Carrier rocket launching perpendicularity control method and device and storage medium

Abstract

The invention belongs to the technical field of rocket launching, and particularly relates to a carrier rocket launching perpendicularity control method and device and a storage medium, the perpendicularity control method comprises the following steps: constructing an attitude dynamic model in a carrier rocket launching process, and the attitude dynamic model is used for describing change rules of rocket attitudes under different conditions; setting a prediction window; according to the real-time attitude state information of the rocket, predicting attitude changes of a plurality of time steps in the future in the current prediction window; designing an objective function, and optimizing the objective function through a predictive control algorithm in each time step to obtain an optimal control signal sequence; in each prediction period, executing a first signal in the obtained optimal control signal sequence, and transmitting the first signal to a rocket attitude control device; and repeating the steps. According to the invention, the launch attitude control precision of the carrier rocket can be improved, and the response speed of the system is optimized.

Description

Technical Field

[0001] The present invention belongs to the technical field of rocket launching, and in particular relates to a method, a device and a storage medium for controlling the verticality of launching a carrier rocket. Background Art

[0002] At the launch site, the launch vehicle needs to maintain a strict vertical attitude to ensure the accuracy of the flight trajectory. However, due to the instability of the ground support system, changes in environmental conditions (such as wind speed, temperature, etc.) and the complexity of the rocket structure, the rocket is prone to attitude deviation during the launch phase. If this deviation is not controlled, it may cause the rocket orbit to deviate from the predetermined path, and even affect the success rate and safety of the mission. However, the existing launch verticality control methods usually rely on ground support equipment (such as guide rails or support frames) to maintain the vertical attitude of the rocket. These devices have limited ability to cope with external interference such as wind, vibration, and tilt, and it is difficult to achieve high-precision verticality control. In addition, with the increase in the scale and complexity of rocket launches, higher requirements are placed on attitude control during the launch process; traditional methods have low control accuracy, usually lack real-time feedback and adjustment capabilities, and are difficult to cope with complex attitude changes. It is impossible to provide high-frequency feedback and real-time adjustment of the rocket's attitude, especially in the early stage of launch after the rocket leaves the ground support. It is difficult to ensure accurate control of verticality; this results in the rocket being unable to quickly return to the preset attitude after being disturbed, affecting flight stability. Moreover, existing control methods mostly rely on classical control algorithms such as proportional integral differential (PID) control. PID control has limited performance when dealing with multivariable, nonlinear or rapidly changing systems. Its control accuracy is limited, and it is difficult to achieve high accuracy when the rocket attitude changes rapidly or there are complex disturbances. At the same time, traditional control methods lack the prediction and compensation of external disturbances. Usually, they cannot predict the changes of external disturbances such as wind speed and temperature. Since disturbances cannot be predicted, the control system can only respond passively, and the attitude adjustment will lag, affecting the control effect.

[0003] Therefore, it is of great significance to propose a new method for controlling the verticality of launch vehicles to ensure the stable launch of rockets in different environments. Summary of the invention

[0004] In order to solve the technical problems of low vertical attitude control accuracy and adjustment lag in the prior art, the present invention proposes a launch vehicle verticality control method, device and storage medium, and utilizes a predictive control algorithm (Model Predictive Control, MPC) to effectively improve the vertical attitude control accuracy of rocket launch.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is: a launch vehicle verticality control method, comprising the following steps:

[0006] Step 1: Construct a dynamic attitude model of the launch vehicle during launch, which is used to describe the changing rules of the rocket attitude under different conditions; set a prediction window;

[0007] Step 2: Based on the real-time attitude state information of the rocket, predict the attitude changes of multiple time steps in the future within the current prediction window;

[0008] Step 3: Design the objective function and optimize it through the predictive control algorithm in each time step to obtain the optimal control signal sequence;

[0009] Step 4: In each prediction cycle, the first signal in the optimal control signal sequence is executed and transmitted to the rocket attitude control device;

[0010] Step 5: Roll the prediction window to the next time step and repeat steps 2 to 4 in a loop to achieve vertical control of the launch vehicle.

[0011] In step 3, the designed objective function is:

[0012]

[0013] Where J represents the objective function, x(k) represents the predicted rocket attitude state; x ref represents the desired vertical posture; u(k) represents the input control signal; Q is the state error weight matrix, R is the input energy weight matrix, k represents the prediction window, and N represents the number of prediction windows.

[0014] In the step 1, in the attitude dynamic model constructed, the model parameters include the control parameters of the control system on the rocket, the influence parameters of the external disturbance on the attitude of the rocket, the acceleration change parameters and angular velocity change parameters of the rocket in the initial stage of takeoff.

[0015] In step 3, the predictive control algorithm adds the following constraints:

[0016] Attitude angle restriction condition: the rocket attitude angle is less than the maximum allowable deviation angle;

[0017] Thrust Limitation Condition: The thrust output of the control device is less than the maximum allowable thrust.

[0018] In step 3, the predictive control algorithm also adds the following constraints:

[0019] Environmental disturbance constraints: wind force and air resistance are less than the set resistance threshold.

[0020] In step 4, the rocket attitude control device is a thrust vector control device or an attitude adjustment nozzle.

[0021] The method for controlling the verticality of a launch vehicle also includes the following steps: real-time monitoring of environmental disturbances and system operation data, and determining whether an abnormality occurs; if an abnormality occurs, adaptively adjusting control parameters according to new environmental parameters, and performing real-time compensation or switching to a backup plan.

[0022] In addition, the present invention also provides a launch vehicle verticality control device, comprising: a processor and a memory communicatively connected to the processor;

[0023] The memory stores computer-executable instructions;

[0024] The processor executes the computer-executable instructions stored in the memory to implement the method for controlling the verticality of launch of a carrier rocket.

[0025] In addition, the present invention also provides a computer-readable storage medium, in which computer execution instructions are stored. When the computer execution instructions are executed by a processor, they are used to implement the method for controlling the verticality of a launch vehicle.

[0026] Compared with the prior art, the present invention has the following beneficial effects:

[0027] 1. Improve the control accuracy of launch verticality: The present invention adopts the model predictive control (MPC) algorithm, which can monitor the attitude state of the rocket in real time and predict its future changes. By optimizing the control input (such as nozzle thrust and direction), it can effectively reduce the deviation of the rocket from the ideal vertical attitude, ensuring that the verticality of the rocket during the launch process achieves a higher accuracy.

[0028] 2. Enhance the dynamic adaptability of rocket launch: The control system of the present invention can adjust the control strategy in real time to adapt to changes in the external environment (such as wind speed, airflow and temperature, etc.), and improve the stability and safety of the rocket under different launch conditions. This dynamic adjustment capability enables the system to respond quickly in emergencies and effectively maintain the verticality of the rocket.

[0029] 3. Reduced potential risks caused by control errors and enhanced launch safety and reliability: Compared with traditional methods, the present invention comprehensively considers multiple constraints such as attitude angle, thrust and environmental disturbance during the control process to ensure that all parameters of the rocket during the launch process are within a safe range, reducing potential risks caused by control errors.

[0030] In summary, the present invention significantly improves the safety and reliability of launch, reduces the risk of launch failure, and provides stronger protection for rocket launch missions by accurately controlling the rocket's launch verticality and effectively responding to external disturbances. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 A schematic flow chart of a method for controlling the verticality of a launch vehicle according to an embodiment of the present invention. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments; based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0033] Embodiment 1

[0034] The first embodiment of the present invention provides a launch vehicle verticality control method, which introduces a predictive control algorithm (Model Predictive Control, MPC) to effectively solve the technical problems of insufficient control accuracy and poor dynamic adaptability in the launch vehicle verticality control. Figure 1 As shown, it includes the following steps:

[0035] Step 1: Construct a dynamic attitude model of the launch vehicle during launch, which is used to describe the changing rules of the rocket attitude under different conditions; set a prediction window;

[0036] In the step 1, in the constructed attitude dynamic model, the model parameters include the control parameters of the control system on the rocket, which are used to characterize the control effect of the control system (such as attitude control nozzle, yaw control rudder) on the rocket; the external disturbance on the rocket's attitude influence parameters, which are used to characterize the influence of external disturbances (such as wind force, air resistance) on the rocket's attitude; the acceleration change parameters and angular velocity change parameters of the rocket in the initial stage of takeoff. The attitude dynamic model is used to describe the change law of the rocket's attitude under different conditions, ensuring that the predictive control algorithm can accurately predict the future attitude.

[0037] Step 2: Based on the real-time attitude state information of the rocket, predict the attitude changes of multiple time steps in the future within the current prediction window.

[0038] In this embodiment, a rolling time window mechanism is used to predict the attitude changes of several future time steps based on the current state information of the rocket. In each time step, the algorithm predicts the future attitude change trend of the rocket based on the current attitude and external disturbance conditions, thereby determining the optimal control strategy. Through the continuous rolling window prediction, the control strategy is ensured to be updated in real time and matched with the dynamic state of the rocket.

[0039] Step 3: Design the objective function and optimize it through the predictive control algorithm in each time step to obtain the optimal control signal sequence.

[0040] In this embodiment, within the prediction window, an objective function is designed to measure the attitude deviation and control energy consumption of the rocket. The objective function usually includes a weighted sum of attitude deviation and control input, aiming to minimize the vertical deviation of the rocket while controlling energy consumption. In each time step, the objective function is optimized to calculate the optimal control signal sequence so that the rocket can gradually correct its attitude and maintain a vertical state.

[0041] In step 3, the optimization goal of MPC is to minimize the deviation of the rocket from the ideal vertical attitude, which is usually expressed by an objective function. The objective function designed in this embodiment is:

[0042]

[0043] Where J represents the objective function;

[0044] x(k) represents the predicted rocket attitude state; x ref represents the desired vertical posture; u(k) represents the input control signal (such as the thrust or direction of the nozzle); Q is the state error weight matrix, R is the input energy weight matrix, which are used to balance the control error and control energy consumption respectively, k represents the prediction window, and N represents the number of prediction windows.

[0045] Furthermore, in step 3, in order to ensure the safety and control effect of the rocket, the following restrictions are added to the predictive control algorithm:

[0046] Attitude angle restriction condition: the rocket attitude angle is less than the maximum allowable deviation angle;

[0047] Thrust Limitation Condition: The thrust output of the control device is less than the maximum allowable thrust.

[0048] Furthermore, in step 3, the predictive control algorithm also adds the following constraints:

[0049] Environmental disturbance constraints: wind force and air resistance are less than the set resistance threshold. Set the allowable range for environmental factors such as wind force and air resistance to ensure that the control system can respond in time.

[0050] Step 4: Apply control signals and roll over: In each prediction window cycle, execute the first signal in the optimal control signal sequence and pass it to the rocket attitude control device.

[0051] In step 4, the rocket attitude control device is a thrust vector control device or an attitude adjustment nozzle.

[0052] In this embodiment, in each prediction cycle, only the first control signal obtained by optimization is actually executed and transmitted to the attitude control device of the rocket (such as thrust vector control or attitude adjustment nozzle, etc.). After that, the prediction window is rolled into the next time step, the current attitude state information of the rocket is re-acquired, the system input is updated, and the prediction and optimization process is cyclically executed.

[0053] Step 5: Roll the prediction window to the next time step and repeat steps 2 to 4 in a loop to achieve vertical control of the launch vehicle.

[0054] Furthermore, a launch vehicle verticality control method of the present embodiment also includes the following steps: real-time monitoring of environmental disturbances and system operation data, and determining whether an abnormality occurs; if an abnormality occurs, adaptively adjusting control parameters according to new environmental parameters, and performing real-time compensation or switching to a backup plan.

[0055] In this embodiment, during the control process, external disturbances (such as wind speed changes) and system operating status are monitored to detect abnormal conditions of the launch platform sensors or control devices in real time. Once a disturbance or abnormality is detected, the system adaptively adjusts the control parameters according to the new input and environmental conditions, and performs real-time compensation or switches to a backup plan to ensure the continuity of the rocket attitude control and the reliability of the system.

[0056] A launch vehicle verticality control method provided in this embodiment has the following characteristics:

[0057] 1. Improve the accuracy of vertical attitude control: The predictive control algorithm uses the dynamic model and real-time status data of the rocket to predict the future attitude of the rocket during the launch process and generate the optimal control strategy to continuously adjust the attitude of the rocket. Through this real-time optimization method, the system can accurately minimize the vertical deviation of the rocket, significantly improve the accuracy of vertical attitude control, and meet the needs of high-precision launch.

[0058] 2. Enhance the ability to respond quickly and compensate for external disturbances: Rockets often face complex external disturbances (such as wind speed, airflow, temperature changes, etc.) during launch. The MPC algorithm considers the impact of disturbances on the rocket's attitude within the prediction window and generates control signals that adapt to disturbances in advance, thereby effectively compensating for external disturbances. This enables the rocket attitude control system to have a stronger ability to respond to environmental changes and quickly restore the vertical attitude when encountering sudden disturbances.

[0059] 3. Real-time optimization of control response and reduction of attitude adjustment lag: In the high-dynamic scenario of rocket launch, traditional control methods are difficult to cope with rapidly changing states, and attitude adjustment often lags. MPC uses a rolling optimization mechanism to recalculate the control input at each time step and apply it to the rocket attitude control system, enabling the control system to respond to the rocket's attitude deviation in real time, thereby significantly reducing control lag and ensuring the real-time nature of attitude adjustment.

[0060] 4. Flexible design and optimization of control input: The present invention designs the control input of the nozzle thrust and direction adjustment to ensure that it can be flexibly adjusted under various working conditions (such as different climatic conditions, launch angles, etc.) to achieve the best verticality control effect.

[0061] 5. Improve the adaptability of the system to adapt to diverse launch environments: Due to the significant differences in environmental conditions at different launch sites, traditional methods are difficult to maintain optimal control performance under different market conditions. MPC can dynamically adjust the control strategy based on real-time status and environmental feedback, and adaptively adjust the attitude control parameters of the rocket, so that the system always maintains the best control effect under various working conditions. It can be applied to various types of launch vehicles and their launch conditions, including different launch platforms, load configurations, and specific environmental factors. Therefore, predictive control makes the rocket verticality control system more environmentally adaptable and robust.

[0062] The feasibility of the embodiment of the present invention has been proved through a series of simulation verifications. The following is part of the implementation source code:

[0063]

[0064]

[0065]

[0066] Code Explanation:

[0067] 1. Rocket dynamics model: The rocket_dynamics function describes the dynamic model of the rocket's attitude, taking into account the effect of control input on angular velocity.

[0068] 2. Objective function: The objective function calculates the cost of state error and control energy consumption based on the goal of predictive control, and uses weight matrices Q and R to balance the error and energy consumption.

[0069] 3. Constraints: The constraints function adds attitude angle limits, thrust limits, and simple environmental disturbance limits to ensure that the rocket operates within a safe range.

[0070] 4. MPC controller: The mpc_control function solves the control input sequence through the minimize optimization library and returns the first control signal for updating the posture.

[0071] Embodiment 2

[0072] Embodiment 2 of the present invention provides a launch vehicle verticality control device, including: a processor and a memory communicatively connected to the processor;

[0073] The memory stores computer-executable instructions;

[0074] The processor executes the computer-executable instructions stored in the memory to implement a launch vehicle verticality control method as described in Example 1.

[0075] Embodiment 3

[0076] Embodiment 3 of the present invention provides a computer-readable storage medium, characterized in that the computer-readable storage medium stores computer execution instructions, and when the computer execution instructions are executed by a processor, they are used to implement a launch vehicle verticality control method as described in Embodiment 1.

[0077] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A launch vehicle verticality control method, characterized in that: The following steps are involved: Step 1: Construct a dynamic attitude model of the launch vehicle during launch, which is used to describe the changing rules of the rocket attitude under different conditions; set a prediction window; Step 2: Based on the real-time attitude state information of the rocket, predict the attitude changes of multiple time steps in the future within the current prediction window; Step 3: Design the objective function and optimize it through the predictive control algorithm in each time step to obtain the optimal control signal sequence; Step 4: In each prediction cycle, the first signal in the optimal control signal sequence is executed and transmitted to the rocket attitude control device; Step 5: Roll the prediction window to the next time step and repeat steps 2 to 4 in a loop to achieve vertical control of the launch vehicle.

2. A launch vehicle verticality control method according to claim 1, characterized in that: In step 3, the designed objective function is: Where J represents the objective function, x(k) represents the predicted rocket attitude state; x ref represents the desired vertical posture; u(k) represents the input control signal; Q is the state error weight matrix, R is the input energy weight matrix, k represents the prediction window, and N represents the number of prediction windows.

3. A launch vehicle verticality control method according to claim 1, characterized in that: In the step 1, in the attitude dynamic model constructed, the model parameters include the control parameters of the control system on the rocket, the influence parameters of the external disturbance on the attitude of the rocket, the acceleration change parameters and angular velocity change parameters of the rocket in the initial stage of takeoff.

4. A launch vehicle verticality control method according to claim 1, characterized in that: In step 3, the predictive control algorithm adds the following constraints: Attitude angle restriction condition: the rocket attitude angle is less than the maximum allowable deviation angle; Thrust Limitation Condition: The thrust output of the control device is less than the maximum allowable thrust.

5. A launch vehicle verticality control method according to claim 4, characterized in that: In step 3, the predictive control algorithm also adds the following constraints: Environmental disturbance constraints: wind force and air resistance are less than the set resistance threshold.

6. A launch vehicle verticality control method according to claim 1, characterized in that: In step 4, the rocket attitude control device is a thrust vector control device or an attitude adjustment nozzle.

7. A launch vehicle verticality control method according to claim 1, characterized in that: The following steps are also included: real-time monitoring of environmental disturbances and system operation data, and determining whether an abnormality occurs. If an abnormality occurs, adaptively adjusting control parameters according to new environmental parameters, and performing real-time compensation or switching to a backup plan.

8. A launch vehicle verticality control device, characterized in that: include: A processor and a memory communicatively connected to the processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory to implement a launch verticality control method for a carrier rocket as described in any one of claims 1 to 7.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement a launch vehicle verticality control method as described in any one of claims 1 to 7.

Images