Missile attitude control engine layout structure and control method thereof

Abstract

According to the missile attitude control engine layout and the control method, four attitude control engines are arranged on the periphery of a missile body, the normal of a jet pipe of each attitude control engine is not parallel to the installation center line of the engine, and the opening direction of the jet pipes of the attitude control engines is in plane symmetry. And the attitude control engine is provided with working energy by an energy system through a pipeline. In the missile flight process, when four attitude control engines are needed to participate in attitude control, four attitude control engine working strategies are selected by adopting a control channel weight grade time-sharing strategy.

Description

Technical Field

[0001] The present invention relates to the technical field of missile attitude control, and in particular to a missile attitude control engine layout structure and a control method thereof. Background Art

[0002] At present, missiles perform combat missions in a wide range of speeds and altitudes. When the flight environment is in extremely low dynamic pressure, traditional aerodynamics cannot meet the flight control requirements, and a direct control force needs to be introduced to perform missile flight control. As a device that can effectively provide direct control force, attitude control engines are used in missiles. When attitude control engines are currently used for flight control, a layout scheme of 6 or more attitude control engines is adopted to achieve a more convenient and fast three-channel control effect. However, for missiles with strict space constraints and mass constraints, it is of great application value to study a missile attitude control engine layout and control strategy with a small number of attitude control engines but still able to achieve better three-channel control. Summary of the invention

[0003] In view of the defects in the prior art, the object of the present invention is to provide a missile attitude control engine layout structure and a control method thereof.

[0004] A missile attitude control engine layout structure provided by the present invention comprises: an attitude control engine 2 and a missile body 1;

[0005] The four attitude control engines 2 are arranged around the missile body 1; the nozzle normal line 3 of each attitude control engine 2 is not parallel to the installation center line 4 of the attitude control engine 2; the nozzle opening directions of the four attitude control engines 2 are arranged in a plane-symmetrical manner.

[0006] Preferably, the four attitude control engines 2 are evenly and symmetrically arranged around the projectile 1.

[0007] Preferably, the nozzle normal line 3 of each of the attitude control engines 2 is arranged perpendicular to the installation center line 4 of the attitude control engine 2 .

[0008] Preferably, the attitude control engine 2 is provided with working energy required to generate thrust by an energy system 5 through a pipeline 6 .

[0009] Preferably, the energy system 5 is one or more high-pressure gas storage devices.

[0010] Preferably, the energy system 5 is one or more chemical energy storage devices.

[0011] Preferably, the attitude control engine 2 is controlled by a switch solenoid valve to quickly output or terminate thrust output according to control requirements.

[0012] According to a missile attitude control engine control method provided by the present invention, the following steps are implemented using the missile attitude control engine layout structure described above:

[0013] When the four attitude control engines 2 participate in attitude control, different attitude control engine combinations are selected to implement attitude control through the control channel weight level time-sharing strategy.

[0014] Preferably, the four attitude control engines generate positive and negative rotational torques around the X1, Y1 and Z1 axes of the projectile through different combinations of two by two.

[0015] Preferably, the control channel weight level time-sharing strategy includes: when the attitude control engine participates in the missile body attitude control, the engine operation selection is implemented according to the channel priority or equal rights;

[0016] The channel priority is sorted according to the channel primary and secondary requirements or channel control accuracy requirements. In a control cycle, the corresponding channel attitude control engine is selected in sequence according to the priority level, and the high priority channel can have a wider time share;

[0017] The equal right is to select the corresponding channel attitude control engine to work in equal time within a control cycle according to the design agreed sequence.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] 1. The missile attitude control engine layout of the present invention can replace the existing attitude control engine layout, saving 2 or more attitude control engines, which not only reduces the space occupied inside the missile and reduces the negative load on the missile, but also achieves the effect of cost reduction.

[0020] 2. Through the technical features of the control channel weight level time-sharing strategy of the present invention, the three-channel control capability of the existing attitude control engine layout can be equivalently realized through software and algorithms in non-strong real-time scenarios, simplifying the missile hardware and improving the reliability of the entire missile.

[0021] 3. According to the missile attitude control engine layout and control use strategy provided by the present invention, the three-channel control capability of the traditional layout of 6 or more attitude control engines can be achieved by using a smaller number of attitude control engines in non-strong real-time scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0023] Figure 1 This is a schematic diagram of the axial layout of the attitude control engine.

[0024] Figure 2This is a schematic diagram of the layout of the attitude control engine cross section.

[0025] Figure 3 Schematic diagram of the projectile control torque polarity.

[0026] Figure 4 Schematic diagram of time-sharing control strategy.

[0027] Among them, 1-projectile body; 2-attitude control engine; 3-normal line of attitude control engine nozzle; 4-engine installation center line; 5-energy system; 6-pipeline. DETAILED DESCRIPTION

[0028] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0029] Example 1

[0030] Aiming at the situation that traditional aerodynamics cannot meet the flight control requirements when the missile flight environment is in extremely low dynamic pressure, the present invention introduces a missile attitude control engine layout structure and a control method and system thereof.

[0031] According to a missile attitude control engine layout structure provided by the present invention, Figure 1-2 As shown, including:

[0032] A layout of four attitude control engines 2 is adopted, and each attitude control engine 2 is provided with energy required to generate thrust by an energy system 5 through a pipeline 6;

[0033] The attitude control engine layout includes: four attitude control engines are symmetrically arranged around the missile body. In this embodiment, the four attitude control engines can be symmetrically or asymmetrically arranged around the missile body; the normal line of each attitude control engine nozzle is not parallel to the engine installation center line. In this embodiment, when the normal line of each attitude control engine nozzle is perpendicular to the engine installation center line, the channel control force is most balanced; when they are not perpendicular, there will be emphasis according to the angle characteristics; the opening directions of the four attitude control engine nozzles are arranged in a plane-symmetrical manner.

[0034] The energy system of the attitude control engine may be one or more high-pressure gas storage devices or one or more chemical energy storage devices, which provide thrust energy for the four attitude control engines through pipelines.

[0035] The attitude control engine has a high-speed switching working characteristic and can quickly output or terminate thrust output according to control requirements.

[0036] A missile attitude control engine control method provided by the present invention comprises:

[0037] When four attitude control engines participate in attitude control, a control channel weight level time-sharing strategy is used to select different attitude control engine combinations to implement attitude control.

[0038] Among them, the four attitude control engines can realize positive and negative rotation around the X1, Y1 and Z1 axes of the missile body through different combinations of two.

[0039] The described attitude control engine control channel weight level time-sharing strategy includes channel priority or equal rights to implement engine operation selection. Channel priority is to sort by channel primary and secondary requirements or channel control accuracy requirements, and select the corresponding channel attitude control engine to work in sequence according to priority within a control cycle, and high priority channels can have a wider time share. Equal rights select the corresponding channel attitude control engine to work in sequence according to the design agreed sequence in equal time within a control cycle.

[0040] Example 2

[0041] Embodiment 2 is a preferred embodiment of Embodiment 1

[0042] A missile attitude control engine layout structure provided by the present invention includes:

[0043] OX1Y1Z1 is the missile body coordinate system, with the origin O at the missile mass center, the OX1 axis along the missile longitudinal axis, pointing to the warhead, the OY1 axis in the missile longitudinal symmetry plane, its direction is in the horizontal launch state, pointing upward is positive, the OZ1 axis and the OX1 axis and the OY1 axis form a right-handed coordinate system, such as Figure 1 As shown in the figure, section AA is the attitude control engine installation surface, section BB is the section where the missile mass center is located, and the distance between the two sections is L meters. The attitude control engine layout in section AA is shown in the figure. Figure 2 , the 4 attitude control engines No. 2-1, No. 2-2, No. 2-3 and No. 2-4 are evenly distributed in the missile casing 1 at a 45-degree angle with the OY1 axis in the OY1Z1 section, and the attitude control engine nozzles are all facing the OY1 axis. The normal line 3 of each attitude control engine nozzle forms a 90-degree angle with the engine installation center line 4.

[0044] The energy system 5 is installed inside the bomb and stores a high-pressure nitrogen gas source.

[0045] The 4 attitude control engines 2-1, 2-2, 2-3 and 2-4 are controlled by switch solenoid valves. Before working, the high-pressure gas source of the energy system is led to the attitude control engines through pipelines 6-1 to 6-4. When the attitude control engine is not working, the solenoid valve is closed, and when it is working, the solenoid valve is opened (K), and the high-pressure nitrogen is discharged to generate thrust F.

[0046] When the missile attitude is controlled, P represents the pitch control channel, Y represents the yaw control channel, and R represents the roll control channel. Figure 3 As shown, the arrow rotation direction is the negative torque direction, represented by P-, Y-, R-, and the positive torque direction is represented by P+, Y+, R+.

[0047] μ(i)=[K1, K2, K3, K4], i=P-, Y-, R-, P+, Y+, R+. K1 is the working instruction of engine No. 2-1, K1=1 means the solenoid valve is open and working, K1=0 means it is closed and not working; K2 is the working instruction of engine No. 2-2, K2=1 means the solenoid valve is open and working, K2=0 means it is closed and not working; K3 is the working instruction of engine No. 2-3, K3=1 means the solenoid valve is open and working, K3=0 means it is closed and not working; K4 is the working instruction of engine No. 2-4, K4=1 means the solenoid valve is open and working, K4=0 means it is closed and not working.

[0048] Single channel control engine selection strategy:

[0049] μ(P-)=[1, 0, 0, 1];

[0050] μ(P+)=[0, 1, 1, 0];

[0051] μ(Y-)=[1, 1, 0, 0];

[0052] μ(Y+)=[0, 0, 1, 1];

[0053] μ(R-)=[0, 1, 0, 1];

[0054] μ(R+)=[1, 0, 1, 0].

[0055] The engine is selected to work according to the channel priority weight level time-sharing strategy, with the priority being R, P, and Y. Within a control cycle (1s):

[0056] The R channel time accounts for 41%, the R single channel control time accounts for 33%, and the R and P switching control time accounts for 8%;

[0057] The P channel time accounts for 41%, the P single channel control time accounts for 26%, the R and P switching control time accounts for 8%, and the P and Y switching control time accounts for 7%;

[0058] The Y channel time accounts for 33%, the Y single channel control time accounts for 26%, and the P and Y switching channel control time accounts for 7%. Figure 4 .

[0059] When the flight pressure of the missile is judged to be lower than 1500Pa during flight, the attitude control engine is started to participate in the control. Figure 4The designed channel priority weight level time-sharing strategy selects the engine to work, and controls the three channels R, P, and Y in sequence within one control cycle:

[0060] Step 1: According to the control requirements, calculate the 370ms negative rolling torque that the R channel control needs to generate. When it is within the R single channel control time (330ms), execute μ(R-)=[0, 1, 0, 1]. At this time, the solenoid valves of the No. 2-2 and No. 2-4 engines are open, and the solenoid valves of the No. 2-1 and No. 2-3 engines are closed, generating a negative rolling torque.

[0061] Step 2: When entering the R and P switching control time, first the R channel still generates a negative rolling moment, and continues to execute μ(R-)=[0, 1, 0, 1] for the first 40ms; then switches to P channel control, calculates the P channel demand to generate a 310ms positive pitch moment, and executes μ(P+)=[0, 1, 1, 0]. At this time, the solenoid valves of the No. 2-2 and No. 2-3 engines are open, and the solenoid valves of the No. 2-1 and No. 2-4 engines are closed, generating a positive pitch moment;

[0062] Step 3: During the P single-channel control time, continue to generate positive pitch moment and execute μ(P+)=[0, 1, 1, 0];

[0063] Step 4: When entering the P and Y switching control time, complete the last 10ms of negative pitch moment generated by the P channel, and then switch to the Y channel control. The Y channel needs to generate a negative yaw moment, and execute μ(P-)∩μ(Y-)=[1, 0, 0, 0]. At this time, the solenoid valve of the No. 2-1 engine is open, and the solenoid valves of the No. 2-2 to No. 2-3 engines are closed, generating a negative rolling moment and a positive pitch moment;

[0064] Step 5: Enter the next control cycle and repeat steps 1 to 4 to determine and execute the control requirements of each channel.

[0065] Those skilled in the art know that, in addition to realizing the system and its various devices, modules, and units provided by the present invention in a purely computer-readable program code, it is entirely possible to realize the same functions in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers by logically programming the method steps. Therefore, the system and its various devices, modules, and units provided by the present invention can be considered as a hardware component, and the devices, modules, and units included therein for realizing various functions can also be regarded as structures within the hardware component; the devices, modules, and units for realizing various functions can also be regarded as both software modules for realizing the method and structures within the hardware component.

[0066] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. A missile attitude control engine layout structure, characterized in that: include: An attitude control engine (2) and a missile body (1); The four attitude control engines (2) are arranged around the missile body (1); the nozzle normal line (3) of each attitude control engine (2) is not parallel to the installation center line (4) of the attitude control engine (2); and the nozzle opening directions of the four attitude control engines (2) are arranged in a plane-symmetrical manner.

2. The missile attitude control engine layout structure according to claim 1 is characterized in that: The four attitude control engines (2) are evenly and symmetrically arranged around the missile body (1).

3. The missile attitude control engine layout structure according to claim 1 is characterized in that: The nozzle normal line (3) of each of the attitude control engines (2) is arranged perpendicular to the installation center line (4) of the attitude control engine (2).

4. The missile attitude control engine layout structure according to claim 1 is characterized in that: The attitude control engine (2) is provided with working energy required to generate thrust by an energy system (5) through a pipeline (6).

5. The missile attitude control engine layout structure according to claim 4 is characterized in that: The energy system (5) is one or more high-pressure gas storage devices.

6. The missile attitude control engine layout structure according to claim 4 is characterized in that: The energy system (5) is one or more chemical energy storage devices.

7. The missile attitude control engine layout structure according to claim 1 is characterized in that: The attitude control engine (2) is controlled by a switch solenoid valve, and quickly outputs or terminates thrust output according to control requirements.

8. A missile attitude control engine control method, characterized in that: The following steps are implemented using the missile attitude control engine layout structure described in any one of claims 1 to 7: When the four attitude control engines (2) participate in attitude control, different attitude control engine combinations are selected to implement attitude control through a control channel weight level time-sharing strategy.

9. The missile attitude control engine control method according to claim 8, characterized in that: The four attitude control engines generate positive and negative rotational torques around the X1, Y1 and Z1 axes of the missile body in different combinations.

10. The missile attitude control engine control method according to claim 8, characterized in that: The control channel weight level time-sharing strategy includes: when the attitude control engine participates in the missile body attitude control, the engine operation selection is implemented according to the channel priority ranking right or equal right; The channel priority is sorted according to the channel primary and secondary requirements or channel control accuracy requirements. In a control cycle, the corresponding channel attitude control engine is selected in sequence according to the priority level, and the high priority channel can have a wider time share; The equal right is to select the corresponding channel attitude control engine to work in equal time within a control cycle according to the design agreed sequence.

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