skilled in the art that these drawings are not necessarily drawn to scale. In the accompanying drawings: Figure 1 This is a schematic diagram of the connection of control system components of a rocket sub-stage of the present invention; Figure 2 This is a schematic diagram of the connection of the control system components of the second stage of the rocket of the present invention.

[0020] The above drawings include the following reference numerals: 100. Rocket stage 1; 101. First-stage camera device; 102. First-stage instrument battery; 103. First-stage pyrotechnic battery; 104. First-stage measurement battery; 105. First-stage servo battery; 106. First-stage switch; 107. First inertial measurement unit; 108. Second inertial measurement unit; 109. First-stage engine controller; 110. Recovery control unit; 111. RTK receiver A; 112. RTK receiver B; 113. Recovery laser radar; 114. Laser rangefinder; 115. Optical target camera; 116. First-stage liquid oxygen level camera; 117. First-stage fuel tank level camera; 118. First-stage telemetry transmitter; 119. First-stage comprehensive collection and editing device ; 200, rocket second stage; 201, second-stage camera device; 202, second-stage instrument battery; 203, second-stage pyrotechnic battery; 204, second-stage safety battery; 205, second-stage measurement battery; 206, second-stage servo battery; 207, second-stage telemetry transmitter; 208, second-stage switch; 209, third inertial measurement unit; 210, second-stage integrated acquisition and editing device; 211, flight control unit; 212, second-stage fuel tank level camera; 213, second-stage liquid oxygen level camera; 214, fourth inertial measurement unit; 215, safety control unit; 216, second-stage engine controller; 217, relay measurement and control terminal; 218, space-based telemetry phased array antenna; 300, ground equipment. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solution and advantages of the present application clearer, the technical solution of the present application will be clearly and completely described below in combination with the specific embodiments of the present application and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application.

[0022] like Figure 1 and Figure 2 As shown, a control system of a liquid recoverable launch vehicle includes: a flight control combination 211, a recovery control combination 110, an inertial measurement combination, a battery, a safety control combination 215, an engine controller, an optical target camera 115, a laser rangefinder 114, an integrated acquisition and editing device, a relay measurement and control terminal 217 and a space-based telemetry phased array antenna 218.

[0023] The flight control assembly 211 is installed in the second stage 200 of the rocket and is used to complete power distribution control, pyrotechnic resistance measurement, attitude control valve control, sequential ignition control, flight control solution, satellite navigation information processing, pressurization and delivery status collection, pressurization and delivery closed-loop control and propellant utilization functions.

[0024] The recovery control assembly 110 is arranged at the first stage of the rocket and is used to complete power distribution control, pyrotechnic resistance measurement, attitude control valve control, timing ignition control, flight control solution, satellite guidance information processing, pressurization delivery status collection, pressurization delivery closed-loop control, propellant utilization, recovery grid rudder control and recovery related information collection functions.

[0025] The inertial measurement combination is used to measure the motion information of the rocket during flight; the inertial measurement combination includes a first-stage inertial measurement combination arranged in the first stage of the rocket and a second-stage inertial measurement combination arranged in the second stage 200 of the rocket.

[0026] Specifically, the first-level inertial measurement combination and the second-level inertial measurement combination use a laser inertial measurement group or a fiber optic inertial measurement group to collect the three-axis acceleration and three-axis angle conditions during the flight of the rocket.

[0027] The battery is used to supply power to the telemetry equipment, the timing switch, the flight control equipment and the safety control equipment on the rocket. The battery includes a primary power supply battery arranged in the first stage of the rocket and a secondary power supply battery arranged in the second stage 200 of the rocket.

[0028] The relay measurement and control terminal 217 and the space-based telemetry phased array antenna 218 are core space-based telemetry equipment, which are both installed in the second stage 200 of the rocket and are used to adjust the antenna beam angle pointing according to the rocket body position, attitude and communication satellite position to achieve space-based telemetry information transmission. The relay measurement and control terminal 217 and the space-based telemetry phased array antenna 218 are connected by radio frequency signal communication.

[0029] Security control combination 215 is the core equipment of the security control system, which is used for safety control after abnormalities occur during the rocket flight.

[0030] Furthermore, the satellite navigation antenna feed is a three-pole design, and the security control satellite navigation antenna feed is a two-pole design. The satellite navigation antenna is connected to the flight control assembly 211 through a wireless link, and the security control satellite navigation antenna is connected to the security control assembly 215 through a wireless link.

[0031] In this embodiment, the security control combination 215 can be an autonomous security control combination or a passive security control combination. In a sea-launched environment, the security control combination 215 adopts an autonomous security control combination, and in a land-launched environment, the security control combination 215 adopts an autonomous security control combination. In autonomous security control, the data of the first-level inertial measurement combination and the second-level inertial measurement combination and the security control satellite navigation data are used to realize the requirements of the integrated flight control combination 211. In passive security control, it is connected to the safety command receiver and the pulse coherent transponder to directly receive the ground command self-destruction.

[0032] The engine controller is used to control the swing of the servo mechanism and control the engine ignition, shutdown, thrust adjustment, status monitoring and fault diagnosis; the engine controller includes a first-stage engine controller arranged in the first stage of the rocket and a second-stage engine controller arranged in the second stage 200 of the rocket.

[0033] The laser rangefinder 114 is arranged at a sub-stage to obtain the distance information between the rocket and the landing point.

[0034] The optical target camera 115 is set in a sub-stage to identify the pitch and yaw angles of the rocket relative to the ground recovery point target. The optical target camera 115 is used to identify the pitch and yaw angles of the target relative to the ground recovery point, and together with the distance information obtained by the laser rangefinder 114, it constitutes the three-dimensional position information of the relative recovery landing point.

[0035] Furthermore, a liquid recoverable launch vehicle control system also includes a recovery laser radar 113 arranged on the first stage 100 of the rocket. The recovery laser radar 113 is used in conjunction with a laser rangefinder 114 and an optical target camera 115 to further improve the ranging accuracy during rocket recovery.

[0036] Furthermore, a liquid recoverable launch vehicle control system also includes an RTK receiver with a dual redundant design arranged on the first stage 100 of the rocket, including an RTK receiver A111 and an RTK receiver B112. The RTK receiver can achieve high-precision real-time positioning by receiving satellite signals and combining differential correction data transmitted from a base station.

[0037] The comprehensive collection and editing device is used to power the sensors on the rocket and collect various status information, and transmit it to the telemetry equipment after framing. The comprehensive collection and editing device includes a first-level comprehensive collection and editing device 119 arranged on the first stage of the rocket and a second-level comprehensive collection and editing device 210 arranged on the second stage of the rocket 200. The remaining collection and editing devices on the first and second stages of the rocket only supply power, collect and transmit information to the comprehensive collection and editing devices of the corresponding stages.

[0038] The first-level inertial measurement unit, the first-level engine controller 109 , the optical target camera 115 , the laser rangefinder 114 , the first-level comprehensive acquisition and editing device 119 and the first-level power supply battery are all connected in communication with the recovery control unit 110 .

[0039] The secondary inertial measurement unit, the safety and control unit 215 , the secondary engine controller 216 , the relay measurement and control terminal 217 , the secondary integrated acquisition and editing device 210 and the secondary power supply battery are all communicatively connected to the flight control unit 211 .

[0040] The flight control assembly 211 and the recovery control assembly 110 are connected in communication via a dual-channel hot-backup RS422 bus.

[0041] In addition, it also includes several first-level sub-collection and editing devices and second-level sub-collection and editing devices, a first-level sub-collection and editing device and a comprehensive collection and editing device that only supplies power, collects information and transmits it to the corresponding sub-level.

[0042] In this embodiment, the first-level inertial measurement combination includes a first inertial measurement combination 107 and a second inertial measurement combination 108; the second-level inertial measurement combination includes a third inertial measurement combination 209 and a fourth inertial measurement combination 214; in the default state, the launch flight phase mainly uses the second-level inertial measurement combination to measure the rocket attitude, and the first-level inertial measurement combination assists in measuring the rocket attitude information; in a fault state, the first-level inertial measurement combination can independently measure the rocket attitude information.

[0043] The first inertial measurement unit 107, the second inertial measurement unit 108, the first-level engine controller 109, and the first-level integrated acquisition and editing device 119 are all connected to the recovery control unit 110 through the 1553B bus. In the 1553B bus, the bus control (BC) is the recovery control unit 110, the bus monitoring terminal (MT) is the first-level integrated acquisition and editing device 119, and the remaining nodes are all remote terminals (RT).

[0044] The relay measurement and control terminal 217 is connected to the secondary comprehensive editing and compiling device 210 through the RS422 bus.

[0045] In addition, the optical target camera 115 and the laser rangefinder 114 are also connected to the recovery control assembly 110 through the RS422 bus.

[0046] The third inertial measurement unit 209, the fourth inertial measurement unit 214, the safety control unit 215, the secondary engine controller 216 and the secondary integrated acquisition and editing device 210 are all connected to the flight control unit 211 through the 1553B bus. In the 1553B bus, the bus control (BC) is the flight control unit 211, the bus monitoring terminal (MT) is the secondary integrated acquisition and editing device 210, and the remaining nodes are all remote terminals (RT).

[0047] Preferably, the secondary engine controller 216 also adopts a combined design of a servo controller and an engine controller, and one product controls all functions including servo mechanism swing and engine ignition, shutdown, thrust adjustment, status monitoring and fault diagnosis.

[0048] Both the primary power supply battery and the secondary power supply battery include a battery management system (BMS) circuit and battery cells. They are intelligent lithium battery products that can independently perform fault diagnosis and charge and discharge management. The battery management system circuits of the primary power supply battery are connected to the recovery control assembly 110 through Ethernet. The battery management system circuits of the secondary power supply battery are connected to the flight control assembly 211 through Ethernet.

[0049] Preferably, a primary switch 106 is also provided in the Ethernet of the first rocket stage 100, and a secondary switch 208 is also provided in the Ethernet of the second rocket stage 200, for port expansion and data forwarding.

[0050] Preferably, the primary power supply battery includes a primary servo battery 105, a primary instrument battery 102, a primary pyrotechnic battery 103 and a primary measuring battery 104. Among them, the primary instrument battery 102, the primary pyrotechnic battery 103, the primary safety battery and the primary measuring battery 104 are all products of the same technical status, and the recycling control assembly 110 is identified by different IP addresses and port numbers. The primary servo battery 105 is a high-voltage lithium battery product, and is also an intelligent lithium battery product, which can independently perform fault diagnosis and charge and discharge management.

[0051] In this embodiment, the rocket stage 1 includes 9 first-stage rocket engines arranged in parallel. The first-stage engine controller 109 includes a first engine controller, a second engine controller and a third engine controller. Among them, the first engine controller, the second engine controller and the third engine controller all control 3 first-stage rocket engines. In this state, one first-stage servo battery 105 corresponds to 6 servo actuators of the servo mechanisms of the three engines.

[0052] Preferably, the first-stage engine controller 109 adopts a combined design of a servo controller and an engine controller, and one product controls all functions including servo mechanism swing and engine ignition, shutdown, thrust adjustment, status monitoring, and fault diagnosis.

[0053] Preferably, the secondary power supply battery includes a secondary servo battery 206, a secondary instrument battery 202, a secondary pyrotechnic battery 203, a secondary safety battery 204 and a secondary measurement battery 205. Among them, the secondary instrument battery 202, the secondary pyrotechnic battery 203, the secondary safety battery 204 and the secondary measurement battery 205 are all products of the same technical status, and the recycling control assembly 110 identifies them through different IP addresses and port numbers. The secondary servo battery is a high-voltage lithium battery product, and is also an intelligent lithium battery product, which can autonomously perform fault diagnosis and charge and discharge management.

[0054] As another embodiment of the present invention, a liquid recoverable launch vehicle control system also includes a liquid level camera for measuring the propellant level in the propellant tank; the liquid level camera includes a first-stage fuel tank liquid level camera 117 and a first-stage liquid oxygen liquid level camera 116 arranged on the first stage of the rocket, and a second-stage fuel tank liquid level camera 212 and a second-stage liquid oxygen liquid level camera 213 arranged on the second stage 200 of the rocket.

[0055] The first-stage fuel tank liquid level camera 117 and the first-stage liquid oxygen liquid level camera 116 are connected to the recovery control assembly 110 through the RS422 bus; the second-stage fuel tank liquid level camera 212 and the second-stage liquid oxygen liquid level camera 213 are connected to the flight control assembly 211 through the RS422 bus.

[0056] As another embodiment of the present invention, a liquid recoverable launch vehicle control system also includes a ground device 300 for testing the liquid recoverable launch vehicle; the ground device 300 is communicatively connected with the flight control combination 211 and the recovery control combination 110 via Ethernet.

[0057] As another embodiment of the present invention, a liquid recoverable launch vehicle control system further includes a first-stage camera device 101 disposed on the first stage of the rocket and a second-stage camera device 201 disposed on the second stage of the rocket 200. The first-stage camera device 101 is connected to the recovery control assembly 110 via Ethernet, and the second-stage camera device 201 is connected to the flight control assembly 211 via Ethernet.

[0058] As another embodiment of the present invention, a liquid recoverable launch vehicle control system also includes a first-stage telemetry transmitter 118 and a second-stage telemetry transmitter 207, which are respectively arranged on the first rocket stage 100 and the second rocket stage 200, for transmitting various telemetry data.

[0059] In a control system for a liquid recoverable launch vehicle, the core control buses for the first and second stages of the rocket both use the 1553B bus; buses unrelated to flight success or failure, such as the measurement system, ground test bus, lithium battery control and telemetry, are all implemented using ordinary Ethernet; buses related to the recovery of the first stage of the rocket all use independent RS422 buses; and the control system connection between the first and second stages of the rocket uses a dual redundant RS422 bus to achieve key data interaction.

[0060] In addition, the space-based phased array antenna only sends core data such as the status, timing, and key image information of the entire rocket control system. The core data of the first stage of the rocket is sent from the recovery control combination to the flight control combination through the RS422 link.

[0061] As another embodiment of the present invention, a liquid recyclable launch vehicle control method is also provided, which uses a liquid recyclable launch vehicle control system to control the liquid recyclable launch vehicle, including: When the liquid reusable launch vehicle control system is in the ground test state, the liquid reusable launch vehicle control system receives all legal commands sent by the ground equipment through Ethernet, and performs action responses to the received legal commands; When the control system of a liquid recoverable launch vehicle is switched from the ground test state to the flight state, the flight control assembly and the recovery control assembly will no longer respond to all commands sent by the ground equipment through Ethernet after receiving the ignition command; When the control system of the liquid recyclable launch vehicle is in normal flight state, the flight control assembly and the recovery control assembly communicate through the A bus in the dual-channel hot backup RS422 bus, and the recovery control assembly periodically reports the working status of the rocket's first sub-stage to the flight control assembly; the working status of the rocket's first sub-stage contains a fault state, which is judged and processed by the flight control assembly according to the fault state of the entire rocket, and completes subsequent fault isolation, trajectory reconstruction, attitude control network switching and other actions. All sensors involved in the control of the booster delivery system are collected by the corresponding control assembly, and the working status is also judged by the corresponding control assembly.

[0062] When the A bus in the RS422 bus fails to respond continuously, the flight control combination and the recovery control combination actively switch to the B bus for communication and no longer switch back to the A bus in the RS422 bus.

[0063] When both the A bus and the B bus in the dual hot-backup RS422 bus between the flight control combination and the recovery control combination are in an abnormal state, and the recovery control combination cannot receive periodic command actions from the flight control combination through the two hot-backup RS422 channels, and cannot be restored within a period of time, the recovery control combination will autonomously continue to implement subsequent control solution, swing angle output and timing actions based on the information collected by the first-level inertial measurement combination and wait for communication to be restored.

[0064] Preferably, when the control system of the liquid recoverable launch vehicle is in a ground test state, the first rocket stage and the second rocket stage are ground tested separately or the first rocket stage and the second rocket stage are jointly ground tested.

[0065] When the first and second stages of the rocket are undergoing joint ground testing, the ground equipment communicates with the flight control assembly via Ethernet, and the flight control assembly exchanges information with the recovery control assembly via the RS422 bus.

[0066] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0067] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0068] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein.

[0069] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A liquid recoverable launch vehicle control system, characterized in that: include: Flight control assembly (211), recovery control assembly (110), inertial measurement assembly, battery, safety control assembly (215), engine controller, optical target camera (115), laser rangefinder (114), integrated acquisition and editing device, relay measurement and control terminal (217) and space-based telemetry phased array antenna (218); The recovery control assembly (110), the optical target camera (115) and the laser rangefinder (114) are all arranged on a rocket first stage (100); The flight control assembly (211), the security control assembly (215), the relay measurement and control terminal (217), and the space-based telemetry phased array antenna (218) are all arranged on the second stage (200) of the rocket; The inertial measurement unit comprises a first-stage inertial measurement unit arranged on a first stage (100) of a rocket and a second-stage inertial measurement unit arranged on a second stage (200) of a rocket; The engine controller comprises a first-stage engine controller (109) arranged on a first stage of a rocket (100) and a second-stage engine controller (216) arranged on a second stage of a rocket (200); The comprehensive collection and editing device comprises a first-level comprehensive collection and editing device (119) arranged on the first stage (100) of the rocket and a second-level comprehensive collection and editing device (210) arranged on the second stage (200) of the rocket; The battery comprises a primary power supply battery arranged in a first rocket stage (100) and a secondary power supply battery arranged in a second rocket stage (200); The relay measurement and control terminal (217) is communicatively connected to the space-based telemetry phased array antenna (218); The first-level inertial measurement unit, the first-level engine controller (109), the optical target camera (115), the laser rangefinder (114), the first-level comprehensive collection and editing device (119) and the first-level power supply battery are all in communication connection with the recovery control unit (110); The secondary inertial measurement unit, the safety and control unit (215), the secondary engine controller (216), the relay measurement and control terminal (217), the secondary comprehensive acquisition and editing device (210), and the secondary power supply battery are all in communication connection with the flight control unit (211); The flight control assembly (211) is communicatively connected to the recovery control assembly (110).

2. The liquid recoverable launch vehicle control system according to claim 1, characterized in that: The flight control assembly (211) and the recovery control assembly (110) are communicatively connected via a dual-channel hot backup RS422 bus.

3. The liquid recoverable launch vehicle control system according to claim 2, characterized in that: The first-level inertial measurement unit includes a first inertial measurement unit (107) and a second inertial measurement unit (108); the second-level inertial measurement unit includes a third inertial measurement unit (209) and a fourth inertial measurement unit (214); in a default state, the second-level inertial measurement unit is used mainly to measure the rocket attitude during the launch flight phase, and the first-level inertial measurement unit assists in measuring the rocket attitude information; in a fault state, the first-level inertial measurement unit can independently measure the rocket attitude information.

4. The liquid recoverable launch vehicle control system according to claim 3, characterized in that: The first inertial measurement unit (107), the second inertial measurement unit (108), the first-stage engine controller (109), and the first-stage comprehensive acquisition and editing device (119) are all connected to the recovery control unit (110) for communication via a 1553B bus; The relay measurement and control terminal (217) is communicatively connected to the secondary comprehensive collection and editing device (210) via an RS422 bus; The third inertial measurement unit (209), the fourth inertial measurement unit (214), the safety control unit (215), the secondary engine controller (216) and the secondary integrated acquisition and editing device (210) are all communicatively connected to the flight control unit (211) via a 1553B bus; The optical target camera (115) and the laser rangefinder (114) are both communicatively connected to the recovery control assembly (110) via an RS422 bus.

5. The liquid recoverable launch vehicle control system according to claim 4, characterized in that: It also includes a primary camera device (101) arranged on the first stage (100) of the rocket and a secondary camera device (201) arranged on the second stage (200) of the rocket; the primary power supply battery and the secondary power supply battery both include a battery management system circuit and a battery cell; The primary camera device (101) and the battery management system circuit of the primary power supply battery are both communicatively connected to the recovery control assembly (110) via Ethernet; The secondary camera device (201) and the battery management system circuit of the secondary power supply battery are both communicatively connected to the flight control assembly (211) via Ethernet.

6. The liquid recoverable launch vehicle control system according to claim 1, characterized in that: Also included is a liquid level camera for measuring the propellant liquid level in the propellant tank; the liquid level camera comprises a first-stage fuel tank liquid level camera (117) and a first-stage liquid oxygen liquid level camera (116) arranged on the first stage (100) of the rocket, and a second-stage fuel tank liquid level camera (212) and a second-stage liquid oxygen liquid level camera (213) arranged on the second stage (200) of the rocket.

7. The liquid recoverable launch vehicle control system according to claim 6, characterized in that: The first-stage fuel tank liquid level camera (117) and the first-stage liquid oxygen liquid level camera (116) are communicatively connected to the recovery control assembly (110) via an RS422 bus; and the second-stage fuel tank liquid level camera (212) and the second-stage liquid oxygen liquid level camera (213) are communicatively connected to the flight control assembly (211) via an RS422 bus.

8. The liquid recoverable launch vehicle control system according to any one of claims 1 to 7, characterized in that: Also included is ground equipment (300) for testing a liquid recoverable launch vehicle; the ground equipment (300) is communicatively connected to the flight control assembly (211) and the recovery control assembly (110) via Ethernet.

9. A liquid recoverable launch vehicle control method, characterized in that: The liquid reusable launch vehicle control system according to claim 8 is used to control the liquid reusable launch vehicle, comprising: When the liquid recoverable launch vehicle control system is in a ground test state, the liquid recoverable launch vehicle control system receives all legal instructions sent by the ground equipment (300) via Ethernet, and performs an action response to the received legal instructions; When the control system of the liquid reusable launch vehicle is switched from the ground test state to the flight state, the flight control assembly (211) and the recovery control assembly (110) no longer respond to all instructions sent by the ground equipment (300) via Ethernet after receiving the ignition instruction; When the control system of the liquid recoverable launch vehicle is in a normal flight state, the flight control assembly (211) and the recovery control assembly (110) communicate with each other via the A bus in the dual-channel hot backup RS422 bus, and the recovery control assembly (110) periodically reports the working state of the rocket first sub-stage (100) to the flight control assembly (211); When the A bus in the RS422 bus fails to respond continuously, the flight control assembly (211) and the recovery control assembly (110) actively switch to the B bus for communication, and no longer switch back to the A bus in the RS422 bus; When both the A bus and the B bus in the dual hot backup RS422 bus between the flight control assembly (211) and the recovery control assembly (110) are in an abnormal state, and the recovery control assembly (110) cannot receive the periodic command action of the flight control assembly (211) through the two hot backup RS422 channels, and cannot be restored within a period of time, the recovery control assembly (110) will autonomously continue to implement subsequent control solution, swing angle output and timing action based on the information collected by the first-level inertial measurement assembly and wait for communication to be restored.

10. The liquid recoverable launch vehicle control method according to claim 9, characterized in that: When the control system of the liquid reusable launch vehicle is in a ground test state, the first rocket stage (100) and the second rocket stage (200) are individually ground tested or the first rocket stage (100) and the second rocket stage (200) are jointly ground tested; When the rocket first stage (100) and the rocket second stage (200) are conducting a joint ground test, the ground equipment (300) communicates with the flight control assembly (211) via Ethernet, and the flight control assembly (211) exchanges information with the recovery control assembly (110) via an RS422 bus.

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