A composite attitude control method for launch vehicles

Abstract

The present application discloses a composite attitude control method for a launch vehicle, comprising: establishing a swing nozzle correction model and a side jet correction model for the launch vehicle, simultaneously sending the rocket body attitude angle deviation to both models, and calculating the output, wherein the output of the side jet correction model is compared with the attitude control nozzle on / off threshold, and the output of the side jet correction network can only be actually applied to the rocket body attitude control process when the output of the side jet correction network reaches the attitude control nozzle on / off threshold. By jointly applying the swing nozzle correction model and the side jet correction model, the present application eliminates the jitter attitude angle deviation generated by the swing nozzle correction system during operation in harsh environments, thereby improving the rocket body attitude control accuracy. Moreover, the output of the side jet correction model is compared with the attitude control nozzle on / off threshold, ensuring that the side jet correction model controls the rocket body attitude only when necessary, thereby improving fuel utilization.

Description

Technical Field

[0001] The present application relates to the field of attitude control of launch vehicles, and specifically, to 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 nozzle's direction or impulse to adjust the attitude. However, in harsh environments, the nozzle's servo mechanism is prone to deformation, resulting in a jittering attitude angle deviation. This jittering attitude angle deviation can also couple with the rocket's own attitude angle deviation, increasing the error. To improve the accuracy of the launch vehicle's attitude angle deviation and mitigate the potential loss of control efficiency associated with multi-step attitude control, it is necessary to propose a composite control method for the launch vehicle's attitude.

[0003] Application Contents

[0004] The Abstract section introduces a series of simplified concepts that will be further described in the Detailed Description section. The Abstract section of this application is not intended to limit the key features and essential features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0005] In a first aspect, an embodiment of the present application provides a carrier rocket 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 attitude of the rocket body is controlled based on the attitude nozzle control signal and the swing nozzle servo control signal.

[0010] In one embodiment of the present application, 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 an output of a side jet correction model;

[0012] The attitude control nozzle relay characteristic processing operation 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] in, represents the attitude nozzle control signal; Indicates the nozzle control switch threshold value, 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] in, represents the output of the side jet correction model; j represents a complex unit; z represents a complex variable; Indicates the angular deviation of the launch vehicle's body attitude; represents the side jet correction transfer function;

[0019] ,

[0020] in, represents the zero-point damping of the side jet correction transfer function; represents the zero frequency of the side jet correction transfer function; represents the extreme damping of the side jet correction transfer function; 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 point 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, 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] in, 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; represents the swing nozzle correction transfer function;

[0024]

[0025] in, represents the pole frequency of the swing nozzle correction transfer function, 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 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 further includes:

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

[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 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 rocket is controlled based on the swing nozzle servo control signal to control the rocket body attitude angle deviation amount.

[0030] In a 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 rocket body attitude angle, the target rocket body attitude angle, and negative feedback adjustment;

[0032] a swing nozzle correction unit, configured to obtain a swing nozzle servo control signal based on the attitude angle deviation;

[0033] a side jet correction unit, configured to obtain an attitude control nozzle control signal based on the attitude angle deviation;

[0034] The rocket body attitude control unit is used to adjust the 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 the processor, the launch vehicle composite 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 the program instructions in the memory to execute any one of the launch vehicle composite attitude control steps in the above-mentioned first aspect.

[0037] In summary, a composite attitude control method for a carrier rocket 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 it, and the output is sent to the attitude control nozzle switch threshold for numerical comparison. When the output value exceeds the switch threshold, 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. When the parameter range is other than the value above, the attitude control nozzle is closed. Based on this method, the operating state of the attitude control nozzle is adjusted. For the swing nozzle control system, there is no need to use the switch threshold for opening judgment. 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 carrier rocket. Not only can the overall attitude of the carrier rocket 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. Moreover, the attitude angle deviation can be sent to two attitude control networks at the same time, fully improving the attitude control adjustment efficiency of the carrier rocket.

[0038] In the launch vehicle composite attitude control method proposed in this application, other advantages, objectives and features of this application will be reflected in part through the following description, and in part will be 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 skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present description. The same reference symbols are used throughout the drawings to represent the same components. In the drawings:

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

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

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

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

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

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

[0046] Figure 7 A schematic structural diagram of a carrier rocket 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 are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also include elements inherent to such process, method, article or equipment. In the absence of further restrictions, the elements defined by the statement "comprising a ..." do not exclude the presence of other identical elements in the process, method, article or equipment comprising the elements. The term "two or more" includes two or more than two cases.

[0049] In the construction of the composite attitude control method for a launch vehicle disclosed in this application, it was found that the nozzle-based attitude control scheme of the launch vehicle would generate a jitter attitude angle deviation, which would be coupled with the attitude angle deviation generated by the launch vehicle itself. In particular, 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 rocket body attitude have been developed, and the commonly used ones are the swing nozzle control method and the side jet control method. Of 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 wider control force adjustment range and better control capability, but the control loop response is slow. In addition, in the space environment, various components are likely to have problems such as increased clearance and component deformation. This will eventually lead to mechanical clearance and noise in the servo mechanism, causing irregular jitter of the swing nozzle, generating interference torque, causing lateral vibration of the launch vehicle during flight, resulting in a significant decrease in attitude control accuracy. The side jet control method is a method for adjusting the overall attitude of a launch vehicle based on a low-thrust rocket. It has a faster response speed and the ability to quickly correct small, transient disturbances. However, the control force adjustment range is small, and the ability to correct the overall attitude of the rocket is relatively weak. Currently, some technologies combine these two control methods. However, the specific logic is to first adjust the overall attitude of the launch vehicle based on the swing nozzle control method. After that, the swing nozzle control system is shut down, and the side jet control method takes over control to achieve small-scale adjustments to the launch vehicle's composite attitude. Both of these control methods, as well as the current sequential control logic, contain the technical problems to be solved by this application. To this end, this application establishes a method for simultaneously controlling the swing nozzle control method and the side jet control method. These two control methods have different functions: the swing nozzle control method is used to control large attitude angle deviations of the launch vehicle, while the side jet control method eliminates the jittering attitude angle deviations generated by the swing nozzle control method.

[0050] See also Figure 1 The flow chart of a carrier rocket 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 carrier rocket, the attitude angle of the carrier rocket is obtained based on a measuring device in the carrier rocket, and based on the theoretical flight parameters of the carrier rocket, the target attitude angle of the carrier rocket is determined within a preset flight time. Then, based on the actual attitude angle of the rocket body and the target attitude angle of the rocket body, negative feedback adjustment is performed to obtain the attitude angle deviation.

[0053] The purpose of this step is to directly measure the attitude angle deviation generated by the carrier rocket 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 a 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 are used to 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 precise control results.

[0057] S130, inputting the attitude angle deviation into a 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 carrier rocket.

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

[0060] For example, the 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 carrier rocket, 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 carrier rocket 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 it, and the output is sent to the attitude control nozzle switch threshold for numerical comparison. When the output value exceeds the switch threshold, 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. When the parameter range is other than the value above, the attitude control nozzle is closed. Based on this method, the operating state of the attitude control nozzle is adjusted. For the swing nozzle control system, there is no need to use the switch threshold for opening judgment. 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 carrier rocket. Not only can the overall attitude of the carrier rocket 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. Moreover, the attitude angle deviation can be sent to two attitude control networks at the same time, fully improving the attitude control adjustment efficiency of the carrier rocket.

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

[0063]

[0064] in, represents the attitude nozzle control signal; Indicates the nozzle control switch threshold value, represents the output of the side jet correction model.

[0065] In some examples, the correction model of the side jet correction network is:

[0066] ,

[0067] in, represents the output of the side jet correction model; j represents a complex unit; z represents a complex variable; Indicates the angular deviation of the launch vehicle's body attitude; represents the side jet correction transfer function;

[0068] ,

[0069] in, represents the zero-point damping of the side jet correction transfer function; represents the zero frequency of the side jet correction transfer function; represents the extreme damping of the side jet correction transfer function; 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 point 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, 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 attitude control nozzle relay characteristic processing operation is performed based on the output of the side jet correction model and the attitude control nozzle switch threshold value to obtain the attitude control nozzle control signal. During this process, a judgment is also made as to whether the attitude control nozzle is in operation. Specifically, after the side jet correction network obtains the attitude angle deviation, the operating state of the attitude control nozzle is adjusted based on the entire side jet control system. First, it should be noted that the attitude control nozzle switch threshold refers to the numerical range set in the launch vehicle side jet correction model for comparing the output of the side jet correction model. In other words, when the output of the side jet correction model falls within this switch threshold, the attitude control nozzle output direction and switch state in the side jet correction system are adjusted using the comparison result of the side jet correction model output and the attitude control nozzle switch threshold. This ensures that in some special cases, such as when the jitter attitude angle deviation is small, there is no need for the side jet control system to intervene and adjust, thereby 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] For example, when the output of the side jet correction model is not less than the attitude control nozzle on / off threshold, the attitude control nozzle is activated and operated according to the current orientation; when the output of the side jet correction model is not greater than the negative of the attitude control nozzle on / off threshold, the attitude control nozzle is activated and operated in the direction opposite to the current nozzle orientation; within other parameter ranges, the attitude control nozzle is in a shut-off state. The purpose of this step is to ensure that, in some cases, even when the oscillating nozzle is activated to control the attitude angle offset, the resulting slight jitter attitude angle offset does not require intervention by the side jet correction network. In fact, intervention may even increase the attitude control nozzle fuel consumption or cause positive feedback adjustment problems for the attitude angle offset. Therefore, by comparing the output data of the side jet correction model with the on / off threshold, it can be determined whether the current attitude control nozzle is necessary to adjust the launch vehicle's attitude. In addition, if the attitude control nozzle cannot achieve multi-angle orientation and multi-angle adjustment, the processing direction can be adjusted to offset the jitter attitude angle offset.

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

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

[0076]

[0077] in, 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; represents the swing nozzle correction transfer function;

[0078]

[0079] in, represents the pole frequency of the swing nozzle correction transfer function, 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 pole damping of the swing nozzle correction transfer function are determined by the performance parameters of the launch vehicle.

[0080] For example, the transfer function of the launch vehicle's oscillating nozzle correction network is first obtained, which includes pole frequencies and pole damping parameters. The pole data in the entire model can be determined based on the launch vehicle's performance, specifically based on lead-lag control theory in classical control theory. This allows the pole frequencies and pole damping in the oscillating nozzle correction transfer function to 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 The purpose of this step is to transform the swing nozzle correction transfer function of the launch vehicle into state space in order to achieve effective control.

[0082] The purpose of this step is to detect that the attitude angle deviation of the carrier rocket exceeds the set threshold. Usually, the value of the attitude angle deviation of the carrier rocket 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 rocket body is attitude controlled based on the attitude nozzle control signal and the swing nozzle servo control signal. This includes: obtaining an attitude angle deviation based on the actual rocket body attitude angle and the target rocket body attitude angle through negative feedback regulation. In addition, the composite attitude control includes side jet control and swing nozzle control, and the rocket body attitude nozzle is controlled to open and close based on the attitude nozzle control signal to control the rocket body attitude angle deviation caused by the swing nozzle control.

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

[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] For example, the source of the attitude angle deviation generated during the operation of the launch vehicle is decomposed and analyzed to identify the jitter attitude angle deviation. When the jitter attitude angle deviation falls into the switching threshold of the side jet correction model, the side jet correction model output is used to eliminate the jitter attitude angle deviation.

[0087] The purpose of this step is that when the swing nozzle correction model generates output during the control of the launch vehicle, the launch vehicle will cause shaking. 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 solutions disclosed in this application have the following practical effects:

[0089] like Figure 3-Figure 4 As shown, there are respectively a graph showing the relationship between the attitude angle deviation and the 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 the rigid body attitude angular velocity and the 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, among which the attitude angle deviation and the attitude angular velocity both have large cyclic values, that is, when only the swing nozzle correction model is enabled, the carrier rocket will produce large amplitude vibrations, and the overall vibration is also very frequent.

[0090] like Figure 5-Figure 6 The figures shown are respectively a graph showing the relationship between the attitude angle deviation and the composite control time under the composite attitude control of a carrier rocket provided in an embodiment of the present application, and a graph showing the relationship between the rigid body attitude angular velocity and the composite control time under the composite attitude control of a carrier rocket provided in an embodiment of the present application. Specifically, by adopting the composite control method disclosed in the present application, which employs the swing nozzle correction model and the side jet correction model, and setting the attitude control nozzle switching threshold to 40% of the vibration amplitude, approximately 0.3°, both the vehicle body attitude angle deviation and the attitude angular velocity are significantly suppressed compared to the case where only the swing nozzle correction model is enabled. Therefore, it can be seen from this that the composite attitude control method for a carrier rocket disclosed in the present application can achieve an overall effective correction effect on the attitude angle deviation of the carrier rocket.

[0091] like Figure 7 , which is a schematic structural diagram of a carrier rocket composite attitude control system provided by 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 rocket body attitude angle deviation during the flight of the carrier rocket based on a negative feedback control method;

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

[0094] The swing nozzle correction unit is configured to obtain the calculated rocket body attitude angular 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. The adjustment object is the overall structure of the carrier rocket, thereby realizing large-angle adjustment of the carrier rocket.

[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 carrier rocket.

[0096] The effects of the above system when applying the above method 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 realized 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 carrier rocket 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 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 achieve 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 focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant description 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 take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present application may take the form of a computer program product implemented on one or more computer-readable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing 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 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 produce 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 that can direct a computer or other programmable data processing device to work 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 The 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 operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0107] An embodiment of the present application further 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 drive controller.

[0108] A computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, they fully or partially produce the processes or functions according to the embodiments of the present application. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that can be stored by a computer, or a data storage device such as a server or data center that integrates one or more available media. Available media can include magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., DVDs), or semiconductor media (e.g., solid-state drives (SSDs)).

[0109] Those skilled in the art will 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 this 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 merely schematic. For example, the division of units is merely a logical function division. In actual implementation, there may be other division methods, 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 interface, device or unit, which can be electrical, mechanical or other forms.

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

[0112] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or 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, 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. The computer software product is stored in a storage medium and includes a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute 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 (ROM), random access memory (RAM), disk or optical disk, and other media that can store program code.

[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 the preferred embodiments of this specification have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concepts. 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 this specification.

[0116] Obviously, those skilled in the art may make various changes and modifications to this specification without departing from the spirit and scope of this specification. Thus, if such changes and modifications fall within the scope of the claims of this specification and their equivalents, this specification is intended to include such changes and modifications.

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 a side jet correction network to obtain a side jet correction network output, thereby obtaining an attitude nozzle control signal; Inputting the attitude angle deviation into the swing nozzle correction network to obtain a swing nozzle servo control signal; The attitude of the rocket body is controlled based on the attitude nozzle control signal and the swing nozzle servo control signal.

2. The carrier rocket composite attitude control method according to claim 1, characterized in that: 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 includes: Inputting the attitude angle deviation into the side jet correction network to obtain an output of a side jet correction model; The attitude control nozzle relay characteristic processing operation 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 carrier rocket 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: in, represents the attitude nozzle control signal; Indicates the nozzle control switch threshold value, represents the output of the side jet correction model.

4. The carrier rocket composite attitude control method according to claim 1 or 2, characterized in that: The correction model of the side jet correction network is: ， in, represents the output of the side jet correction model; j represents a complex unit; z represents a complex variable; Indicates the angular deviation of the launch vehicle's body attitude; represents the side jet correction transfer function; ， in, represents the zero-point damping of the side jet correction transfer function; represents the zero frequency of the side jet correction transfer function; represents the extreme damping of the side jet correction transfer function; 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 point 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, Correct network gain for side jets.

5. The carrier rocket composite attitude control method according to claim 1, characterized in that: The correction model of the swing nozzle correction network is: in, 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; represents the swing nozzle correction transfer function; in, represents the pole frequency of the swing nozzle correction transfer function, 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 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 actual attitude angle of the rocket body and the target attitude angle of the rocket body through negative feedback adjustment.

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 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 rocket is controlled based on the swing nozzle servo control signal to control the rocket body attitude angle deviation amount.

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