Carrier rocket composite attitude control method

Abstract

The invention discloses a carrier rocket composite attitude control method, which comprises the following steps: establishing a swing nozzle correction model and a side jet flow correction model of a carrier rocket, sending a rocket body attitude angle deviation value to the two models at the same time, calculating an output quantity, comparing the output quantity of the side jet flow correction model with an attitude control nozzle opening and closing threshold, and calculating the attitude control nozzle opening and closing threshold; and when the output quantity of the side jet flow correction network reaches the opening and closing door limit of the attitude control jet pipe, the output of the side jet flow correction network can actually act on the rocket body attitude control process of the carrier rocket. Through common application of the swing spray pipe correction model and the side jet flow correction model, the jitter attitude angle deviation value generated during operation of the swing spray pipe correction system in a severe environment is eliminated, the attitude control precision of the rocket body is improved, and the output quantity of the side jet flow correction model is compared with the attitude control spray pipe opening and closing threshold, so that the attitude control precision is improved. It is guaranteed that the side jet flow correction model controls the attitude of the rocket body only if necessary, and therefore the fuel utilization rate is increased.

Description

Technical Field

[0001] The present application belongs to the field of attitude control of launch vehicles, and specifically, is a composite attitude control method for launch vehicles. Background Art

[0002] In the flight attitude control of a launch vehicle, it is necessary to control the direction or impulse of the nozzle for attitude adjustment. However, in harsh environments, the servo mechanism of the nozzle is prone to deformation increase, resulting in a jittering attitude angle deviation. The jittering attitude angle deviation will couple with the attitude angle deviation of the rocket body itself, increasing the error. In order to improve the accuracy of the attitude angle deviation of the launch vehicle and reduce the control efficiency reduction problem that may occur in the multi-step attitude control, it is necessary to propose a composite control method for the attitude of the launch vehicle.

[0003] Application Contents

[0004] A series of simplified concepts are introduced in the application content section, which will be further described in detail in the detailed implementation section. The application content section of this application does not mean to attempt to define the key features and essential technical features of the technical solution claimed for protection, nor does it mean to attempt to determine the scope of protection of the technical solution claimed for protection.

[0005] In a first aspect, an embodiment of the present application provides a launch vehicle composite attitude control method, the method comprising:

[0006] Obtain the angle deviation of the rocket body attitude;

[0007] Inputting the attitude angle deviation into the side jet correction network to obtain an attitude nozzle control signal;

[0008] Inputting the attitude angle deviation into the swing nozzle correction network to obtain a swing nozzle servo control signal;

[0009] The target arrow body is attitude controlled based on the attitude nozzle control signal and the swing nozzle servo control signal.

[0010] In one embodiment of the present application, the step of inputting the attitude angle deviation into a side jet correction network to obtain an attitude nozzle control signal includes:

[0011] Inputting the attitude angle deviation into the side jet correction network to obtain the output of the side jet correction model;

[0012] The relay characteristic processing operation of the attitude control nozzle is performed according to the output of the side jet correction model and the attitude control nozzle switch threshold value to obtain the attitude nozzle control signal.

[0013] In one embodiment of the present application, the relay characteristic processing operation of the nozzle is determined based on the following formula:

[0014]

[0015] Among them, δ zk represents the attitude nozzle control signal; m zk represents the nozzle control switch threshold value, δ cpl represents the output of the side jet correction model.

[0016] In one embodiment of the present application, the correction model of the side jet correction network is:

[0017]

[0018] Among them, δ cpl represents the output of the side jet correction model; j represents a complex unit; z represents a complex variable; Indicates the angle deviation of the launch vehicle's body attitude; G cpl represents the side jet correction transfer function;

[0019]

[0020] Among them, z represents the zero-point damping of the side jet correction transfer function; ω z represents the zero frequency of the side jet correction transfer function; ζ p represents the pole damping of the side jet correction transfer function; ω p represents the pole frequency of the side jet correction transfer function; s represents the frequency response of the side jet correction transfer function; the zero damping of the side jet correction transfer function and the pole damping of the side jet correction transfer function are determined by the performance of the launch vehicle, k jz Correct network gain for side jets.

[0021] In one embodiment of the present application, the correction model of the swing nozzle correction network is:

[0022]

[0023] Among them, δ bc represents the output of the swing nozzle correction model; j represents a complex unit; z represents a complex variable; Indicates the angle deviation of the rocket body attitude; G bc represents the swing nozzle correction transfer function;

[0024]

[0025] Among them, ω nrepresents the pole frequency of the swing nozzle correction transfer function, ζ n represents the pole damping of the swing nozzle correction transfer function, s represents the frequency response of the swing nozzle correction transfer function, and the pole frequency and the pole damping of the swing nozzle correction transfer function are determined by the performance parameters of the launch vehicle.

[0026] In one embodiment of the present application, it also includes:

[0027] The attitude angle deviation is obtained based on the negative feedback adjustment based on the actual attitude angle of the rocket body and the target attitude angle of the rocket body.

[0028] In one embodiment of the present application, the composite attitude control includes side jet control and swing nozzle control, and the attitude nozzle of the target rocket body is opened and closed based on the attitude nozzle control signal to control the attitude angle deviation of the rocket body caused by the swing nozzle control;

[0029] The nozzle of the target rocket is controlled based on the swing nozzle servo control signal to control the arrow angle deviation of the target rocket body.

[0030] In the second aspect, the present application proposes a composite attitude control device for a launch vehicle, comprising:

[0031] A rocket body attitude angle deviation measurement unit is used to obtain an attitude angle deviation based on the actual attitude angle of the rocket body, the target attitude angle of the rocket body and negative feedback adjustment;

[0032] A swing nozzle correction unit, used for obtaining a swing nozzle servo control signal based on the attitude angle deviation;

[0033] A side jet correction unit, used for obtaining an attitude control nozzle control signal based on the attitude angle deviation;

[0034] The rocket body attitude control unit is used to adjust the target rocket attitude based on the swing nozzle servo control signal and the attitude control nozzle control signal.

[0035] In the third aspect, the present application proposes a computer-readable storage medium, characterized in that the computer-readable storage medium includes a stored program, wherein when the program is executed by a processor, the launch vehicle compound attitude control steps described in any one of the first aspects are implemented.

[0036] In a fourth aspect, the present application proposes an electronic device, characterized in that the electronic device includes at least one processor and at least one memory connected to the processor; wherein the processor is used to call program instructions in the memory to execute any one of the launch vehicle compound attitude control steps in the first aspect above.

[0037] In summary, a composite attitude control method for a launch vehicle in an embodiment of the present application includes: obtaining a rocket body attitude angle deviation, and sending the rocket body attitude angle deviation to a side jet correction network and a swing nozzle correction network at the same time, wherein the side jet correction network outputs the attitude angle deviation after receiving the attitude angle deviation, and the output is sent to the attitude control nozzle switch threshold for numerical comparison, when the output value exceeds the switch threshold value, the attitude control nozzle opens according to the original direction, when the output value is less than the negative number of the switch threshold, the attitude control nozzle runs in the opposite direction of the original direction, and when the parameter range is other than the original direction, the attitude control nozzle is closed, based on this method, the operating state of the attitude control nozzle is adjusted, and for the swing nozzle control system, there is no need to use the switch threshold for opening judgment, and the output of the swing nozzle control network is directly sent to the servo device to adjust the operating parameters of the swing nozzle to achieve large parameter attitude control adjustment of the launch vehicle. Not only can the overall attitude of the launch vehicle be controlled based on the swing nozzle control system, but the jitter attitude angle deviation generated during the operation of the swing nozzle attitude control system can also be controlled, thereby improving the control accuracy of the attitude angle deviation and sending the attitude angle deviation to two attitude control networks at the same time, fully improving the attitude control adjustment efficiency of the launch vehicle.

[0038] In the launch vehicle composite attitude control method proposed in this application, other advantages, objectives and features of this application will be partially reflected through the following description, and will also be partially understood by technical personnel in this field through research and practice of this application. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present specification. Also, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0040] Figure 1 A flow chart of a launch vehicle composite attitude control method provided in an embodiment of the present application;

[0041] Figure 2 A control loop block diagram of a launch vehicle composite attitude control method provided in an embodiment of the present application;

[0042] Figure 3 A graph showing the relationship between attitude angle deviation and nozzle control time when only the swing nozzle is enabled for a launch vehicle provided in an embodiment of the present application;

[0043] Figure 4 A graph showing the relationship between the rigid body attitude angular velocity and the nozzle control time when only the swing nozzle is enabled for a launch vehicle provided in an embodiment of the present application;

[0044] Figure 5 A graph showing the relationship between attitude angle deviation and compound control time under compound attitude control of a launch vehicle provided in an embodiment of the present application;

[0045] Figure 6 A graph showing the relationship between the rigid body attitude angular velocity and the composite control time under the composite attitude control of a launch vehicle provided in an embodiment of the present application;

[0046] Figure 7 A schematic diagram of the structure of a launch vehicle composite attitude control system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0047] In order to better understand the technical solutions provided by the embodiments of this specification, the technical solutions of the embodiments of this specification are described in detail below through the accompanying drawings and specific embodiments. It should be understood that the embodiments of this specification and the specific features in the embodiments are detailed descriptions of the technical solutions of the embodiments of this specification, rather than limitations on the technical solutions of this specification. In the absence of conflict, the embodiments of this specification and the technical features in the embodiments can be combined with each other.

[0048] In this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or equipment. In the absence of more restrictions, the elements limited by the statement "comprise one..." do not exclude the existence of other identical elements in the process, method, article or equipment including the elements. The term "more than two" includes two or more than two situations.

[0049] In the construction of the composite attitude control method of the launch vehicle disclosed in the present application, it is found that in the scheme of attitude control of the launch vehicle based on the nozzle, a jitter attitude angle deviation will be generated, and it will be coupled with the attitude angle deviation generated by the launch vehicle itself, especially when entering the space environment from the atmosphere, the deformation of the nozzle servo increases, and the jitter attitude angle deviation generated is significantly increased. Of course, different control methods for the attitude of the rocket body have been developed at present, and the commonly used ones are the swing nozzle control method and the side jet control method. In these two methods, the swing nozzle control method realizes the attitude control of the launch vehicle by controlling the attitude of the rocket nozzle. This method has a larger control force adjustment range and better control ability, but the control loop responds slowly. In addition, in the space environment, various components therein are likely to have problems such as increased gaps and component deformation, which will eventually cause the mechanical gap and noise of the servo mechanism to cause irregular jitter of the swing nozzle, generate interference torque, and cause lateral vibration during the flight of the launch vehicle, resulting in a significant decline in attitude control accuracy. The side jet control method is a method for adjusting the overall attitude of a launch vehicle based on a small thrust rocket. It has a faster response speed and a rapid correction capability for instantaneous small-amplitude interference, but the control force adjustment range is small and the overall attitude correction capability of the rocket is weak. At present, there are also some technologies that combine and apply these two types of control methods, but the specific logic is that the overall attitude adjustment of the launch vehicle is first achieved based on the swing nozzle control method, and then the swing nozzle control system is shut down, and the side jet control method participates in the control to achieve a small range adjustment of the composite attitude of the launch vehicle. These two control methods themselves, as well as the current sequential control logic, contain the technical problems to be solved by this application. For this reason, this application establishes a set of methods for simultaneously controlling the swing nozzle control method and the side jet control method, and these two control methods have different functions. The swing nozzle control method is used to control the large attitude angle deviation of the launch vehicle, and the side jet control method is to eliminate the jitter attitude angle deviation generated when the swing nozzle control method plays a role.

[0050] See also Figure 1 , a flow chart of a launch vehicle composite attitude control method provided in an embodiment of the present application may specifically include:

[0051] S110, obtaining the arrow body attitude angle deviation;

[0052] Exemplarily, during the flight of a launch vehicle, the attitude angle of the launch vehicle is obtained based on a measuring device in the launch vehicle, and based on the theoretical flight parameters of the launch vehicle, the target attitude angle of the launch vehicle is determined within a preset flight time. Then, based on negative feedback adjustment based on the actual attitude angle of the rocket body and the target attitude angle of the rocket body, the attitude angle deviation is obtained.

[0053] The purpose of this step is to directly measure the attitude angle deviation of the launch vehicle during the current flight. Of course, it can be determined that before the swing nozzle control method is specifically implemented, there is essentially no jitter attitude angle deviation. After the swing nozzle control method is implemented, the jitter attitude angle deviation will appear. However, in any case, the attitude angle deviation of the rocket body can be directly measured and obtained, because the jitter attitude angle deviation and the attitude angle deviation of the rocket body itself will be coupled, and the result after coupling can be treated as the same parameter.

[0054] S120, inputting the attitude angle deviation into the side jet correction network to obtain an attitude nozzle control signal;

[0055] Exemplarily, the attitude angle deviation obtained is transmitted to the side jet correction network, which then outputs a side jet correction instruction. The side jet correction instruction and the attitude control nozzle switch threshold value perform relay characteristic processing operations on the attitude control nozzle to obtain an attitude control nozzle control signal, which can adjust the operating state of the attitude control nozzle.

[0056] The purpose of this step is to eliminate the jitter attitude angle deviation generated during the flight of the launch vehicle based on the side jet correction network. In addition, the entire process also involves the use of switching thresholds to control the opening and closing state of the attitude control nozzle to obtain more accurate control results.

[0057] S130, inputting the attitude angle deviation into the swing nozzle correction network to obtain a swing nozzle servo control signal;

[0058] Exemplarily, the attitude angle deviation is input into the swing nozzle correction network, and the swing nozzle correction network calculates the output to obtain a swing nozzle control instruction, and the output result is sent to the swing nozzle servo device. The swing nozzle servo device can adjust the attitude of the swing nozzle based on the swing nozzle control instruction and the servo device to control the attitude of the launch vehicle.

[0059] S140. Performing attitude control on the target rocket body based on the attitude nozzle control signal and the swing nozzle servo control signal.

[0060] Exemplarily, the target rocket body is jointly controlled for the swing nozzle control instructions and side jet correction instructions that have been obtained, and the two control systems themselves have different objects of action. Among them, the swing nozzle control system controls the overall attitude angle deviation of the launch vehicle, and the side jet control system controls the jitter attitude angle deviation generated when the swing nozzle control system is running.

[0061] In summary, a composite attitude control method for a launch vehicle in an embodiment of the present application includes: obtaining a rocket body attitude angle deviation, and sending the rocket body attitude angle deviation to a side jet correction network and a swing nozzle correction network at the same time, wherein the side jet correction network outputs the attitude angle deviation after receiving the attitude angle deviation, and the output is sent to the attitude control nozzle switch threshold for numerical comparison, when the output value exceeds the switch threshold value, the attitude control nozzle opens according to the original direction, when the output value is less than the negative number of the switch threshold, the attitude control nozzle runs in the opposite direction of the original direction, and when the parameter range is other than the original direction, the attitude control nozzle is closed, based on this method, the operating state of the attitude control nozzle is adjusted, and for the swing nozzle control system, there is no need to use the switch threshold for opening judgment, and the output of the swing nozzle control network is directly sent to the servo device to adjust the operating parameters of the swing nozzle to achieve large parameter attitude control adjustment of the launch vehicle. Not only can the overall attitude of the launch vehicle be controlled based on the swing nozzle control system, but the jitter attitude angle deviation generated during the operation of the swing nozzle attitude control system can also be controlled, thereby improving the control accuracy of the attitude angle deviation and sending the attitude angle deviation to two attitude control networks at the same time, fully improving the attitude control adjustment efficiency of the launch vehicle.

[0062] In some examples, the relay characteristic processing operation of the nozzle is determined based on the following formula:

[0063]

[0064] Among them, δ zk represents the attitude nozzle control signal; m zk represents the nozzle control switch threshold value, δ cpl represents the output of the side jet correction model.

[0065] In some examples, the side jet correction is performed using a correction model as follows:

[0066]

[0067] Among them, δ cpl represents the output of the side jet correction model; j represents a complex unit; z represents a complex variable; Indicates the angle deviation of the launch vehicle's body attitude; G cpl represents the side jet correction transfer function;

[0068]

[0069] Among them, z represents the zero-point damping of the side jet correction transfer function; ω z represents the zero frequency of the side jet correction transfer function; ζ p represents the pole damping of the side jet correction transfer function; vp represents the pole frequency of the side jet correction transfer function; s represents the frequency response of the side jet correction transfer function; the zero damping of the side jet correction transfer function and the pole damping of the side jet correction transfer function are determined by the performance of the launch vehicle, k jz Correct network gain for side jets.

[0070] Exemplarily, in the side jet correction network, the transfer function of the side jet correction network is first determined, and then the side jet correction network is discretized to obtain the Z transform result of the side jet correction network. At the same time, the discretized result is multiplied by the attitude angle deviation to obtain the side jet correction network.

[0071] Exemplarily, the relay characteristic processing operation of the attitude control nozzle is performed according to the output of the side jet correction model and the attitude control nozzle switch threshold value to obtain the attitude control nozzle control signal, and in the process, it is also judged whether the attitude control nozzle is put into operation. Specifically, after the side jet correction network obtains the attitude angle deviation, the operation state of the attitude control nozzle is adjusted based on the entire side jet control system. First of all, it should be explained that the attitude control nozzle switch threshold refers to the numerical range set in the side jet correction model of the launch vehicle for comparing the output of the side jet correction model, that is, when the output of the side jet correction model falls into the switch threshold, the output direction and switch state of the attitude control nozzle in the side jet correction system are adjusted by using the comparison result of the output of the side jet correction model and the attitude control nozzle switch threshold, so as to ensure that in some special cases, such as when the jitter attitude angle deviation is small, there is no need to implement the side jet control system intervention adjustment, so as to achieve the effect of significantly reducing the fuel consumption of the side jet correction system. Among them, the switching threshold of the side jet correction model needs to be determined according to the performance parameters of the launch vehicle, such as the overall performance of the launch vehicle's attitude angle deviation correction system, the weight of the launch vehicle, the length of the launch vehicle, etc.

[0072] Exemplarily, the switching threshold of the side jet correction network deviation is set to 30%-50% of the amplitude of the identified jitter attitude angle deviation. When it is determined that this value is reached, the side jet correction model starts to operate.

[0073] Exemplarily, when the output of the side jet correction model is not less than the attitude control nozzle switch threshold, the attitude control nozzle starts and runs according to the current direction; when the output of the side jet correction model is not greater than the negative number of the attitude control nozzle switch threshold, the attitude control nozzle starts and runs in the opposite direction of the current nozzle direction; in other parameter ranges, the attitude control nozzle is in a shutdown state. The purpose of this step is that in some cases, even when the swing nozzle is turned on to control the attitude angle offset, the small jitter attitude angle deviation generated does not need to be adjusted by the side jet correction network. Even if it intervenes, it will increase the fuel consumption of the attitude control nozzle, or there will be a positive feedback adjustment problem of the attitude angle deviation. Therefore, when the output data of the side jet correction model is compared with the switch threshold, it can be determined whether the current attitude control nozzle is necessary to participate in adjusting the attitude of the launch vehicle, and when the attitude control nozzle cannot achieve multi-angle orientation and multi-angle adjustment, it can also achieve adjustment of the processing direction to offset the jitter attitude angle deviation.

[0074] In some examples, the attitude angle deviation is input into a swing nozzle correction network to obtain a swing nozzle servo control signal, including:

[0075] The correction model of the swing nozzle correction network is:

[0076]

[0077] Among them, δ bc represents the output of the swing nozzle correction model; j represents a complex unit; z represents a complex variable; Indicates the angle deviation of the rocket body attitude; G bc represents the swing nozzle correction transfer function;

[0078]

[0079] Among them, ω n represents the pole frequency of the swing nozzle correction transfer function, ζ n represents the pole damping of the swing nozzle correction transfer function, s represents the frequency response of the swing nozzle correction transfer function, and the pole frequency and the pole damping of the swing nozzle correction transfer function are determined by the performance parameters of the launch vehicle.

[0080] Exemplarily, the transfer function of the swing nozzle correction network of the launch vehicle is first obtained, which includes pole frequency and pole damping parameters. The data of the poles in the entire model can be determined based on the performance of the launch vehicle, specifically, based on the lead-lag control theory in classical control theory. Then, the pole frequency and pole damping in the swing nozzle correction transfer function can be determined.

[0081] For example, after the swing nozzle correction transfer function of the launch vehicle has been determined, it is discretized. Specifically, the swing nozzle correction transfer function is Z-transformed to obtain G bc The purpose of this step is to transform the swing nozzle correction transfer function of the launch vehicle into state space to achieve effective control.

[0082] The purpose of this step is to detect that the attitude angle deviation of the launch vehicle exceeds the set threshold. Usually, the value of the attitude angle deviation of the launch vehicle is large, and the numerical requirements for the nozzle control process are high. Therefore, based on the swing nozzle control system, the larger numerical value of the rocket body attitude angle deviation is controlled to improve the control efficiency.

[0083] In some examples, the attitude control of the target rocket body is performed based on the attitude nozzle control signal and the swing nozzle servo control signal. This includes: obtaining the attitude angle deviation based on the actual attitude angle of the rocket body and the target attitude angle of the rocket body based on negative feedback adjustment. In addition, the composite attitude control includes side jet control and swing nozzle control, and the attitude nozzle of the target rocket body is controlled to open and close based on the attitude nozzle control signal to control the attitude angle deviation of the rocket body caused by the swing nozzle control;

[0084] The nozzle of the target rocket is controlled based on the swing nozzle servo control signal to control the arrow angle deviation of the target rocket body.

[0085] For example, the measured attitude angle deviation of the launch vehicle body will be sent to the side jet correction network and the swing nozzle correction network at the same time, and the two correction networks will control the corresponding attitude angle deviation at the same time.

[0086] Exemplarily, the sources of attitude angle deviations generated during the operation of the launch vehicle are decomposed and analyzed to identify the jittering attitude angle deviations. When the jittering attitude angle deviations fall into the switching threshold of the side jet correction model, the side jet correction model outputs a signal to eliminate the jittering attitude angle deviations.

[0087] The purpose of this step is that when the swing nozzle correction model generates output during the control of the launch vehicle, it will cause the launch vehicle to shake. This shaking will eventually generate a shaking attitude angle deviation, and the shaking attitude angle deviation will be coupled with the attitude angle deviation generated by the launch vehicle itself. Therefore, in order to achieve a better attitude angle deviation elimination effect, the side jet correction model is used to eliminate the generated shaking attitude angle deviation. Among them, the side jet correction model and the swing nozzle correction model both act on the launch vehicle, based on which, a higher quality control effect is obtained.

[0088] The technical effects actually produced by the technical solution disclosed in this application are as follows:

[0089] like Figure 3-Figure 4 As shown, there are respectively a graph showing the relationship between attitude angle deviation and nozzle control time of a carrier rocket provided in an embodiment of the present application when only the swing nozzle is enabled, and a graph showing the relationship between rigid body attitude angular velocity and nozzle control time of a carrier rocket provided in an embodiment of the present application when only the swing nozzle is enabled. What is shown are the attitude angle deviation and attitude angular velocity parameters generated during the flight of the carrier rocket when only the swing nozzle correction model is enabled, wherein both the attitude angle deviation and the attitude angular velocity have large cyclic values, that is, when only the swing nozzle correction model is enabled, the carrier rocket will produce relatively large vibrations, and the overall vibration is also very frequent.

[0090] like Figure 5-Figure 6 As shown, there are respectively a graph of attitude angle deviation and compound control time in a carrier rocket compound attitude control case provided by an embodiment of the present application and a graph of rigid body attitude angular velocity and compound control time in a carrier rocket compound attitude control case provided by an embodiment of the present application, that is, the composite control method disclosed in the present application, which uses a swing nozzle correction model and a side jet correction model, is adopted. When the attitude control nozzle switch threshold is set to a vibration amplitude of 40%, about 0.3°, compared with the case where only the swing nozzle correction model is turned on, the rocket body attitude angle deviation and attitude angular velocity are significantly suppressed. Therefore, it can be seen from this that the overall effective correction effect of the carrier rocket attitude angle deviation can be achieved by adopting the carrier rocket compound attitude control method disclosed in the present application.

[0091] like Figure 7 , which is a schematic diagram of the structure of a composite attitude control system for a launch vehicle provided in an embodiment of the present application, including: a rocket body attitude angle deviation measurement unit, a swing nozzle correction unit, a side jet correction unit and a rocket body attitude control unit;

[0092] The rocket body attitude angle deviation measurement unit is configured to obtain the actual attitude angle of the rocket body and the target attitude angle of the rocket body during the flight of the carrier rocket, and calculate the target attitude angle deviation of the rocket body during the flight of the carrier rocket based on the negative feedback control method;

[0093] The side jet correction unit is configured to obtain the calculated attitude angle deviation of the rocket body, and calculate the attitude control nozzle control signal based on the side jet correction network program and the switch threshold program stored in the unit, wherein the attitude control nozzle control signal is sent to the attitude control nozzle, and the attitude of the rocket body is adjusted by the attitude control nozzle, and the adjustment object is the jitter attitude angle deviation generated when the swing nozzle correction system is operated.

[0094] The swing nozzle correction unit is configured to obtain the calculated rocket body attitude angle deviation, and calculate the swing nozzle servo control signal based on the swing nozzle correction network program stored in the unit, wherein the swing nozzle servo control signal is sent to the swing nozzle servo to adjust the attitude and output of the swing nozzle, and its adjustment object is the overall structure of the launch vehicle, so as to realize large-angle adjustment of the launch vehicle.

[0095] The rocket body attitude control unit is configured to receive the swing nozzle servo control signal and the attitude control nozzle control signal, so that the attitude control nozzle and the swing nozzle servo can operate according to the received control signals, and based on these two control signals, jointly adjust the attitude of the launch vehicle.

[0096] The effects of the above system when the above method is applied can be found in the description of the above method embodiment, which will not be repeated here.

[0097] An embodiment of the present application also provides a computer-readable storage medium for executing any step in the aforementioned launch vehicle composite attitude control method.

[0098] The computer-readable storage medium includes various stored programs, including a swing nozzle control program and a side jet control program, and various functions for the attitude control of the launch vehicle are implemented based on the programs stored therein.

[0099] An embodiment of the present application also provides an electronic device, which includes at least one processor, a memory connected to the processor, etc. The processor can obtain a corresponding program from the memory connected to it and execute any step in the aforementioned launch vehicle composite attitude control method.

[0100] Since the electronic device introduced in this embodiment is a device used to implement a composite attitude control method for a launch vehicle in the embodiment of the present application, based on the method introduced in the embodiment of the present application, technical personnel in this field can understand the specific implementation mode of the electronic device of this embodiment and its various variations, so how the electronic device implements the method in the embodiment of the present application will not be described in detail. As long as the equipment used by technical personnel in this field to implement the method in the embodiment of the present application falls within the scope of protection of this application.

[0101] In the specific implementation process, when the computer program is executed by the processor, it can be achieved Figure 1 Any implementation manner in the corresponding embodiments.

[0102] It should be noted that in the above embodiments, the description of each embodiment has its own emphasis, and for parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0103] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-readable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-readable program code.

[0104] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded computer, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0105] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0106] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0107] An embodiment of the present application also provides a computer program product, which includes computer software instructions. When the computer software instructions are executed on a processing device, the processing device executes the process of the LDPC decoding method of the solid-state hard disk controller.

[0108] The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on the computer, the process or function according to the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website site, a computer, a server or a data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (digital subscriber line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium can be any available medium that a computer can store or a data storage device such as a server or a data center that includes one or more available media integration. The available medium can be a magnetic medium, (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid state drive (SSD)), etc.

[0109] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0110] In the several embodiments provided in the present application, it should be understood that the disclosed devices, apparatuses and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0111] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0112] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0113] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), disk or optical disk and other media that can store program codes.

[0114] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application 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 application.

[0115] Although preferred embodiments of the present specification have been described, additional changes and modifications may be made to these embodiments by those skilled in the art once the basic inventive concepts are known. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present specification. Obviously, those skilled in the art may make various changes and modifications to the present specification without departing from the spirit and scope of the present specification. Thus, if these modifications and variations of the present specification fall within the scope of the claims of the present specification and their equivalents, the present specification is also intended to include these modifications and variations.

Claims

1. A launch vehicle composite attitude control method, characterized in that: include: Obtain the angle deviation of the rocket body attitude; Inputting the attitude angle deviation into the side jet correction network to obtain the side jet correction network output, and then obtaining the attitude nozzle control signal; Inputting the attitude angle deviation into the swing nozzle correction network to obtain a swing nozzle servo control signal; The target arrow body is attitude controlled based on the attitude nozzle control signal and the swing nozzle servo control signal.

2. The launch vehicle composite attitude control method according to claim 1, characterized in that: The step of inputting the attitude angle deviation into the side jet correction network to obtain the side jet correction network output and then obtaining the attitude nozzle control signal comprises: Inputting the attitude angle deviation into the side jet correction network to obtain the output of the side jet correction model; The relay characteristic processing operation of the attitude control nozzle is performed according to the output of the side jet correction model and the attitude control nozzle switch threshold value to obtain the attitude nozzle control signal.

3. The launch vehicle composite attitude control method according to claim 2, characterized in that: The relay characteristic processing operation of the nozzle is determined based on the following formula: Among them, δ zk represents the attitude nozzle control signal; m zk represents the nozzle control switch threshold value, δ cpl represents the output of the side jet correction model.

4. The launch vehicle composite attitude control method according to claim 1 or 2, characterized in that: The correction model of the side jet correction network is: Among them, δ cpl represents the output of the side jet correction model; j represents a complex unit; z represents a complex variable; Indicates the angle deviation of the launch vehicle's body attitude; G cpl represents the side jet correction transfer function; Among them, z represents the zero-point damping of the side jet correction transfer function; ω z represents the zero frequency of the side jet correction transfer function; ζ p represents the pole damping of the side jet correction transfer function; ω p represents the pole frequency of the side jet correction transfer function; s represents the frequency response of the side jet correction transfer function; the zero damping of the side jet correction transfer function and the pole damping of the side jet correction transfer function are determined by the performance of the launch vehicle, k jz Correct network gain for side jets.

5. The launch vehicle composite attitude control method according to claim 1, characterized in that: The correction model of the swing nozzle correction network is: Among them, δ bc represents the output of the swing nozzle correction model; j represents a complex unit; z represents a complex variable; Indicates the angle deviation of the rocket body attitude; G bc represents the swing nozzle correction transfer function; Among them, ω n represents the pole frequency of the swing nozzle correction transfer function, ζ n represents the pole damping of the swing nozzle correction transfer function, s represents the frequency response of the swing nozzle correction transfer function, and the pole frequency and the pole damping of the swing nozzle correction transfer function are determined by the performance parameters of the launch vehicle.

6. The launch vehicle composite attitude control method according to claim 1, characterized in that: Also includes: The attitude angle deviation is obtained based on the negative feedback adjustment based on the actual attitude angle of the rocket body and the target attitude angle of the rocket body.

7. The launch vehicle composite attitude control method according to claim 1, characterized in that: The composite attitude control includes side jet control and swing nozzle control, and the attitude nozzle of the target rocket body is controlled to open and close based on the attitude nozzle control signal to control the attitude angle deviation of the rocket body caused by the swing nozzle control; The nozzle of the target rocket is controlled based on the swing nozzle servo control signal to control the arrow angle deviation of the target rocket body.

8. A launch vehicle composite attitude control system, characterized in that: include: A rocket body attitude angle deviation measurement unit is used to obtain an attitude angle deviation based on the actual attitude angle of the rocket body, the target attitude angle of the rocket body and negative feedback adjustment; A swing nozzle correction unit, used for obtaining a swing nozzle servo control signal based on the attitude angle deviation; A side jet correction unit, used for obtaining an attitude control nozzle control signal based on the attitude angle deviation; The rocket body attitude control unit is used to adjust the target rocket attitude based on the swing nozzle servo control signal and the attitude control nozzle control signal.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein when the program is executed by a processor, the launch vehicle composite attitude control steps as described in any one of claims 1 to 7 are implemented.

10. An electronic device, characterized in that: The electronic device includes at least one processor and at least one memory connected to the processor; wherein the processor is used to call program instructions in the memory to execute the launch vehicle composite attitude control steps as described in any one of claims 1 to claim 7.

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