Carrier rocket rolling attitude angle control method
By adding an angular deviation limiter and an integrator with limiter in the rolling attitude angle control loop of the launch vehicle, the rolling attitude angle control is optimized, and the control error and rolling angular velocity caused by constant interference are solved, thereby achieving higher control accuracy and robustness.
Patent Information
- Application Number
- CN202411960854.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-29
- Publication Date
- 2025-04-18
AI Technical Summary
The existing rolling attitude angle control method of launch vehicles cannot completely eliminate control errors when there is constant interference, and cannot effectively limit the rolling angular velocity, making it difficult for the control accuracy to meet the design indicators.
The basic rolling attitude angle control loop is added to the angular deviation limiter and the integrator with limiter to optimize the rolling attitude angle control loop, and the rolling attitude angle control instruction is calculated by adding the output results of the rolling angle deviation integrator with the rolling angle control with no integration link.
Effectively eliminate attitude control errors caused by constant interference, improve rolling attitude angle control accuracy, and limit the rolling angular velocity when the rolling angle deviation is too large, and improve robustness.
Smart Images
Figure CN119847195A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of launch vehicle technology, and in particular to a method for controlling the roll attitude angle of a launch vehicle. Background Art
[0002] At present, most launch vehicles use a swing nozzle to control the roll attitude during the flight phase in the atmosphere. According to the signal transmission relationship of the attitude control system, the attitude control system can be decomposed into two control loops, namely the angular rate loop and the attitude angle loop. Both loops use proportional control. The control system block diagram is shown in the figure below. Figure 1 shown.
[0003] When the above control scheme is adopted, the rocket attitude control system is a type 0 system, that is, when there is internal or external interference, the system cannot completely eliminate the influence of internal and external interference. In the presence of constant interference, there is a constant error between the final output and the control input. During the flight of the rocket, it will be affected by various interferences, such as thrust imbalance, thrust deviation, center of mass position error, wind interference, etc., so the traditional attitude control scheme will inevitably produce control errors. For traditional axisymmetric rockets, due to the small roll interference, the roll control error is still within an acceptable range. For non-axisymmetric rockets, the roll interference generated during the flight is large, which will make it difficult for the final control accuracy to meet the design index requirements.
[0004] In addition, when the above control scheme is adopted, the roll angular velocity is not limited. When the roll angle deviation is large, the roll angle control will produce a large roll angular velocity, which will adversely affect the attitude control of other channels such as pitch and yaw.
[0005] Therefore, the technical problem that urgently needs to be solved is: how to provide a method for controlling the roll attitude angle of a launch vehicle, which can, on the one hand, eliminate the attitude control error caused by constant value interference and improve the roll attitude control accuracy; on the other hand, it can limit the roll angular velocity during attitude maneuvers to avoid excessive roll angular velocity. Summary of the invention
[0006] The purpose of this application is to provide a method for controlling the roll attitude angle of a launch vehicle, which can, on the one hand, eliminate the attitude control error caused by constant value interference and improve the roll attitude control accuracy; on the other hand, it can limit the roll angular velocity during attitude maneuvers to avoid excessive roll angular velocity.
[0007] To achieve the above-mentioned purpose, the present application provides a method for controlling the roll attitude angle of a carrier rocket, which method includes the following steps: adding an angle deviation limiter and an integrator with limiting in a basic roll attitude angle control loop to obtain an optimized roll attitude angle control loop; inputting the roll attitude angle and the roll angular velocity into the optimized roll attitude angle control loop to obtain the output result of the roll channel control swing angle without an integral link and the roll angle deviation with limiting integrator; adding the roll channel control swing angle without an integral link and the output result of the roll angle deviation with limiting integrator to calculate the roll channel attitude control swing angle instruction; and controlling the carrier rocket roll attitude angle according to the roll channel attitude control swing angle instruction.
[0008] The launch vehicle roll attitude angle control method as described above, wherein an angle deviation limiter and an integrator with limitation are added to the basic roll attitude angle control loop to obtain an optimized roll attitude angle control loop, comprising: adding an angle deviation limiter between the attitude angle control input of the basic roll attitude angle control loop and the angle control loop to limit the angle deviation of the roll attitude control loop to avoid generating a large roll angular velocity; and adding an integrator with limitation in the roll attitude angle control loop to improve the control accuracy of the roll attitude angle.
[0009] In the above-mentioned launch vehicle roll attitude angle control method, the output result of the roll angle deviation band limiting integrator is the roll angle deviation integral value, and the calculation formula of the roll angle deviation integral value is as follows:
[0010]
[0011] in, represents the integral value of the roll angle deviation in the kth control cycle; represents the absolute value clipping function; |x| represents the absolute value of the independent variable; Indicates the integrator limit value; Indicates the integral value of the roll angle deviation in the k-1th control cycle; dT ctrl represents the control period; Δγ(k) represents the roll angle deviation of the kth control period.
[0012] In the above-mentioned launch vehicle roll attitude angle control method, the calculation formula of the roll channel attitude control swing angle instruction is as follows:
[0013]
[0014] Among them, δ γ Indicates the roll channel attitude control swing angle command; All represent absolute value limiting functions; represents the output swing angle limit value; |x| represents the absolute value of the independent variable; W γ(z) represents the correction network; It represents the roll channel control proportional gain coefficient; Indicates the dynamic gain coefficient of the roll channel; Δ γ Indicates the roll angle deviation; represents the rolling angular velocity; is the integral gain coefficient of the roll channel; Indicates the integral value of the roll angle deviation.
[0015] The launch vehicle roll attitude angle control method as described above, wherein:
[0016] Roll channel attitude angle deviation limit value U γ satisfy:
[0017] in, is the angular velocity limit value of the roll channel; It represents the roll channel control proportional gain coefficient; Indicates the dynamic gain coefficient of the roll channel.
[0018] In the above-mentioned launch vehicle roll attitude angle control method, in the calculation formula of the roll channel attitude control swing angle instruction, The |x| in the expression means:
[0019] The absolute value of .
[0020] In the above-mentioned launch vehicle roll attitude angle control method, in the calculation formula of the roll channel attitude control swing angle instruction, |x| in the formula is: Δ γ The absolute value of .
[0021] In the launch vehicle roll attitude angle control method as described above, the basic roll attitude angle control loop includes: attitude angle control input, angle control loop, correction network, servo mechanism, angular rate feedback loop and rocket body attitude angle feedback loop.
[0022] The method for controlling the roll attitude angle of a carrier rocket as described above, wherein the roll attitude angle of the carrier rocket is controlled according to the roll channel attitude control swing angle instruction, including: using the corresponding attitude control actuator on the rocket, driving its action according to the roll channel attitude control swing angle instruction, and changing the roll attitude angle of the carrier rocket.
[0023] The beneficial effects achieved by this application are as follows:
[0024] (1) The present application adds a roll angle deviation integral link, which has its own limiter, and the limiter value can balance the interference torque; thereby improving the roll attitude angle control accuracy in the presence of interference.
[0025] (2) The present application can limit the angular rate during the roll attitude convergence process when the roll angle deviation is too large; and has high robustness. BRIEF DESCRIPTION OF THE DRAWINGS
[0026] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present application. For those skilled in the art, other drawings can also be obtained based on these drawings.
[0027] Figure 1 This is a flow chart of a method for controlling the roll attitude angle of a launch vehicle according to an embodiment of the present application.
[0028] Figure 2 Schematic diagram of a basic roll attitude angle control loop according to an embodiment of the present application.
[0029] Figure 3 Schematic diagram of the optimized roll attitude angle control loop of an embodiment of the present application.
[0030] Figure numerals: 1-attitude angle control input; 2-angle control loop; 3-correction network; 4-servo mechanism; 5-rocket body; 6-attitude angle feedback loop; 7-angular rate feedback loop; 8-angular deviation limiter; 9-integrator with limiting. DETAILED DESCRIPTION
[0031] The following is a clear and complete description of the technical solutions in the embodiments of the present application in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.
[0032] Embodiment 1
[0033] like Figure 1 As shown, the present application provides a method for controlling the roll attitude angle of a launch vehicle, the method comprising the following steps:
[0034] Step S1, constructing a basic roll attitude angle control loop.
[0035] like Figure 2As shown, the basic roll attitude angle control loop includes: attitude angle control input 1, angle control loop 2, correction network 3, servo mechanism 4, rocket body 5, angular rate feedback loop 7, attitude angle feedback loop 6. The attitude angle command is input from the attitude angle control input 1, and the attitude angle deviation is obtained by subtracting the actual attitude angle fed back by the attitude angle feedback loop 6. The attitude angle deviation passes through the angle control loop 2, and the output of the control loop 2 is added to the output of the angular rate feedback loop 7, and then after passing through the correction network 3, a swing angle command is issued to the servo mechanism 4 to control the attitude of the rocket body 5.
[0036] Step S2, adding an angle deviation limiter and an integrator with limiting in the basic roll attitude angle control loop to obtain an optimized roll attitude angle control loop.
[0037] Step S2 includes:
[0038] Step S210, adding an angle deviation limiter between the attitude angle deviation output terminal of the basic roll attitude angle control loop and the angle control loop to limit the angle deviation of the roll attitude control loop.
[0039] Step S220: adding an integrator with a limiter in the basic roll attitude angle control loop to improve the roll angle control accuracy.
[0040] Among them, the integrator with limiting ensures that when the integrator reaches its own limiting value, the control torque generated by the integrated swing angle can balance the interference torque.
[0041] like Figure 3 As shown, an angle deviation limiter 8 is added between the attitude angle deviation output terminal of the basic roll attitude angle control loop and the angle control loop. An integrator 9 with limiting is added between the attitude angle deviation output terminal and the swing angle output terminal of the correction network.
[0042] Step S3, inputting the roll attitude angle and the roll angular velocity into the optimized roll attitude angle control loop, obtaining the output results of the roll channel control swing angle and the roll angle deviation with limited integrator without an integral link.
[0043] The output result of the roll angle deviation with limited integrator is the roll angle deviation integral value, and the calculation formula of the roll angle deviation integral value is as follows:
[0044]
[0045] in, represents the integral value of the roll angle deviation in the kth control cycle; represents the absolute value clipping function; |x| represents the absolute value of the independent variable; Indicates the integrator limit value; Indicates the integral value of the roll angle deviation in the k-1th control cycle; dTctrl represents the control period, which is usually 20ms. Δγ(k) represents the roll angle deviation of the kth control period.
[0046] Among them, the integrator limit value It should be ensured that when the swing angle reaches the limit value of the integrator itself, the generated control torque can balance the interference torque.
[0047] Step S4, adding the output results of the roll channel control swing angle without an integral link and the roll angle deviation with limited integrator as the roll channel attitude control swing angle instruction.
[0048] It can be understood that the output results of the roll channel control swing angle without an integral link and the roll angle deviation with a limited integrator are added together to form the roll channel attitude control swing angle instruction, that is, the output result of the roll angle deviation with a limited integrator is added to the swing angle instruction output by the correction network to calculate the roll channel attitude control swing angle instruction.
[0049] like Figure 3 As shown in FIG. 1 , the attitude angle deviation output end of the optimized roll attitude angle control loop is divided into two paths, one path includes an integrator with a limiter, and the other path does not include an integrator with a limiter, but includes an angle deviation limiter. The result output from the path with the limiter is the output result of the roll angle deviation integrator with a limiter, and the result output from the path without the limiter is the roll channel control swing angle without an integral link.
[0050] Specifically, the swing angle command output by the correction network is a roll channel control swing angle without an integral link.
[0051] Among them, the calculation formula of the roll channel attitude control swing angle command is as follows:
[0052]
[0053] Among them, δ γ Indicates the roll channel attitude control swing angle command; All represent absolute value limiting functions; represents the output swing angle limit value; |x| represents the absolute value of the independent variable; W γ (z) represents the correction network; It represents the roll channel control proportional gain coefficient; represents the dynamic gain coefficient of the roll channel; Δγ represents the roll angle deviation; represents the rolling angular velocity; is the integral gain coefficient of the roll channel; Indicates the integral value of the roll angle deviation.
[0054] It should be explained that in the above calculation formula of the roll channel attitude control swing angle command, The |x| in the expression means:
[0055] The absolute value of
[0056] It should be explained that in the above calculation formula of the roll channel attitude control swing angle command, middle express:
[0057] The absolute value of the output swing angle limit is less than or equal to
[0058] It needs to be explained that in the calculation formula of the roll channel attitude control swing angle command, |x| in the formula represents: the absolute value of Δγ; |x|≤U γ Indicates: The absolute value of Δγ is less than or equal to the limit value U of the roll channel attitude angle deviation γ .
[0059] Step S5, controlling the roll attitude angle of the carrier rocket according to the roll channel attitude control swing angle instruction.
[0060] Specifically, controlling the roll attitude angle of the carrier rocket according to the roll channel attitude control swing angle instruction includes: using the corresponding attitude control actuator on the rocket, driving its action according to the roll channel attitude control swing angle instruction, and changing the roll attitude angle of the carrier rocket.
[0061] It should be explained that in order to control the roll attitude angle of the launch vehicle according to the roll channel attitude control swing angle command, the following steps are usually required:
[0062] First, the specific values and requirements of the roll channel attitude control swing angle command are accurately obtained, which is the basis for control. Then, the corresponding attitude control actuators on the rocket, such as the installed small attitude control engines or rotatable control surfaces, are driven to act according to the instructions. The actuators generate appropriate torque to change the roll attitude of the rocket, and use high-precision attitude measurement sensors to monitor the actual changes in the roll attitude angle in real time, and feed back the measured values for comparison with the target attitude angle. Based on the comparison results, the control actions are continuously adjusted to ensure that the roll attitude angle can accurately follow the swing angle command to change, and to ensure that the rocket's roll attitude meets the predetermined requirements at all stages of flight.
[0063] Embodiment 2
[0064] The present application provides a launch vehicle roll attitude angle control system, the system comprising:
[0065] Building blocks for constructing basic roll attitude angle control loops.
[0066] The building module is also used to add an angle deviation limiter and an integrator with limitation in a basic roll attitude angle control loop to obtain an optimized roll attitude angle control loop.
[0067] The acquisition module is used to input the roll attitude angle and the roll angular velocity into the optimized roll attitude angle control loop, and obtain the output results of the roll channel control swing angle without an integral link and the roll angle deviation with a limited integrator.
[0068] The data processor is used to add the output results of the roll channel control swing angle without an integral link and the roll angle deviation with a limited integrator as the roll channel attitude control swing angle instruction.
[0069] The control module is used to control the roll attitude angle of the launch vehicle according to the roll channel attitude control swing angle instruction.
[0070] The present application also provides a computer storage medium, wherein the computer storage medium stores computer instructions, and when the computer instructions are called, they are used to execute the address mapping method of the large-capacity solid-state hard disk. The computer storage medium contains one or more program instructions, and the one or more program instructions are used by the processor to execute a method for controlling the roll attitude angle of a launch vehicle.
[0071] An embodiment of the present invention provides a processor for processing the above-mentioned method for controlling the roll attitude angle of a launch vehicle.
[0072] The beneficial effects achieved by this application are as follows:
[0073] (1) The present application adds a roll angle deviation integral link, which has its own limiter, and the limiter value can balance the interference torque, thereby improving the roll attitude angle control accuracy in the presence of interference.
[0074] (2) The present application can limit the angular rate during the roll attitude convergence process when the roll angle deviation is too large; and has high robustness.
[0075] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, "plurality" means two or more, unless otherwise clearly and specifically defined.
[0076] In the description of the present application, the word "for example" is used to mean "used as an example, illustration or explanation". Any embodiment described as "for example" in the present application is not necessarily to be construed as being more preferred or advantageous than other embodiments. The following description is given to enable any technician in the field to implement and use the present invention. In the following description, details are listed for the purpose of explanation. It should be understood that a person of ordinary skill in the art can recognize that the present invention can be implemented without using these specific details. In other examples, well-known structures and processes will not be elaborated in detail to avoid obscuring the description of the present invention with unnecessary details. Therefore, the present invention is not intended to be limited to the embodiments shown, but is consistent with the widest scope consistent with the principles and features disclosed in the present application.
[0077] The above description is only an embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.
Claims
1. A method for controlling the roll attitude angle of a launch vehicle, characterized in that: The method comprises the following steps: An angular deviation limiter and an integrator with limiting are added to the basic roll attitude angle control loop to obtain an optimized roll attitude angle control loop; The roll attitude angle and roll angular velocity are input into the optimized roll attitude angle control loop to obtain the output results of the roll channel control swing angle without an integral link and the roll angle deviation with a limited integrator; The output results of the roll channel control swing angle without an integral link and the roll angle deviation with a limited integrator are added together to serve as the roll channel attitude control swing angle instruction; The roll attitude angle of the launch vehicle is controlled according to the roll channel attitude control swing angle command.
2. The method for controlling the roll attitude angle of a launch vehicle according to claim 1, characterized in that: An angle deviation limiter and an integrator with limiting are added to the basic roll attitude angle control loop to obtain an optimized roll attitude angle control loop, including: An angle deviation limiter is added between the attitude angle deviation output terminal of the basic roll attitude angle control loop and the angle control loop to limit the angle deviation of the roll attitude control loop; An integrator with a limiter is added to the basic roll attitude angle control loop, and it is ensured that when the integrator reaches its own limit value, the control torque generated by the integrated swing angle can balance the interference torque.
3. The method for controlling the roll attitude angle of a launch vehicle according to claim 2, characterized in that: An integrator with a limiting function is added between the attitude angle deviation output terminal of the basic roll attitude angle control loop and the swing angle output terminal of the correction network.
4. The method for controlling the roll attitude angle of a launch vehicle according to claim 1, characterized in that: The output result of the roll angle deviation limited integrator is the roll angle deviation integral value. The calculation formula of the roll angle deviation integral value is as follows: in, represents the integral value of the roll angle deviation in the kth control cycle; represents the absolute value clipping function; |x| represents the absolute value of the independent variable; Indicates the integrator limit value; Indicates the integral value of the roll angle deviation in the k-1th control cycle; dT ctrl represents the control period; Δγ(k) represents the roll angle deviation of the kth control period.
5. The method for controlling the roll attitude angle of a launch vehicle according to claim 1, characterized in that: The calculation formula of the roll channel attitude control swing angle command is as follows: Among them, δ γ Indicates the roll channel attitude control swing angle command; Both represent absolute value limiting functions; U δγ represents the output swing angle limit value; |x| represents the absolute value of the independent variable; W γ (z) represents the correction network; It represents the roll channel control proportional gain coefficient; represents the dynamic gain coefficient of the roll channel; Δγ represents the roll angle deviation; represents the rolling angular velocity; is the integral gain coefficient of the roll channel; Indicates the integral value of the roll angle deviation.
6. The method for controlling the roll attitude angle of a launch vehicle according to claim 5, characterized in that: Roll channel attitude angle deviation limit value U γ satisfy: in, is the angular velocity limit value of the roll channel; It represents the roll channel control proportional gain coefficient; Indicates the dynamic gain coefficient of the roll channel.
7. The method for controlling the roll attitude angle of a launch vehicle according to claim 5, characterized in that: In the calculation formula of the roll channel attitude control swing angle command, The |x| in the expression means: The absolute value of .
8. The method for controlling the roll attitude angle of a launch vehicle according to claim 5, characterized in that: In the calculation formula of the roll channel attitude control swing angle command, The |x| in represents the absolute value of Δγ.
9. The method for controlling the roll attitude angle of a launch vehicle according to claim 1, characterized in that: The basic roll attitude angle control loop includes: attitude angle control input, angle control loop, correction network, servo mechanism, rocket body, angular rate feedback loop and attitude angle feedback loop.
10. The method for controlling the roll attitude angle of a launch vehicle according to claim 1, characterized in that: According to the roll channel attitude control swing angle instruction, the roll attitude angle of the carrier rocket is controlled, including: through the corresponding attitude control actuator on the rocket, driving its action according to the roll channel attitude control swing angle instruction, so as to change the roll attitude angle of the carrier rocket.