A launch vehicle guidance energy management method and system

Abstract

The application discloses a launch vehicle guidance energy management method and a system thereof, and the launch vehicle guidance energy management method comprises the following steps: constructing an energy management model; and determining a maximum attitude angle after the construction of the energy management model is completed. The launch vehicle guidance energy management method has the advantages that online real-time energy estimation is adopted, and the accuracy of the launch vehicle energy management is improved. The energy dissipation phase program angle is planned by adopting a sinusoidal curve, the curve is smooth, the segmented management is reduced, the attitude control is facilitated, the expression is simple and clear, and the energy management guidance design is facilitated. Meanwhile, the energy management curve is analytical, the integral area can be directly calculated, the definite integral is convenient, and the energy management design work is effectively improved.

Description

Technical Field

[0001] This application relates to the field of rockets, and more specifically, to a method and system for guiding energy management of a launch vehicle. Background Technology

[0002] In launch vehicles, the purpose of energy management is to dissipate the remaining apparent velocity modulus by adjusting the rocket's attitude. The apparent velocity modulus is only related to engine thrust and the mass at the ignition and shutdown times of each stage. It is a measure of the rocket's inherent energy and represents the maximum apparent velocity increment that each stage can provide. Errors in the apparent velocity modulus generally depend on thrust deviations. The flight program angles for each stage in the vacuum phase can generally be divided into two parts: one primarily for energy dissipation management, and the other primarily for appropriate error compensation and correction. Current technologies typically employ a trapezoidal program angle planning method. However, when analyzing attitude angle deviations, there is a significant attitude angle deviation at the connection points of program angle planning changes, and program angle planning requires segmented management based on flight conditions.

[0003] Therefore, how to provide an effective energy management method to 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] This application proposes a method for energy management in launch vehicle guidance, comprising the following steps: constructing an energy management model; and determining the maximum attitude adjustment angle after the energy management model is constructed.

[0005] The launch vehicle guidance energy management method described above includes an energy management model comprising: setting the start and end points of the energy management segment; and using curve W... I The length between the start and end points of the energy management segment is ΔW. I Any curve; let the longitudinal axis of the rocket be intersected by the required apparent velocity W. D With the direction consistent, at the end of the energy management phase, the apparent velocity increment is in W. D In the direction, the apparent velocity increment is equal to W. D -ΔW I .

[0006] In the launch vehicle guidance energy management method described above, after determining the apparent velocity increment, the flight attitude angle is determined based on the measured value of the apparent acceleration.

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

[0008]

[0009] in This represents the program angle deviation of the energy dissipation component. For the maximum allowable attitude adjustment angle, express The square of W0 represents the apparent velocity at the start of energy management. Indicates the flight attitude angle. The program angle represents the planning angle, and W represents the real-time apparent velocity. Indicates the apparent rate of change. This indicates the rate of change of the program angle.

[0010] The launch vehicle guidance energy management method described above, wherein the apparent velocity W consumed is determined according to the established relationship. com Represented as:

[0011]

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

[0013] The launch vehicle guidance energy management system described above includes an energy management model that sets the start and end points of the energy management segment; and uses curve W... I The length between the start and end points of the energy management segment is ΔW. I Any curve; let the longitudinal axis of the rocket be intersected by the required apparent velocity W. D With the direction consistent, at the end of the energy management phase, the apparent velocity increment is in W. D In the direction, the apparent velocity increment is equal to W. D -ΔW I .

[0014] As described above, in the launch vehicle guidance energy management system, after determining the apparent velocity increment, the flight attitude angle is determined based on the measured value of the apparent acceleration.

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

[0016]

[0017] in This represents the program angle deviation of the energy dissipation component. For the maximum allowable attitude adjustment angle, express The square of W0 represents the apparent velocity at the start of energy management. Indicates the flight attitude angle. The program angle represents the planning angle, and W represents the real-time apparent velocity. Indicates the apparent rate of change. This indicates the rate of change of the program angle.

[0018] As described above, in the launch vehicle guidance energy management system, the apparent velocity W consumed is determined according to the established formula. com Represented 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, which improves 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, reduces segmented management, facilitates attitude control, and its expression is concise and clear, which facilitates the design of energy management guidance.

[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, the definite integral is convenient, and the energy management design work is effectively improved.

[0024] (4) The launch vehicle guidance energy management proposed in this application adopts the sine curve planning of the energy dissipation stage program angle, which makes it easy to change the definite integral time period, facilitates variational calculation, and reduces the amount of calculation in real time on the rocket. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this application. For those skilled in the art, other drawings can be obtained based on these drawings.

[0026] Figure 1 This is a flowchart of a launch vehicle guidance energy management method provided according to an embodiment of this application;

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

[0028] Figure 3 The flight attitude angle is provided according to the embodiments of this application. Schematic diagram showing the variation of visual velocity W;

[0029] Figure 4 It is the flight attitude angle under the given rules provided in the embodiments of this application. Schematic diagram illustrating the variation of t;

[0030] Figure 5 This is a schematic diagram of the internal structure of the launch vehicle guidance energy management system provided in the embodiments of this application. Detailed Implementation

[0031] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0032] This application proposes a method and system for guiding energy management in launch vehicles. To facilitate rocket attitude control, it employs a smooth, continuous sinusoidal curve to plan the program angle for the energy dissipation stage, effectively improving the energy management design and enhancing the accuracy of launch vehicle guidance energy design.

[0033] Example 1

[0034] like Figure 1 The diagram illustrates a method for managing the guidance energy of a launch vehicle, which specifically includes the following steps:

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

[0036] This involves constructing an energy management model to plan the program angle for the energy dissipation stage. In this embodiment, a smooth, continuous sine curve is used to plan the program angle for the energy dissipation stage, such as... Figure 2 The diagram shown is a schematic of the energy management model constructed in this embodiment.

[0037] Figure 2 In the middle, use curve W I The length between the start and end points of the energy management segment is ΔW. I For any curve, ΔW I For the apparent velocity of the energy management dissipation component, assume that the rocket's longitudinal axis is aligned with the required apparent velocity W. D If the direction is consistent, then the purpose of energy management is to consume the remaining apparent velocity modulus by adjusting the rocket's attitude. That is, at the end of this segment, its apparent velocity increment should be within W... D (W D In the direction of the total apparent velocity modulus, without considering other deviations (ΔW in the figure) IIIn the case of visual velocity deviation caused by other deviations, the magnitude of the target visual velocity increment is equal to W. D -ΔW I .

[0038] To achieve the aforementioned apparent velocity change, the flight attitude angle The variation law of W with visual speed is as follows Figure 3 As shown, given the pattern Flight attitude angle under certain conditions The variation pattern with t is as follows Figure 4 As shown.

[0039] in Figure 3 , Figure 4 It is a continuous and smooth sine curve. The maximum allowable attitude adjustment angle, Δt1 is the distance from the attitude adjustment moment to the attitude adjustment angle. The time to reach the target value. The sine curve can be replaced with any continuously integrable high-order polynomial for energy management, and the corresponding program angle change curve can be updated accordingly.

[0040] Specifically, during the rocket's powered flight, the apparent acceleration can be measured entirely from the data. Determine its flight attitude angle in real time

[0041] because If we assume the apparent acceleration during the long-range solid rocket's powered flight... Obeying a given rule, denoted as Then there is Right now in To correspond to a given pattern Flight attitude angles under specific conditions. During actual flight, there should be... This indicates the real-time yaw attitude angle.

[0042] Obviously, in order to ensure that the apparent velocity curve of actual flight is consistent with the given form, it should satisfy the following conditions: Right now: This indicates the yaw program angle attitude angular rate.

[0043] Integral result: in This indicates the yaw angle at the moment of energy management.

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

[0045] ΔW I =4·ΔW1=4·ΔW2=4·ΔW3=4·ΔW4, where reference Figure 3ΔW1, ΔW2, ΔW3, and ΔW4 represent the energy consumed in the corresponding parts.

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

[0047] Based on the above derivation, the flight program angle with the apparent velocity modulus as the independent variable can be obtained. The flight program angle allows for the planning of subsequent angle changes, where the planned program angle... Represented as:

[0048] The range of values ​​for W is: W0 ≤ W < (W I +W0)

[0049] This embodiment uses a sine curve to plan the program angle for the energy dissipation stage. The curve is smooth, facilitating attitude control, and its expression is concise and clear, making it easy to carry out energy management guidance design. Furthermore, the energy management curve is analytical, the integral area can be directly calculated, and definite integrals are convenient, effectively improving the energy management design work. It also allows for easy modification of the definite integral time period, convenient variational operations, and reduces the computational load of real-time onboard calculations.

[0050] Step S120: After completing the construction of the energy management model, determine the maximum attitude adjustment angle.

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

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

[0053]

[0054] in This represents the program angle deviation of the energy dissipation component. For the maximum allowable attitude adjustment angle, express The square of W0 represents the apparent velocity at the start of energy management. Indicates the flight attitude angle. The program angle represents the planning angle, and W represents the real-time apparent velocity. Indicates the apparent rate of change. This indicates the rate of change of the program angle.

[0055] The apparent velocity W consumed during the entire energy dissipation maneuver com for:

[0056]

[0057] To simplify the design, choose In respectively Taylor series expansion:

[0058]

[0059] Then the apparent speed W consumed com Represented as:

[0060]

[0061] Based on the above, the total apparent velocity modulus consumed 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 obtain:

[0065] because If the equation has a reasonable solution (a non-complex solution), i.e., b 2 -4ac>0, therefore W M -W D <6.0432 (Constraints for energy dissipation using sine curves).

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

[0067] The solution is

[0068] according to Properties The solution can be found to be:

[0069]

[0070] Example 2

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

[0072] Energy management model building unit 510 is used to build energy management models.

[0073] This involves constructing an energy management model to plan the program angle for the energy dissipation stage. In this embodiment, a smooth, continuous sine curve is used to plan the program angle for the energy dissipation stage, such as... Figure 2 The diagram shown is a schematic of the energy management model constructed in this embodiment.

[0074] Figure 2 In the middle, use curve W I The length between the start and end points of the energy management segment is ΔW. I For any curve, ΔW I For the apparent velocity of the energy management dissipation component, assume that the rocket's longitudinal axis is aligned with the required apparent velocity W. D If the direction is consistent, then the purpose of energy management is to consume the remaining apparent velocity modulus by adjusting the rocket's attitude. That is, at the end of this segment, its apparent velocity increment should be within W... D (W D In the direction of the total apparent velocity modulus, without considering other deviations (ΔW in the figure) II In the case of visual velocity deviation caused by other deviations, the magnitude of the target visual velocity increment is equal to W. D -ΔW I .

[0075] To achieve the aforementioned apparent velocity change, the flight attitude angle The variation law of W with visual speed is as follows Figure 3 As shown, given the pattern Flight attitude angle under certain conditions The variation pattern with t is as follows Figure 4 As shown.

[0076] in Figure 3 , Figure 4 It is a continuous and smooth sine curve. The maximum allowable attitude adjustment angle, Δt1 is the distance from the attitude adjustment moment to the attitude adjustment angle. The time to reach the target value. The sine curve can be replaced with any continuously integrable high-order polynomial for energy management, and the corresponding program angle change curve can be updated accordingly.

[0077] Specifically, during the rocket's powered flight, the apparent acceleration can be measured entirely from the data. Determine its flight attitude angle in real time

[0078] because If we assume the apparent acceleration during the long-range solid rocket's powered flight... Obeying a given rule, denoted as Then there is Right now in To correspond to a given pattern Flight attitude angles under specific conditions. During actual flight, there should be... This indicates the real-time yaw attitude angle.

[0079] Obviously, in order to ensure that the apparent velocity curve of actual flight is consistent with the given form, it should satisfy the following conditions: Right now: This indicates the yaw program angle attitude angular rate.

[0080] Integral result: in This indicates the yaw angle at the moment of energy management.

[0081] Total energy of the energy management section: ΔW I =4·ΔW1=4·ΔW2=4·ΔW3=4·ΔW4, where reference Figure 3 ΔW1, ΔW2, ΔW3, and ΔW4 represent the energy consumed in the corresponding parts.

[0082] in: refer to Figure 3 Where W1-W6 represent the apparent velocities of the corresponding parts.

[0083] Based on the above derivation, the flight program angle with the apparent velocity modulus as the independent variable can be obtained. The flight program angle allows for the planning of subsequent angle changes, where the planned program angle... Represented as:

[0084] The range of values ​​for W is: W0 ≤ W < (W I +W0)

[0085] This embodiment uses a sine curve to plan the program angle for the energy dissipation stage. The curve is smooth, facilitating attitude control, and its expression is concise and clear, making it easy to carry out energy management guidance design. Furthermore, the energy management curve is analytical, the integral area can be directly calculated, and definite integrals are convenient, effectively improving the energy management design work. It also allows for easy modification of the definite integral time period, convenient variational operations, and reduces the computational load of real-time onboard calculations.

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

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

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

[0089]

[0090] in This represents the program angle deviation of the energy dissipation component. For the maximum allowable attitude adjustment angle, express The square of W0 represents the apparent velocity at the start of energy management. Indicates the flight attitude angle. The program angle represents the planning angle, and W represents the real-time apparent velocity. Indicates the apparent rate of change. This indicates the rate of change of the program angle.

[0091] The apparent velocity W consumed during the entire energy dissipation maneuver com for:

[0092]

[0093] To simplify the design, choose In respectively Taylor series expansion:

[0094]

[0095] Then the apparent speed W consumed com Represented as:

[0096]

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

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

[0099]

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

[0101] We can obtain:

[0102] because If the equation has a reasonable solution (a non-complex solution), i.e., b 2 -4ac>0, therefore W M -W D<6.0432 (Constraints for energy dissipation using sine curves).

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

[0104] The solution is

[0105] according to Properties The solution can be found to be:

[0106]

[0107] The present invention also provides a computer storage medium storing computer instructions, which, when invoked, are used to execute the launch vehicle guidance energy management method.

[0108] The embodiments disclosed in this invention provide a computer-readable storage medium storing computer program instructions that, when executed on a computer, cause the computer to perform the aforementioned method for guiding energy management of a launch vehicle.

[0109] This invention provides a processor for processing the above-described method for guiding energy management of a launch vehicle.

[0110] In this embodiment of the invention, the processor can be an integrated circuit chip with signal processing capabilities. The processor can 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 various methods, steps, and logic diagrams disclosed in the embodiments of this invention can be implemented or executed. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this invention can be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software modules can reside in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. The processor reads information from the storage medium and, in conjunction with its hardware, completes the steps of the above methods.

[0112] The storage medium can be memory, such as volatile memory or non-volatile memory, or may include both volatile and non-volatile memory.

[0113] Non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. Volatile memory can be 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 DRAM (SDRAM), Double Data Rate Synchronous DRAM (DDRSDRAM), Enhanced Synchronous DRAM (ESDRAM), Synchlink DRAM (SLDRAM), and Direct Rambus RAM (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, which improves 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, reduces segmented management, facilitates attitude control, and its expression is concise and clear, which facilitates the design of energy management guidance.

[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, the definite integral is convenient, and the energy management design work is effectively improved.

[0118] (4) The launch vehicle guidance energy management proposed in this application adopts the sine curve planning of the energy dissipation stage program angle, which makes it easy to change the definite integral time period, facilitates variational calculation, and reduces the amount of calculation in real time on the rocket.

[0119] Although the examples referenced in this application are described for illustrative purposes only and not for limiting the scope of this application, changes, additions and / or deletions to the implementation may be made without departing from the scope of this application.

[0120] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for managing the guidance energy of a launch vehicle, characterized in that, Includes the following steps: Develop an energy management model; After completing the construction of the energy management model, the maximum attitude adjustment angle is determined; Determining the maximum attitude adjustment angle involves establishing the following relationship: ； ； ； in This represents the program angle deviation of the energy dissipation component. For the maximum allowable attitude adjustment angle, express The square of W0 represents the apparent velocity at the start of energy management. Indicates the flight attitude angle. The procedural angle representing the planning process. Indicates real-time visual velocity. Indicates the apparent rate of change. This indicates the rate of change of the program angle.

2. The launch vehicle guidance energy management method as described in claim 1, characterized in that, Energy management models include: Set the start and end points of the energy management segment; Using curves This indicates the length between the start and end points of the energy management segment. Any curve; Let the rocket's longitudinal axis be equal to the required apparent velocity. With the direction consistent, at the end of the energy management phase, depending on the speed increment... In the direction, the magnitude of the apparent velocity increment is equal to .

3. The launch vehicle guidance energy management method as described in claim 2, characterized in that, After determining the apparent velocity increment, the flight attitude angle is determined based on the measured values ​​of the apparent acceleration. .

4. The launch vehicle guidance energy management method as described in claim 1, characterized in that, Based on the established relationship, the apparent speed consumed... Represented as: 。 5. A launch vehicle guidance energy management system, characterized in that, Specifically, it includes: Energy management model construction unit, maximum attitude angle determination unit; Energy management model building unit, used to build energy management models; The maximum attitude angle determination unit is used to determine the maximum attitude angle. The maximum attitude adjustment angle determination unit determines the maximum attitude adjustment angle by establishing the following relationship: ； ； ； in This represents the program angle deviation of the energy dissipation component. For the maximum allowable attitude adjustment angle, express The square of W0 represents the apparent velocity at the start of energy management. Indicates the flight attitude angle. The procedural angle representing the planning process. Indicates real-time visual velocity. Indicates the apparent rate of change. This indicates the rate of change of the program angle.

6. The launch vehicle guidance energy management system as described in claim 5, characterized in that, Energy management models include: Set the start and end points of the energy management segment; Using curves This indicates the length between the start and end points of the energy management segment. Any curve; Let the rocket's longitudinal axis be equal to the required apparent velocity. With the direction consistent, at the end of the energy management phase, depending on the speed increment... In the direction, the magnitude of the apparent velocity increment is equal to .

7. The launch vehicle guidance energy management system as described in claim 6, characterized in that, After determining the apparent velocity increment, the flight attitude angle is determined based on the measured values ​​of the apparent acceleration. .

8. The launch vehicle guidance energy management system as described in claim 5, characterized in that, Based on the established relationship, the apparent speed consumed... Represented as: 。

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