Double-thruster rotation attitude control system and method

Abstract

The invention discloses a double-thruster rotation attitude control system and method, and the system comprises a first thruster which is distributed in a first installation surface perpendicular to the longitudinal axis of a flight body, and a second thruster which is distributed in a second installation surface perpendicular to the longitudinal axis of the flight body. The first thruster and the second thruster are symmetrically distributed in the radial direction, and the first thruster and the second thruster are used for outputting attitude control force according to set attitude control characteristic positions so as to achieve complete decoupling of a rolling channel; the set attitude control characteristic positions comprise a neutral position, a positive pitching control position, a negative pitching control position, a positive yaw control position and a negative yaw control position; the double-thruster rotating attitude control system provided by the invention is small in number of thrusters, high in reliability, simple in structure and high in attitude control adaptive capacity.

Description

Technical Field

[0001] The present application relates to the technical field of solid attitude control systems, and more specifically, to a dual-thruster rotation attitude control system and method. Background Art

[0002] The solid attitude control system mainly provides the aircraft with attitude control power such as pitch, yaw, roll, and rapid repair during flight, thereby improving the aircraft's flight accuracy, penetration capability, and destructive effectiveness.

[0003] In the field of solid attitude control technology, commonly used solid attitude systems can be divided into: direct exhaust attitude control system, pulse attitude control system and gas storage attitude control system according to the way of energy control and use. From the perspective of attitude control layout, the above-mentioned attitude control system follows the nozzle layout design method of liquid attitude control. Its performance is restricted by the working performance, reliability, cost and other factors of high-temperature gas valves. It is usually necessary to arrange 6 or 8 sets of thrusters with different exhaust directions, and realize different attitude control requirements by controlling the opening of solenoid valves in different directions.

[0004] At present, during the rotation of the thrusters, the dual-thruster rotation attitude control system will simultaneously generate control forces or control torques for the three channels of pitch, yaw and roll, that is, control torques may be generated on the roll channel during the pitch and yaw adjustment process. Usually, the roll channel of an aircraft has a smaller moment of inertia than the pitch and yaw channels. The attitude control torque generated on the roll channel during the pitch and yaw adjustment process will cause a large disturbance to the roll channel. The rolling motion of the aircraft will further affect the angular orientation of the thrusters, thereby changing the magnitude of the pitch and yaw control forces, forming a control coupling between the roll channel and the pitch and yaw channels. Under such coupling conditions, the aircraft attitude control system is likely to diverge and become uncontrolled. Therefore, a dual-thruster rotation attitude control method with a completely decoupled roll channel is urgently needed to create conditions for the engineering application of the dual-thruster rotation attitude control system. Summary of the invention

[0005] In response to at least one defect or improvement need of the prior art, the present invention provides a dual-thruster rotational attitude control system and method, which realizes thrust direction adjustment by changing the exhaust direction of the nozzle, replacing traditional switch adjustment with direction adjustment, and through direction combination, two sets of thrusters can realize pitch, yaw and roll attitude control, thereby forming a rotation servo-adjustable solid attitude control system, which has the advantages of small number of thrusters, high reliability, simple structure, high impulse-to-mass ratio and light weight.

[0006] To achieve the above object, according to a first aspect of the present invention, there is provided a dual-thruster rotation attitude control system, the system comprising a first thruster, which is distributed in a first mounting surface perpendicular to the longitudinal axis of the flying body, and a second thruster, which is distributed in a second mounting surface perpendicular to the longitudinal axis of the flying body; the first thruster and the second thruster are symmetrically distributed along the radial direction,

[0007] The first thruster and the second thruster are used to output attitude control force according to the set attitude control characteristic position to achieve complete decoupling of the roll channel; the set attitude control characteristic position includes five control positions, namely, a neutral position, a positive pitch control position, a negative pitch control position, a positive yaw control position and a negative yaw control position; wherein, no attitude control force is output in the neutral position, a positive pitch attitude control force is output in the positive pitch control position, a negative pitch attitude control force is output in the negative pitch control position, a positive yaw attitude control force is output in the positive yaw control position, and a negative yaw attitude control force is output in the negative yaw control position.

[0008] As described in the dual-thruster rotation attitude control system, the first mounting surface is arranged at the bisector of the angle between the first quadrant and the fourth quadrant of the longitudinal section of the flying body, and the second mounting surface is arranged at the bisector of the angle between the second quadrant and the third quadrant of the longitudinal section of the flying body.

[0009] As described in the dual-thruster rotary attitude control system, the first thruster and the second thruster are both rotary servo thrusters.

[0010] The dual-thruster rotation attitude control system provided by the present invention realizes thrust direction adjustment by changing the exhaust direction of the nozzle, and has the advantages of small number of thrusters, high reliability, simple structure and strong attitude control adaptability.

[0011] In a second aspect, an embodiment of the present application provides a dual thruster rotation attitude control method, the method is implemented based on any of the dual thruster rotation attitude control systems described above, the method comprising:

[0012] Receive an attitude control instruction, and switch the attitude control characteristic positions of the first thruster and the second thruster according to the attitude control instruction and the set rotation attitude control strategy to achieve complete decoupling of the roll channel and obtain position information; the set rotation attitude control strategy includes a roll channel static decoupling control method and a roll channel rolling torque application method; wherein the roll channel static decoupling control method includes: outputting attitude control force in a fixed manner according to the set attitude control characteristic position; the roll channel rolling torque application method includes: rotating by an angle of δ according to the set attitude control characteristic position and outputting the attitude control force;

[0013] The sensed posture change information is sent to the console computer based on the position information.

[0014] As described in the dual thruster rotation attitude control method, the outputting of the self-control force according to the set attitude control characteristic position fixedly comprises:

[0015] Middle position: the azimuth angle of the first thruster is -45°, and the azimuth angle of the second thruster is 135°;

[0016] Positive pitch control position: the azimuth angle of the first thruster is -90°, and the azimuth angle of the second thruster is 270°;

[0017] Negative pitch control position: the azimuth angle of the first thruster is 90°, and the azimuth angle of the second thruster is 90°;

[0018] Positive yaw control position: the azimuth angle of the first thruster is 0°, and the azimuth angle of the second thruster is 0°;

[0019] Negative yaw control position: the azimuth angle of the first thruster is -180°, and the azimuth angle of the second thruster is 180°;

[0020] As described in the dual thruster rotation attitude control method, the step of rotating by an angle δ according to the set attitude control characteristic position comprises:

[0021] The azimuth angle of the first thruster is reduced by δ based on the five attitude control characteristic positions, and the azimuth angle of the second thruster is increased by δ based on the five attitude control characteristic positions; in negative roll control, the azimuth angle of the first thruster is increased by δ based on the five attitude control characteristic positions, and the azimuth angle of the second thruster is reduced by δ based on the five attitude control characteristic positions.

[0022] As described in the dual thruster rotation attitude control method, the set rotation attitude control strategy further includes: a roll channel dynamic decoupling control method,

[0023] The rolling channel dynamic decoupling control method comprises:

[0024] The switching strategy from the neutral position to the positive pitch control position is as follows: in the first 2 / 3 of the switching movement time, the first thruster moves at a constant speed from -45° to -135°; the second thruster moves at a constant speed from 135° to 225°; in the last 1 / 3 of the switching movement time, the first thruster moves at a constant speed from -135° to -90°; the second thruster moves at a constant speed from 225° to 270°;

[0025] Positive pitch to neutral control position switching strategy: In the first 1 / 3 switching movement time, the first thruster moves at a constant speed from -90° to -135°; the second thruster moves at a constant speed from 270° to 225°; in the last 2 / 3 switching movement time, the first thruster moves at a constant speed from -135° to -45°; the second thruster moves at a constant speed from 225° to 135°;

[0026] The switching strategy from the neutral position to the negative pitch control position is as follows: in the first 2 / 3 of the switching movement time, the first thruster moves at a constant speed from -45° to 45°; the second thruster moves at a constant speed from 135° to 45°; in the last 1 / 3 of the switching movement time, the first thruster moves at a constant speed from 45° to 90°; the second thruster moves at a constant speed from 45° to 90°;

[0027] Negative pitch to neutral control position switching strategy: in the first 1 / 3 switching movement time, the first thruster moves at a constant speed from 90° to 45°; the second thruster moves at a constant speed from 90° to 45°; in the last 2 / 3 switching movement time, the first thruster moves at a constant speed from 45° to -45°; the second thruster moves at a constant speed from 45° to 135°.

[0028] As described in the dual-thruster rotation attitude control method, the roll channel dynamic decoupling control method further includes:

[0029] The switching strategy of the neutral to positive yaw control position is as follows: in the first 2 / 3 of the switching movement time, the first thruster moves at a constant speed from -45° to 45°; the second thruster moves at a constant speed from 135° to 45°; in the last 1 / 3 of the switching movement time, the first thruster moves at a constant speed from 45° to 0°; the second thruster moves at a constant speed from 45° to 0°;

[0030] Positive yaw center control position switching strategy: In the first 1 / 3 switching movement time, the first thruster moves at a constant speed from 0° to 45°; the second thruster moves at a constant speed from 0° to 45°; in the last 2 / 3 switching movement time, the first thruster moves at a constant speed from 45° to -45°; the second thruster moves at a constant speed from 45° to 135°;

[0031] The switching strategy from the neutral position to the negative yaw control position is as follows: in the first 2 / 3 of the switching movement time, the first thruster moves at a constant speed from -45° to -135°; the second thruster moves at a constant speed from 135° to 225°; in the last 1 / 3 of the switching movement time, the first thruster moves at a constant speed from -135° to -180°; the second thruster moves at a constant speed from 225° to 180°;

[0032] Negative yaw center control position switching strategy: in the first 1 / 3 switching movement time, the first thruster moves at a constant speed from -180° to -135°; the second thruster moves at a constant speed from 180° to 225°; in the last 2 / 3 switching movement time, the first thruster moves at a constant speed from -135° to -45°; the second thruster moves at a constant speed from 225° to 135°.

[0033] As described in the dual-thruster rotation attitude control method, the angle increment δ value is determined based on the ratio factor of the aircraft's roll moment of inertia to the pitch and yaw moments of inertia and the roll channel adjustment response speed factor, and the value range is 5° to 20°.

[0034] According to a third aspect of the present invention, there is also provided a computer-readable storage medium, in which a computer program is stored, wherein the computer program is configured to execute the above-mentioned dual-thruster rotation attitude control method when running.

[0035] In general, the above technical solutions conceived by the present invention can achieve the following beneficial effects compared with the prior art:

[0036] (1) The present invention provides a dual-thruster rotation attitude control system, comprising a first thruster, which is distributed in a first installation surface perpendicular to the longitudinal axis of the flying body, and a second thruster, which is distributed in a second installation surface perpendicular to the longitudinal axis of the flying body; the first thruster and the second thruster are symmetrically distributed along the radial direction, and the first thruster and the second thruster are used to output attitude control force according to a set attitude control characteristic position to achieve complete decoupling of a roll channel; the set attitude control characteristic position includes five control positions, namely, a neutral position, a positive pitch control position, a negative pitch control position, a positive yaw control position, and a negative yaw control position; the dual-thruster rotation attitude control system provided by the present invention has a small number of thrusters, high reliability, a simple structure, and a strong attitude control adaptability.

[0037] (2) The present invention also provides a rotation attitude control method applied to a dual-thruster rotation attitude control system. When the turntable receives the attitude control command sent by the ground equipment, the dual-thruster rotation attitude control method with complete decoupling of the roll channel is used to switch the attitude control feature positions of the thrusters according to the set attitude control feature positions to obtain position information. This can solve the control coupling problem between the roll channel and the pitch and yaw channels, and reduce the difficulty of designing the flight control algorithm of the aircraft. The dual-thruster rotation attitude control method can output a combined pitch attitude control force and yaw attitude control force through angle control, and can realize multi-channel composite control of the attitude control system. It has the advantages of flexible and adjustable output thrust and strong attitude control adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0039] Figure 1 A schematic flow chart of an optional dual thruster rotation attitude control method provided in an embodiment of the present application;

[0040] Figure 2 A schematic diagram of the layout of a dual-thruster attitude control system adapted for the present invention.

[0041] Figure 3 Schematic diagram of five attitude control feature positions of the dual thruster attitude control system adapted for the present invention.

[0042] Figure 4 It is a schematic diagram of the method for applying the control torque of the median roll channel of the roll channel dual thruster attitude control of the present invention.

[0043] Figure 5 Schematic diagram of the roll control torque curve from mid-position to positive yaw switching in the conventional control scheme.

[0044] Figure 6 It is a schematic diagram of the roll control torque curve from neutral to positive yaw switching of the roll channel dual thruster attitude control dynamic decoupling method of the present invention.

[0045] Figure 7 It is a thrust decomposition schematic diagram of the dynamic decoupling method of the roll channel dual thruster attitude control of the present invention.

[0046] Figure 8 It is a schematic diagram of the mid-to-positive yaw of the dynamic decoupling method of the roll channel dual-thruster attitude control of the present invention.

[0047] Fig. 9 It is a schematic diagram of the mid-to-positive pitch of the dynamic decoupling method of the roll channel dual thruster attitude control of the present invention. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0049] The terms "first", "second", "third", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices.

[0050] During the thruster rotation process, the dual-thruster rotation attitude control system will simultaneously generate control forces or control torques for the three channels of pitch, yaw and roll, that is, control torques may be generated on the roll channel during the pitch and yaw adjustment process. Usually, the roll channel of an aircraft has a smaller moment of inertia than the pitch and yaw channels. The attitude control torque generated on the roll channel during the pitch and yaw adjustment process will cause a large disturbance to the roll channel. The rolling motion of the aircraft will further affect the angular orientation of the thruster, thereby changing the size of the pitch and yaw control forces, forming a control coupling between the roll channel and the pitch and yaw channels. Under such coupling conditions, the aircraft attitude control system is likely to diverge and become uncontrolled. Therefore, a dual-thruster rotation attitude control method with a completely decoupled roll channel is urgently needed to create conditions for the engineering application of the dual-thruster rotation attitude control system.

[0051] The dual-thruster rotary attitude control system provided by the present invention realizes thrust direction adjustment by changing the exhaust direction of the nozzle, replacing the traditional switch adjustment with direction adjustment, and through the direction combination, the two sets of thrusters can realize the control of pitch, yaw and roll attitude, thereby forming a rotary servo adjustment type solid attitude control system. This system is a new attitude control mode with the advantages of a small number of thrusters, high reliability, simple structure, high impact-to-mass ratio and light weight.

[0052] According to one aspect of the embodiments of the present application, a dual thruster rotation attitude control system is provided. Figure 1 Describe the dual thruster rotation attitude control system provided by the embodiment of the present application, such as Figure 1 As shown, the system includes a first thruster distributed in a first installation surface perpendicular to the longitudinal axis of the flying body, and a second thruster distributed in a second installation surface perpendicular to the longitudinal axis of the flying body; the first thruster and the second thruster are distributed symmetrically along the radial direction.

[0053] The first thruster and the second thruster are used to output attitude control force according to the set attitude control characteristic position to achieve complete decoupling of the roll channel.

[0054] Among them, the set attitude control characteristic positions include five control positions: neutral position, positive pitch control position, negative pitch control position, positive yaw control position and negative yaw control position; the first thruster and the second thruster do not output attitude control force in the neutral position, output positive pitch attitude control force in the positive pitch control position, output negative pitch attitude control force in the negative pitch control position, output positive yaw attitude control force in the positive yaw control position, and output negative yaw attitude control force in the negative yaw control position.

[0055] In an optional embodiment, the first mounting surface is arranged at the bisector of the angle between the first quadrant and the fourth quadrant of the longitudinal section of the flying body, and the second mounting surface is arranged at the bisector of the angle between the second quadrant and the third quadrant of the longitudinal section of the flying body.

[0056] In an optional embodiment, the first thruster and the second thruster are both rotary servo thrusters.

[0057] According to another aspect of the embodiment of the present application, a dual thruster rotation attitude control method is provided. Figure 2 The dual thruster rotation attitude control method provided in the embodiment of the present application is described.

[0058] Figure 2 is a flow chart of an optional dual-thruster rotation attitude control method provided in an embodiment of the present application, which is applied to a dual-thruster rotation attitude control system, wherein the system comprises a first thruster and a second thruster arranged symmetrically along a radial direction, such as Figure 2 As shown, the process of the method may include the following steps:

[0059] S102, receiving an attitude control instruction, and switching the attitude control characteristic positions of the first thruster and the second thruster according to the attitude control instruction and a set rotation attitude control strategy to achieve complete decoupling of the roll channel and obtain position information.

[0060] Among them, the set rotation attitude control strategy includes a roll channel static decoupling control method and a roll channel roll torque application method.

[0061] The static decoupling control method of the rolling channel includes: outputting the attitude control force according to the set attitude control characteristic position. The rolling channel rolling torque application method includes: rotating by an angle of δ according to the set attitude control characteristic position and outputting the attitude control force.

[0062] S104: Sending the sensed posture change information to the console computer based on the position information.

[0063] The dual thruster rotation attitude control method provided in the embodiment of the present application can be applied to a dual thruster rotation attitude control system. Figure 1 As shown, the dual-thruster rotation attitude control system involved in this embodiment is composed of two sets of rotation servo thrusters arranged symmetrically along the radial direction of thrust output. The system includes: two sets of rotation servo thrusters arranged radially along the thrust output direction, and the rotation servo thrusters can control the thrust output azimuth angle by a servo motor according to instructions.

[0064] In one embodiment, the rotary servo thruster can control the thrust output azimuth angle by a servo motor according to instructions, and generate the required attitude control force through the combination of the azimuth angles of two sets of rotary servo thrusters; the first thruster is arranged at a position 45° from the fourth quadrant of the first quadrant of the longitudinal section of the flight body, with a median azimuth angle of -45° and a motion angle range of -180° to 90°; the second thruster is arranged at a position 45° from the third quadrant of the second quadrant of the longitudinal section of the flight body, with a median azimuth angle of 135° and a motion angle range of 0° to 270°.

[0065] like Figure 3 As shown, the dual-thruster rotation attitude control system of the present application is designed with five attitude control characteristic positions, including a neutral position, a positive pitch control position, a negative pitch control position, a positive yaw control position, and a negative yaw control position; the thruster does not output an attitude control force in the neutral position, outputs a positive pitch attitude control force in the positive pitch control position, outputs a negative pitch attitude control force in the negative pitch control position, outputs a positive yaw attitude control force in the positive yaw control position, and outputs a negative yaw attitude control force in the negative yaw control position.

[0066] Based on the contents of the above embodiments, as an optional embodiment, the static decoupling control method of the roll channel in the dual thruster rotation attitude control method provided by the present invention is to rotate the azimuth angle of the servo thruster under five attitude control characteristic positions as described below, that is, the torque generated by the two sets of rotation servo thrusters on the roll channel can be completely offset.

[0067] Specifically, the self-control force is output according to the set attitude control feature position, including:

[0068] Middle position: the azimuth angle of the first thruster is -45°, and the azimuth angle of the second thruster is 135°;

[0069] Positive pitch control position: the azimuth angle of the first thruster is -90°, and the azimuth angle of the second thruster is 270°;

[0070] Negative pitch control position: the azimuth angle of the first thruster is 90°, and the azimuth angle of the second thruster is 90°;

[0071] Positive yaw control position: the azimuth angle of the first thruster is 0°, and the azimuth angle of the second thruster is 0°;

[0072] Negative yaw control position: the azimuth angle of the first thruster is -180°, and the azimuth angle of the second thruster is 180°.

[0073] The roll channel roll torque application method is to implement the roll control torque application through the angle increment δ based on the five attitude control feature positions. Figure 4 As shown, by servo-controlling the azimuth angle θ1 of the rotary servo thruster I and the azimuth angle θ2 of the second thruster, and combining the rated output force F0 of the rotary servo thruster, the yaw attitude control force is calculated according to the formula Pitch control To achieve the decoupling of pitch, yaw and roll channels, to achieve the servo control of pitch attitude control force and yaw attitude control force under the premise of maintaining the balance of rolling moment, and to output the combined pitch attitude control force and yaw attitude control force to achieve multi-channel composite control of attitude control system. It should be noted that the value of the angle increment δ is determined according to the ratio factor of the rolling moment of inertia of the aircraft to the pitch and yaw moments of inertia and the roll channel adjustment response speed factor, and the general value range is 5°~20°.

[0074] like Figure 5 As shown in FIG. 1 , the roll channel control torque application method realizes the application of the roll control torque through the angle increment δ based on the five attitude control characteristic positions. The specific control strategy is: during positive roll control, the azimuth angle of the first thruster is reduced by δ based on the five attitude control characteristic positions, and the azimuth angle of the second thruster is increased by δ based on the five attitude control characteristic positions; during negative roll control, the azimuth angle of the first thruster is increased by δ based on the five attitude control characteristic positions, and the azimuth angle of the second thruster is reduced by δ based on the five attitude control characteristic positions. The value of the angle increment δ is determined according to the proportional factors of the roll moment of inertia of the aircraft to the pitch and yaw moments of inertia and the roll channel adjustment response speed factors, and the general value range is 5° to 20°.

[0075] like Figure 6 , Figure 7 As shown, it can be obtained from the simulation curve that when the neutral to positive yaw is switched, the maximum value of the roll control torque curve of the conventional control scheme is 0.78N·m. According to the dual-thruster rotation attitude control method strategy of the present invention, the maximum equivalent roll torque during the switching process is -10×10-15N·m, which proves that the roll torque at any point remains balanced.

[0076] Based on the content of the above embodiment, as an optional embodiment, the rotation attitude control strategy set in the dual thruster rotation attitude control method provided by the present invention further includes: a roll channel dynamic decoupling control method, and the roll channel dynamic decoupling control method includes:

[0077] Switching strategy from neutral to positive pitch control position: in the first 2 / 3 switching movement time, the first thruster moves at a constant speed from -45° to -135°; the second thruster moves at a constant speed from 135° to 225°; in the last 1 / 3 switching movement time, the first thruster moves at a constant speed from -135° to -90°; the second thruster moves at a constant speed from 225° to 270°.

[0078] Positive pitch to neutral control position switching strategy: in the first 1 / 3 switching movement time, the first thruster moves at a constant speed from -90° to -135°; the second thruster moves at a constant speed from 270° to 225°; in the last 2 / 3 switching movement time, the first thruster moves at a constant speed from -135° to -45°; the second thruster moves at a constant speed from 225° to 135°.

[0079] Switching strategy from neutral position to negative pitch control position: in the first 2 / 3 switching movement time, the first thruster moves at a constant speed from -45° to 45°; the second thruster moves at a constant speed from 135° to 45°; in the last 1 / 3 switching movement time, the first thruster moves at a constant speed from 45° to 90°; the second thruster moves at a constant speed from 45° to 90°.

[0080] Negative pitch to neutral control position switching strategy: in the first 1 / 3 switching movement time, the first thruster moves at a constant speed from 90° to 45°; the second thruster moves at a constant speed from 90° to 45°; in the last 2 / 3 switching movement time, the first thruster moves at a constant speed from 45° to -45°; the second thruster moves at a constant speed from 45° to 135°.

[0081] Furthermore, it also includes:

[0082] The switching strategy from the neutral position to the positive yaw control position is as follows: in the first 2 / 3 of the switching movement time, the first thruster moves at a constant speed from -45° to 45°; the second thruster moves at a constant speed from 135° to 45°; in the last 1 / 3 of the switching movement time, the first thruster moves at a constant speed from 45° to 0°; the second thruster moves at a constant speed from 45° to 0°.

[0083] Positive yaw center control position switching strategy: in the first 1 / 3 switching movement time, the first thruster moves at a constant speed from 0° to 45°; the second thruster moves at a constant speed from 0° to 45°; in the last 2 / 3 switching movement time, the first thruster moves at a constant speed from 45° to -45°; the second thruster moves at a constant speed from 45° to 135°.

[0084] The switching strategy from the neutral position to the negative yaw control position is as follows: in the first 2 / 3 of the switching movement time, the first thruster moves at a constant speed from -45° to -135°; the second thruster moves at a constant speed from 135° to 225°; in the last 1 / 3 of the switching movement time, the first thruster moves at a constant speed from -135° to -180°; the second thruster moves at a constant speed from 225° to 180°.

[0085] Negative yaw center control position switching strategy: in the first 1 / 3 switching movement time, the first thruster moves at a constant speed from -180° to -135°; the second thruster moves at a constant speed from 180° to 225°; in the last 2 / 3 switching movement time, the first thruster moves at a constant speed from -135° to -45°; the second thruster moves at a constant speed from 225° to 135°.

[0086] Specifically, the dynamic decoupling control method of the roll channel is to switch the five attitude control characteristic positions according to a specific strategy, that is, during the dynamic switching process, the torque generated by the two sets of rotary servo thrusters on the roll channel can be completely offset at all times.

[0087] like Figure 8 As shown in the figure, the switching strategy from the neutral position to the positive yaw control position is as follows: in the first 2 / 3 switching movement time, the first thruster moves at a constant speed from -45° to 45°; the second thruster moves at a constant speed from 135° to 45°; in the last 1 / 3 switching movement time, the first thruster moves at a constant speed from 45° to 0°; the second thruster moves at a constant speed from 45° to 0°.

[0088] That is, during the time from 0 to t1, the angular motion law of thruster I is:

[0089]

[0090] The angular motion law of thruster II is:

[0091]

[0092] It can be seen from the formula that during the time from 0 to t1, when the rotary servo dual-thruster attitude control system moves from the neutral position to the positive yaw, the rolling moment always maintains balance.

[0093] The strategy for positive yaw to mid-position is: in the first 1 / 3 switching movement time, the first thruster moves at a constant speed from 0° to 45°; the second thruster moves at a constant speed from 0° to 45°; in the last 2 / 3 switching movement time, the first thruster moves at a constant speed from 45° to -45°; the second thruster moves at a constant speed from 45° to 135°. This strategy is a trajectory retracement from mid-position to positive yaw, which can also ensure the balance of rolling moment at any point.

[0094] Similarly, the negative yaw control law is:

[0095] The angular motion law of thruster I is:

[0096]

[0097] The angular motion law of thruster II is:

[0098]

[0099] That is, the switching strategy from the neutral position to the negative yaw control position is: in the first 2 / 3 switching movement time, the first thruster moves at a constant speed from -45° to -135°; the second thruster moves at a constant speed from 135° to 225°; in the last 1 / 3 switching movement time, the first thruster moves at a constant speed from -135° to -180°; the second thruster moves at a constant speed from 225° to 180°;

[0100] The switching strategy for the negative yaw neutral control position is as follows: in the first 1 / 3 switching movement time, the first thruster moves at a constant speed from -180° to -135°; the second thruster moves at a constant speed from 180° to 225°; in the last 2 / 3 switching movement time, the first thruster moves at a constant speed from -135° to -45°; the second thruster moves at a constant speed from 225° to 135°;

[0101] like Fig. 9 As shown, the positive pitch control law is:

[0102] The angular motion law of thruster I is:

[0103]

[0104] The angular motion law of thruster II is:

[0105]

[0106] That is, the switching strategy from the neutral position to the positive pitch control position: in the first 2 / 3 switching movement time, the first thruster moves at a constant speed from -45° to -135°; the second thruster moves at a constant speed from 135° to 225°; in the last 1 / 3 switching movement time, the first thruster moves at a constant speed from -135° to -90°; the second thruster moves at a constant speed from 225° to 270°;

[0107] Positive pitch to neutral control position switching strategy: In the first 1 / 3 switching movement time, the first thruster moves at a constant speed from -90° to -135°; the second thruster moves at a constant speed from 270° to 225°; in the last 2 / 3 switching movement time, the first thruster moves at a constant speed from -135° to -45°; the second thruster moves at a constant speed from 225° to 135°;

[0108] The negative pitch control law is:

[0109] The angular motion law of thruster I is:

[0110]

[0111] The angular motion law of thruster II is:

[0112]

[0113] That is, the switching strategy from the neutral position to the negative pitch control position: in the first 2 / 3 switching movement time, the first thruster moves at a constant speed from -45° to 45°; the second thruster moves at a constant speed from 135° to 45°; in the last 1 / 3 switching movement time, the first thruster moves at a constant speed from 45° to 90°; the second thruster moves at a constant speed from 45° to 90°;

[0114] Negative pitch to neutral control position switching strategy: in the first 1 / 3 switching movement time, the first thruster moves at a constant speed from 90° to 45°; the second thruster moves at a constant speed from 90° to 45°; in the last 2 / 3 switching movement time, the first thruster moves at a constant speed from 45° to -45°; the second thruster moves at a constant speed from 45° to 135°.

[0115] In summary, the present invention uses a completely decoupled dual-thruster rotation attitude control method to completely offset the torque generated on the roll channel at all times during static and dynamic switching, and implement the application of the roll control torque through angle increments, which can solve the control coupling between the roll channel and the pitch and yaw channels, creating conditions for the engineering application of the dual-thruster rotation attitude control system.

[0116] According to another aspect of the embodiments of the present application, a storage medium is further provided. Optionally, in this embodiment, the storage medium can be used to execute the program code of any of the above-mentioned dual thruster rotation attitude control methods in the embodiments of the present application.

[0117] Optionally, in this embodiment, the storage medium is configured to store program codes for executing the following steps:

[0118] S102, receiving an attitude control instruction, and switching the attitude control characteristic positions of the first thruster and the second thruster according to the attitude control instruction and a set rotation attitude control strategy to achieve complete decoupling of the roll channel and obtain position information.

[0119] The set rotation attitude control strategy includes a roll channel static decoupling control method and a roll channel roll torque application method. The roll channel static decoupling control method includes: outputting a fixed attitude control force according to a set attitude control feature position; the roll channel roll torque application method includes: rotating an angle of δ according to the set attitude control feature position and outputting an attitude control force;

[0120] S104: Sending the sensed posture change information to the console computer based on the position information.

[0121] Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments, which will not be described in detail in this embodiment.

[0122] Among them, computer-readable storage media may include, but are not limited to, any type of disk, including floppy disks, optical disks, DVDs, CD-ROMs, microdrives and magneto-optical disks, ROMs, RAMs, EPROMs, EEPROMs, DRAMs, VRAMs, flash memory devices, magnetic or optical cards, nanosystems (including molecular memory ICs), or any type of medium or device suitable for storing instructions and / or data.

[0123] Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments, and this embodiment will not be described in detail here.

[0124] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0125] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0126] In the several embodiments provided in the present application, it should be understood that the disclosed devices can be implemented in other ways. For example, the device embodiments described above are only schematic, such as the division of the units, which is only a logical function division. 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 through some service interfaces, and the indirect coupling or communication connection of devices or units can be electrical or other forms.

[0127] 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.

[0128] 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.

[0129] 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 memory. 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 memory, including a number of instructions to enable a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned memory includes: U disk, read-only memory (ROM), random access memory (RAM), mobile hard disk, disk or optical disk and other media that can store program code.

[0130] A person of ordinary skill in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable memory, which can include: a flash drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0131] The above is only an exemplary embodiment of the present disclosure, and the scope of the present disclosure cannot be limited thereto. That is, any equivalent changes and modifications made according to the teachings of the present disclosure are still within the scope of the present disclosure. After considering the specification and practicing the disclosure here, those skilled in the art will easily think of the implementation scheme of the present disclosure. This application is intended to cover any modification, use or adaptation of the present disclosure, which follows the general principles of the present disclosure and includes common knowledge or customary technical means in the technical field not recorded in the present disclosure. The description and examples are regarded as exemplary only, and the scope and spirit of the present disclosure are defined by the claims.

[0132] The technical features of the above embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0133] It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A dual thruster rotation attitude control system, characterized in that: The system comprises a first thruster, which is distributed in a first mounting surface perpendicular to the longitudinal axis of the flying body, and a second thruster, which is distributed in a second mounting surface perpendicular to the longitudinal axis of the flying body; the first thruster and the second thruster are symmetrically distributed along the radial direction, The first thruster and the second thruster are both used to output attitude control force according to the set attitude control characteristic position to achieve complete decoupling of the roll channel; the set attitude control characteristic position includes five control positions, namely, a neutral position, a positive pitch control position, a negative pitch control position, a positive yaw control position and a negative yaw control position; wherein, no attitude control force is output in the neutral position, a positive pitch attitude control force is output in the positive pitch control position, a negative pitch attitude control force is output in the negative pitch control position, a positive yaw attitude control force is output in the positive yaw control position, and a negative yaw attitude control force is output in the negative yaw control position.

2. The dual thruster rotation attitude control system according to claim 1, characterized in that: The first mounting surface is arranged at the bisector of the angle between the first quadrant and the fourth quadrant of the longitudinal section of the flying body, and the second mounting surface is arranged at the bisector of the angle between the second quadrant and the third quadrant of the longitudinal section of the flying body.

3. The dual thruster rotation attitude control system according to claim 1 or 2, characterized in that: The first thruster and the second thruster are both rotary servo thrusters.

4. A dual thruster rotation attitude control method, the method is implemented based on the dual thruster rotation attitude control system according to any one of claims 1 to 3, characterized in that: The method comprises: Receive an attitude control instruction, and switch the attitude control characteristic positions of the first thruster and the second thruster according to the attitude control instruction and the set rotation attitude control strategy to achieve complete decoupling of the roll channel and obtain position information; the set rotation attitude control strategy includes a roll channel static decoupling control method and a roll channel rolling torque application method; wherein the roll channel static decoupling control method includes: outputting attitude control force in a fixed manner according to the set attitude control characteristic position; the roll channel rolling torque application method includes: rotating by an angle of δ according to the set attitude control characteristic position and outputting the attitude control force; The sensed posture change information is sent to the console computer based on the position information.

5. The dual thruster rotation attitude control method according to claim 4, characterized in that: The outputting of the self-control force according to the set posture control feature position fixedly includes: Middle position: the azimuth angle of the first thruster is -45°, and the azimuth angle of the second thruster is 135°; Positive pitch control position: the azimuth angle of the first thruster is -90°, and the azimuth angle of the second thruster is 270°; Negative pitch control position: the azimuth angle of the first thruster is 90°, and the azimuth angle of the second thruster is 90°; Positive yaw control position: the azimuth angle of the first thruster is 0°, and the azimuth angle of the second thruster is 0°; Negative yaw control position: the azimuth angle of the first thruster is -180°, and the azimuth angle of the second thruster is 180°.

6. The dual thruster rotation attitude control method according to claim 4, characterized in that: The step of rotating the posture control feature position by an angle of δ according to the set posture control feature position comprises: The azimuth angle of the first thruster is reduced by δ based on the five attitude control characteristic positions, and the azimuth angle of the second thruster is increased by δ based on the five attitude control characteristic positions; in negative roll control, the azimuth angle of the first thruster is increased by δ based on the five attitude control characteristic positions, and the azimuth angle of the second thruster is reduced by δ based on the five attitude control characteristic positions.

7. The dual thruster rotation attitude control method according to claim 1, characterized in that: The set rotation attitude control strategy also includes: a roll channel dynamic decoupling control method, The rolling channel dynamic decoupling control method comprises: The switching strategy from the neutral position to the positive pitch control position is as follows: in the first 2 / 3 of the switching movement time, the first thruster moves at a constant speed from -45° to -135°; the second thruster moves at a constant speed from 135° to 225°; in the last 1 / 3 of the switching movement time, the first thruster moves at a constant speed from -135° to -90°; the second thruster moves at a constant speed from 225° to 270°; Positive pitch to neutral control position switching strategy: In the first 1 / 3 switching movement time, the first thruster moves at a constant speed from -90° to -135°; the second thruster moves at a constant speed from 270° to 225°; in the last 2 / 3 switching movement time, the first thruster moves at a constant speed from -135° to -45°; the second thruster moves at a constant speed from 225° to 135°; The switching strategy from the neutral position to the negative pitch control position is as follows: in the first 2 / 3 of the switching movement time, the first thruster moves at a constant speed from -45° to 45°; the second thruster moves at a constant speed from 135° to 45°; in the last 1 / 3 of the switching movement time, the first thruster moves at a constant speed from 45° to 90°; the second thruster moves at a constant speed from 45° to 90°; Negative pitch to neutral control position switching strategy: in the first 1 / 3 switching movement time, the first thruster moves at a constant speed from 90° to 45°; the second thruster moves at a constant speed from 90° to 45°; in the last 2 / 3 switching movement time, the first thruster moves at a constant speed from 45° to -45°; the second thruster moves at a constant speed from 45° to 135°.

8. The dual thruster rotation attitude control method according to claim 1, characterized in that: The rolling channel dynamic decoupling control method further includes: The switching strategy of the neutral to positive yaw control position is as follows: in the first 2 / 3 of the switching movement time, the first thruster moves at a constant speed from -45° to 45°; the second thruster moves at a constant speed from 135° to 45°; in the last 1 / 3 of the switching movement time, the first thruster moves at a constant speed from 45° to 0°; the second thruster moves at a constant speed from 45° to 0°; Positive yaw center control position switching strategy: In the first 1 / 3 switching movement time, the first thruster moves at a constant speed from 0° to 45°; the second thruster moves at a constant speed from 0° to 45°; in the last 2 / 3 switching movement time, the first thruster moves at a constant speed from 45° to -45°; the second thruster moves at a constant speed from 45° to 135°; The switching strategy from the neutral position to the negative yaw control position is as follows: in the first 2 / 3 of the switching movement time, the first thruster moves at a constant speed from -45° to -135°; the second thruster moves at a constant speed from 135° to 225°; in the last 1 / 3 of the switching movement time, the first thruster moves at a constant speed from -135° to -180°; the second thruster moves at a constant speed from 225° to 180°; Negative yaw center control position switching strategy: in the first 1 / 3 switching movement time, the first thruster moves at a constant speed from -180° to -135°; the second thruster moves at a constant speed from 180° to 225°; in the last 2 / 3 switching movement time, the first thruster moves at a constant speed from -135° to -45°; the second thruster moves at a constant speed from 225° to 135°.

9. The dual thruster rotation attitude control method according to claim 6, characterized in that: The angle increment δ value is determined based on the ratio of the aircraft's roll moment of inertia to the pitch and yaw moments of inertia and the roll channel adjustment response speed factor, and the value range is 5° to 20°.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein the program executes the method according to any one of claims 4 to 9 when executed.

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