Carrier rocket guidance energy management method and system

Abstract

The invention discloses a carrier rocket guidance energy management method and a carrier rocket guidance energy management system. The carrier rocket guidance energy management method comprises the following steps: constructing an energy management model; and after the construction of the energy management model is completed, the maximum attitude adjustment angle is determined. According to the carrier rocket guidance energy management provided by the invention, online real-time energy estimation is adopted, and the precision of carrier rocket energy management is improved. The sine curve is adopted to plan the program angle of the energy dissipation stage, the curve is smooth, segmented management is reduced, attitude control is facilitated, the expression is simple and clear, and energy management guidance design is facilitated. Meanwhile, the energy management curve can be analyzed, the integral area can be directly calculated, integral determination is convenient, and the capability management design work is effectively improved.

Description

Technical Field

[0001] The present application relates to the field of rockets, and in particular, to a launch vehicle guidance energy management method and system thereof. Background Art

[0002] In a launch vehicle, the purpose of energy management is to consume the remaining apparent velocity modulus by adjusting the change in the rocket's own attitude. The apparent velocity modulus is only related to the engine thrust and the quality of the ignition and shutdown moments of each stage. The apparent velocity modulus is a measure of the inherent energy of the rocket and is the maximum value of the apparent velocity increment that each stage of the rocket can provide. The error in the apparent velocity modulus generally depends on the thrust deviation. The flight program angles of each stage in the vacuum segment can generally be divided into two parts, one of which is mainly used for energy dissipation management, and the second part is mainly used for appropriate compensation and correction of errors. In the prior art, a trapezoidal program angle planning method is usually adopted. When analyzing the attitude angle deviation, there is a large attitude angle deviation at the connection point of the program angle planning change, and the program angle planning needs to be managed in sections according to the flight.

[0003] Therefore, how to provide an energy management method that can effectively improve the capability management design work and improve the design accuracy of launch vehicle guidance energy has become an urgent problem to be solved in this field. Summary of the invention

[0004] The present application proposes a launch vehicle guidance energy management method, comprising the following steps: constructing an energy management model; after completing the construction of the energy management model, determining the maximum attitude adjustment angle.

[0005] The launch vehicle guidance energy management method as described above, wherein the energy management model includes: setting the starting point and the end point of the energy management section; using the curve W I Indicates that the length between the start and end of the energy management segment is ΔW I Any curve; let the longitudinal axis of the rocket be parallel to the required apparent velocity W D The direction is consistent. At the end of the energy management phase, the apparent speed increment is W D In the direction, the apparent velocity increment is equal to W D -ΔW I .

[0006] The launch vehicle guidance energy management method as described above, wherein after determining the apparent velocity increment, the flight attitude angle is determined according to the measured value of the apparent acceleration.

[0007] In the launch vehicle guidance energy management method as described above, determining the maximum attitude adjustment angle includes establishing the following relationship:

[0008]

[0009] in represents the program angular deviation of the energy dissipation part, is the maximum allowable attitude adjustment angle, express The square value, W 0 represents the apparent speed at the start of energy management, represents the flight attitude angle, represents the planned program angle, W represents the real-time visual speed, represents the rate of change of apparent velocity, Indicates the rate of change of program angle.

[0010] In the above-mentioned launch vehicle guidance energy management method, according to the established relationship, the consumed apparent speed W com It is expressed as:

[0011]

[0012] A launch vehicle guidance energy management system specifically comprises: an energy management model construction unit and a maximum attitude adjustment angle determination unit; the energy management model construction unit is used to construct an energy management model; the maximum attitude adjustment angle determination unit is used to determine the maximum attitude adjustment angle.

[0013] The launch vehicle guidance energy management system as described above, wherein the energy management model includes: setting the starting point and the end point of the energy management section; using the curve W I Indicates that the length between the start and end of the energy management segment is ΔW I Any curve; let the longitudinal axis of the rocket be parallel to the required apparent velocity W D The direction is consistent. At the end of the energy management phase, the apparent speed increment is W D In the direction, the apparent velocity increment is equal to W D -ΔW I .

[0014] The launch vehicle guidance energy management system as described above, wherein after determining the apparent velocity increment, the flight attitude angle is determined according to the measured value of the apparent acceleration.

[0015] In the launch vehicle guidance energy management system as described above, determining the maximum attitude adjustment angle includes establishing the following relationship:

[0016]

[0017] in represents the program angular deviation of the energy dissipation part, is the maximum allowable attitude adjustment angle, express The square value, W 0represents the apparent speed at the start of energy management, represents the flight attitude angle, represents the planned program angle, W represents the real-time visual speed, represents the rate of change of apparent velocity, Indicates the rate of change of program angle.

[0018] In the above-mentioned launch vehicle guidance energy management system, according to the established relationship, the apparent speed W consumed is com It is expressed as:

[0019]

[0020] This application has the following beneficial effects:

[0021] (1) The launch vehicle guidance energy management proposed in this application adopts online real-time energy estimation to improve the accuracy of launch vehicle energy management.

[0022] (2) The launch vehicle guidance energy management proposed in this application adopts a sine curve to plan the program angle of the energy dissipation stage. The curve is smooth, which reduces segment management and facilitates attitude control. Its expression is concise and clear, which is convenient for carrying out energy management guidance design.

[0023] (3) The launch vehicle guidance energy management proposed in this application adopts a sine curve to plan the program angle of the energy dissipation stage. The energy management curve can be analyzed, the integral area can be directly calculated, and the definite integral is convenient, which effectively improves the energy management design work.

[0024] (4) The launch vehicle guidance energy management proposed in this application adopts a sine curve to plan the program angle of the energy dissipation phase, which is convenient for changing the definite integral time period, and the variational operation is convenient, thereby reducing the amount of calculation required for real-time calculation on the rocket. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] 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 ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0026] Figure 1 is a flow chart of a launch vehicle guidance energy management method provided according to an embodiment of the present application;

[0027] Figure 2 is a schematic diagram of an energy management model provided according to an embodiment of the present application;

[0028] Figure 3 The flight attitude angle provided in the embodiment of the present application is Schematic diagram of the law of change with visual speed W;

[0029] Figure 4 is the flight attitude angle under given regular conditions provided by the embodiment of the present application Schematic diagram of the law of change with t;

[0030] Figure 5 It is a schematic diagram of the internal structure of a launch vehicle guidance energy management system provided according to an embodiment of the present application. 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] The present application proposes a launch vehicle guidance energy management method and system thereof, which, in order to facilitate the rocket attitude control, effectively improves the capacity management design work and improves the design accuracy of the launch vehicle guidance energy by adopting a smooth sinusoidal continuous curve to plan the program angle of the energy dissipation phase.

[0033] Embodiment 1

[0034] like Figure 1 As shown, the launch vehicle guidance energy management method specifically includes the following steps:

[0035] Step S110: construct an energy management model.

[0036] The energy management model is constructed to plan the program angle of the energy dissipation stage. In this embodiment, a smooth sinusoidal continuous curve is used to plan the program angle of the energy dissipation stage, such as Figure 2 Shown is a schematic diagram of the energy management model constructed in this embodiment.

[0037] Figure 2 In the example, we use curve W I Indicates that the length between the start and end of the energy management segment is ΔW I Any curve of ΔW I For the apparent velocity of the energy management dissipation part, it is assumed that the longitudinal axis of the rocket is aligned with the required apparent velocity W D If the direction is consistent, the purpose of energy management is to consume the remaining apparent velocity modulus by adjusting the change of the rocket's own attitude. That is, at the end of this period, the apparent velocity increment is W D (W D Indicates the total apparent velocity modulus) direction, without considering other deviations (ΔW in the figure IIIn the case of apparent velocity deviation caused by other deviations), the target apparent velocity increment is equal to W D -ΔW I .

[0038] In order to achieve the above apparent speed change, the flight attitude angle The law of change with visual speed W is as follows Figure 3 As shown, given the rule Flight attitude angle under conditions The law of change with t is as follows Figure 4 shown.

[0039] in Figure 3 , Figure 4 is a continuous and smooth sine curve. is the maximum allowable attitude adjustment angle, Δt 1 From the posture adjustment moment to the posture adjustment angle The sine curve can be replaced by any continuous and integrable high-order polynomial for energy management, and the corresponding update program angle change curve can be used.

[0040] Specifically, the apparent acceleration can be measured during the powered flight of the rocket. Determine its flight attitude angle in real time

[0041] because If we assume that the apparent acceleration in long-range solid rocket powered flight is Obey the given law, denoted as Then there is Right now in To correspond to the given rule The flight attitude angle under the conditions. Indicates the real-time yaw attitude angle.

[0042] Obviously, in order to ensure that the actual flight apparent speed curve is consistent with the given form, it should be satisfied Right now: Indicates the yaw program angle attitude angular rate.

[0043] Points: in Indicates the yaw angle at the moment of energy management.

[0044] Get the total energy of the energy management section:

[0045] ΔW I =4·ΔW 1 =4·ΔW 2 =4·ΔW3 =4·ΔW 4 , where reference Figure 3 , ΔW 1 , ΔW 2 , ΔW 3 , ΔW 4 The energy consumed by the corresponding part.

[0046] in: refer to Figure 3 , where W1-W6 represent the apparent velocities of the corresponding parts respectively.

[0047] According to the above derivation, the flight program angle with the apparent velocity modulus as the independent variable can be obtained. The subsequent angle changes can be planned through the flight program angle, where the planned program angle It is expressed as:

[0048] The value range of W is: 0 ≤W<(W I +W 0 )

[0049] This embodiment uses a sine curve to plan the program angle of the energy dissipation stage. The curve is smooth, which is convenient for attitude control. Its expression is concise and clear, which is convenient for carrying out energy management guidance design. In addition, the energy management curve can be analyzed, the integral area can be directly calculated, and the definite integral is convenient, which effectively improves the energy management design work. It is convenient to change the definite integral time period, and the variational operation is convenient, which reduces the amount of calculation of real-time calculation on the arrow.

[0050] Step S120: After the energy management model is constructed, the maximum attitude adjustment angle is determined.

[0051] The amount of excess energy consumed by the energy management stage depends on the maximum attitude adjustment angle. Therefore, according to the energy requirements of the flight mission, the maximum attitude angle increment that needs to be adjusted must be determined first.

[0052] Based on the derivation of the above flight procedure angle, the following relationship can be established:

[0053]

[0054] in represents the program angular deviation of the energy dissipation part, is the maximum allowable attitude adjustment angle, express The square value, W 0 represents the apparent speed at the start of energy management, represents the flight attitude angle, represents the planned program angle, W represents the real-time visual speed, represents the rate of change of apparent velocity, Indicates the rate of change of program angle.

[0055] During the entire energy dissipation maneuver, the apparent speed W consumed is com for:

[0056]

[0057] To simplify the design, select Respectively Taylor series expansion at:

[0058]

[0059] The apparent speed consumed is W com It is expressed as:

[0060]

[0061] Based on the above, the total consumed apparent velocity modulus should satisfy the equation:

[0062] W con =W M -W D ,Right now

[0063] Let a = -143; b = 2556; c = -1890 (W M -W D );

[0064] We can get:

[0065] because If the equation has a reasonable solution (non-complex solution), that is, b 2 -4ac>0, we can get W M -W D <6.0432 (constraint condition for using sine curve for energy dissipation).

[0066] Let H = b 2 -4ac=6533136-1081080(W M -W D ),

[0067] The solution is

[0068] according to Nature It can be solved:

[0069]

[0070] Embodiment 2

[0071] like Figure 5 As shown, this embodiment provides a launch vehicle guidance energy management system, which specifically includes: an energy management model construction unit 510 and a maximum attitude adjustment angle determination unit 520.

[0072] The energy management model building unit 510 is used to build an energy management model.

[0073] The energy management model is constructed to plan the program angle of the energy dissipation stage. In this embodiment, a smooth sinusoidal continuous curve is used to plan the program angle of the energy dissipation stage, such as Figure 2 Shown is a schematic diagram of the energy management model constructed in this embodiment.

[0074] Figure 2 In the example, we use curve W I Indicates that the length between the start and end of the energy management segment is ΔW I Any curve, ΔW I For the apparent velocity of the energy management dissipation part, it is assumed that the longitudinal axis of the rocket is aligned with the required apparent velocity W D If the direction is consistent, the purpose of energy management is to consume the remaining apparent velocity modulus by adjusting the change of the rocket's own attitude. That is, at the end of this period, the apparent velocity increment is W D (W D Indicates the total apparent velocity modulus) direction, without considering other deviations (ΔW in the figure II In the case of apparent velocity deviation caused by other deviations), the target apparent velocity increment is equal to W D -ΔW I .

[0075] In order to achieve the above apparent speed change, the flight attitude angle The law of change with visual speed W is as follows Figure 3 As shown, given the rule Flight attitude angle under conditions The law of change with t is as follows Figure 4 shown.

[0076] in Figure 3 , Figure 4 is a continuous and smooth sine curve. is the maximum allowable attitude adjustment angle, Δt 1 From the posture adjustment moment to the posture adjustment angle The sine curve can be replaced by any continuous and integrable high-order polynomial for energy management, and the corresponding update program angle change curve can be used.

[0077] Specifically, the apparent acceleration can be measured during the powered flight of the rocket. Determine its flight attitude angle in real time

[0078] because If we assume that the apparent acceleration in long-range solid rocket powered flight is Obey the given law, denoted as Then there is Right now in To correspond to the given rule The flight attitude angle under the conditions. Indicates the real-time yaw attitude angle.

[0079] Obviously, in order to ensure that the actual flight apparent speed curve is consistent with the given form, it should be satisfied Right now: Indicates the yaw program angle attitude angular rate.

[0080] Points: in Indicates the yaw angle at the moment of energy management.

[0081] Take the total energy of the energy management section: ΔW I =4·ΔW 1 =4·ΔW 2 =4·ΔW 3 =4·ΔW 4 , where reference Figure 3 , ΔW 1 , ΔW 2 , ΔW 3 , ΔW 4 The energy consumed by the corresponding part.

[0082] in: refer to Figure 3 , where W1-W6 represent the apparent velocity of the corresponding parts

[0083] According to the above derivation, the flight program angle with the apparent velocity modulus as the independent variable can be obtained. The subsequent angle changes can be planned through the flight program angle, where the planned program angle It is expressed as:

[0084] The value range of W is: 0 ≤W<(W I +W 0 )

[0085] This embodiment uses a sine curve to plan the program angle of the energy dissipation stage. The curve is smooth, which is convenient for attitude control. Its expression is concise and clear, which is convenient for carrying out energy management guidance design. In addition, the energy management curve can be analyzed, the integral area can be directly calculated, and the definite integral is convenient, which effectively improves the energy management design work. It is convenient to change the definite integral time period, and the variational operation is convenient, which reduces the amount of calculation of real-time calculation on the arrow.

[0086] The maximum attitude adjustment angle determination unit 520 is used to determine the maximum attitude adjustment angle.

[0087] The amount of excess energy consumed by the energy management stage depends on the maximum attitude adjustment angle. Therefore, according to the energy requirements of the flight mission, the maximum attitude angle increment that needs to be adjusted must be determined first.

[0088] Based on the derivation of the above flight procedure angle, the following relationship can be established:

[0089]

[0090] in represents the program angular deviation of the energy dissipation part, is the maximum allowable attitude adjustment angle, express The square value, W 0 represents the apparent speed at the start of energy management, represents the flight attitude angle, represents the planned program angle, W represents the real-time visual speed, represents the rate of change of apparent velocity, Indicates the rate of change of program angle.

[0091] During the entire energy dissipation maneuver, the apparent speed W consumed is com for:

[0092]

[0093] To simplify the design, select Respectively Taylor series expansion at:

[0094]

[0095] The apparent speed consumed is W com It is expressed as:

[0096]

[0097] Based on the above, the total consumed apparent velocity modulus should satisfy the equation:

[0098] Wcom =W M -W D ,Right now

[0099]

[0100] Let a = -143; b = 2556; c = -1890 (W M -W D );

[0101] We can get:

[0102] because If the equation has a reasonable solution (non-complex solution), that is, b 2 -4ac>0, we can get W M -W D <6.0432 (constraint condition for using sine curve for energy dissipation).

[0103] Let H = b 2 -4ac-6533136-1081080(W M -W D ),

[0104] The solution is

[0105] according to Nature It can be solved:

[0106]

[0107] The present invention also provides a computer storage medium, which stores computer instructions. When the computer instructions are called, they are used to execute the launch vehicle guidance energy management method.

[0108] The embodiments disclosed in the present invention provide a computer-readable storage medium, in which computer program instructions are stored. When the computer program instructions are executed on a computer, the computer executes the above-mentioned launch vehicle guidance energy management method.

[0109] An embodiment of the present invention provides a processor for processing the above-mentioned launch vehicle guidance energy management method.

[0110] In the embodiment of the present invention, the processor may be an integrated circuit chip having the ability to process signals. The processor may be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0111] The methods, steps and logic block diagrams disclosed in the embodiments of the present invention can be implemented or executed. The general processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in the embodiments of the present invention can be directly embodied as a hardware decoding processor for execution, or can be executed by a combination of hardware and software modules in the decoding processor. The software module can be located in a mature storage medium in the field such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, etc. The processor reads the information in the storage medium and completes the steps of the above method in combination with its hardware.

[0112] The storage medium may be a memory, which may be, for example, a volatile memory or a nonvolatile memory, or may include both volatile and nonvolatile memory.

[0113] Among them, the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory can be a random access memory (RAM), which is used as an external cache. By way of example but not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM) and direct RAM bus random access memory (DRRAM).

[0114] This application has the following beneficial effects:

[0115] (1) The launch vehicle guidance energy management proposed in this application adopts online real-time energy estimation to improve the accuracy of launch vehicle energy management.

[0116] (2) The launch vehicle guidance energy management proposed in this application adopts a sine curve to plan the program angle of the energy dissipation stage. The curve is smooth, which reduces segment management and facilitates attitude control. Its expression is concise and clear, which is convenient for carrying out energy management guidance design.

[0117] (3) The launch vehicle guidance energy management proposed in this application adopts a sine curve to plan the program angle of the energy dissipation stage. The energy management curve can be analyzed, the integral area can be directly calculated, and the definite integral is convenient, which effectively improves the energy management design work.

[0118] (4) The launch vehicle guidance energy management proposed in this application adopts a sine curve to plan the program angle of the energy dissipation phase, which is convenient for changing the definite integral time period, and the variational operation is convenient, thereby reducing the amount of calculation required for real-time calculation on the rocket.

[0119] Although the present application is described with reference to examples, this is for illustrative purposes only and is not intended to limit the present application, and changes, additions and / or deletions to the embodiments may be made without departing from the scope of the present application.

[0120] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A launch vehicle guidance energy management method, characterized in that: The following steps are involved: Building energy management models; After completing the construction of the energy management model, the maximum attitude adjustment angle is determined.

2. The launch vehicle guidance energy management method according to claim 1, characterized in that: The energy management model includes: Set the start and end points of the energy management segment; With curve W I Indicates that the length between the start and end of the energy management segment is ΔW I Any curve of Assume that the longitudinal axis of the rocket is at right angles to the required apparent velocity W. D The direction is consistent. At the end of the energy management phase, the apparent speed increment is W D In the direction, the apparent velocity increment is equal to W D -ΔW I .

3. The launch vehicle guidance energy management method according to claim 2, characterized in that: After determining the apparent velocity increment, the flight attitude angle is determined based on the measured value of the apparent acceleration.

4. The launch vehicle guidance energy management method according to claim 3, characterized in that: Determining the maximum attitude adjustment angle includes establishing the following relationship: in represents the program angular deviation of the energy dissipation part, is the maximum allowable attitude adjustment angle, express The square value of W0 represents the apparent speed at the start of energy management. represents the flight attitude angle, represents the planned program angle, W represents the real-time visual speed, represents the rate of change of apparent velocity, Indicates the rate of change of program angle.

5. The launch vehicle guidance energy management method according to claim 4, characterized in that: According to the established relationship, the apparent speed W consumed is com It is expressed as:

6. A launch vehicle guidance energy management system, characterized in that: Specifically include: Energy management model building unit, maximum attitude adjustment angle determination unit; An energy management model building unit, used for building an energy management model; The maximum attitude adjustment angle determination unit is used to determine the maximum attitude adjustment angle.

7. The launch vehicle guidance energy management system according to claim 6, characterized in that: The energy management model includes: Set the start and end points of the energy management segment; With curve W I Indicates that the length between the start and end of the energy management segment is ΔW I Any curve of Assume that the longitudinal axis of the rocket is at right angles to the required apparent velocity W. D The direction is consistent. At the end of the energy management phase, the apparent speed increment is W D In the direction, the apparent velocity increment is equal to W D -ΔW I .

8. The launch vehicle guidance energy management system according to claim 7, characterized in that: After determining the apparent velocity increment, the flight attitude angle is determined based on the measured value of the apparent acceleration.

9. The launch vehicle guidance energy management system according to claim 8, characterized in that: Determining the maximum attitude adjustment angle includes establishing the following relationship: in represents the program angular deviation of the energy dissipation part, is the maximum allowable attitude adjustment angle, express The square value of W0 represents the apparent speed at the start of energy management. represents the flight attitude angle, represents the planned program angle, W represents the real-time visual speed, represents the rate of change of apparent velocity, Indicates the rate of change of program angle.

10. The launch vehicle guidance energy management system according to claim 9, characterized in that: According to the established relationship, the apparent speed W consumed is com It is expressed as:

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