Online test method for gain coefficient of carrier rocket AAC controller based on input deviation

Abstract

The invention discloses a carrier rocket AAC controller gain coefficient online test method based on input deviation. The method comprises the following steps: making binding data; each single machine is controlled to be electrified and is in a normal working state; controlling the turntable to run to an initial zero position; performing synthesis precision test on the inertial measurement unit; entering a G-series navigation stage, and obtaining rudder swing angle feedback of a servo mechanism in the G-series navigation stage; carrying out on-line test on the gain coefficient of the AAC controller of the attitude angle control channel; carrying out on-line test on the gain coefficient of the AAC controller of the attitude angular velocity control channel; and powering off and ending the test. According to the method, in a single test process of a control system, an AAC controller gain coefficient of a real control loop is calculated through servo rudder feedback, a rocket body attitude deviation acquisition result and a forward controller amplification coefficient, so that functions of triggering, convergence, amplitude limiting and the like of the AAC controller are assessed, and a real object input deviation mode is adopted, so that the accuracy of the control system is improved. And the obtained gain coefficient is high in accuracy.

Description

Technical Field

[0001] The invention belongs to the field of experiment and test technology, and in particular relates to an online test method for a gain coefficient of an AAC controller of a launch vehicle based on input deviation. Background Art

[0002] The full name of the launch vehicle AAC control method is Adaptive Augmenting Control (AAC), which is a control method that adjusts the system gain coefficient online through sensor data to improve the control performance and stability of the system. The basic principle of the AAC control method is: the adaptive attitude control technology based on model reference is combined with the traditional PD control law to form a complete control system, which does not affect the operation of the PD controller in the absence of interference; at the same time, the algorithm has the ability to adjust the gain parameters online, and can adjust the controller gain in real time online according to parameters such as terminal error and control signal frequency characteristics, so as to achieve better control effect and improve the robustness of the system.

[0003] The AAC controller uses a multiplicative forward loop adaptive gain law, combining the adaptive controller with a classically designed linear control system, and can adjust the total loop gain at any time according to the error between the actual output and the reference model output, so that the system has an enhancement effect. The input of the AAC controller is the comprehensive output of the inertial group attitude angle, rate gyro angular velocity, program angle, and the current channel differential equation solution, and the output of the AAC is the online adjusted gain coefficient.

[0004] In the existing launch vehicle test projects, there is no method to test the gain coefficient value of the AAC controller. A test method is needed to evaluate the triggering, convergence and limiting functions of the AAC controller. Summary of the invention

[0005] The technology of the present invention solves the problem: overcomes the shortcomings of the prior art and provides an online testing method for the gain coefficient of the launch vehicle AAC controller based on input deviation. The output of the AAC controller gain coefficient can be evaluated for different inputs, and compared with the standard value to evaluate the influence of AAC on the attitude control output under different attitude angle deviations and attitude angular velocity deviations.

[0006] In order to solve the above technical problems, the present invention discloses an online testing method for a launch vehicle AAC controller gain coefficient based on input deviation, comprising:

[0007] S1, prepare binding data for AAC controller testing;

[0008] S2, each unit on the control system arrow is powered on and in normal working condition;

[0009] S3, control the turntable to run to the initial zero position;

[0010] S4, after the internal heating of the inertial group reaches a steady-state operation state, the synthetic accuracy test of the inertial group begins;

[0011] S5, after the result of the synthetic accuracy test is judged as qualified, the G-system navigation phase is entered, the servo mechanism is started, and the rudder swing angle feedback of the servo mechanism in the G-system navigation phase is obtained;

[0012] S6, perform online test of the AAC controller gain coefficient of the attitude angle control channel;

[0013] S7, perform online test of the AAC controller gain coefficient of the attitude angular velocity control channel;

[0014] S8, after the test is completed, the servo mechanism and each unit of the control system are powered off to end the test.

[0015] In the above-mentioned online test method of the launch vehicle AAC controller gain coefficient based on input deviation, the AAC controller test uses binding data for reading and running by the onboard computer to realize AAC solution control of the test channel.

[0016] In the above-mentioned online test method of the gain coefficient of the launch vehicle AAC controller based on input deviation, the binding data for the AAC controller test is prepared, including:

[0017] According to the test requirements, the control loops that need to be tested for the AAC controller gain are set in the binding data, including: attitude angle control loop and / or attitude angular velocity control loop; wherein, for the control loops that need to be tested, the test flag is set to TRUE, and for the control loops that are not tested, the test flag is set to FALSE;

[0018] The threshold value Ktdot_limit of the gain coefficient change rate of the AAC controller is set in the binding data as the trigger threshold of the AAC controller;

[0019] Set the channels to be tested in the binding data, including: pitch channel, yaw channel and / or roll channel;

[0020] The standard value α1 of the static amplification factor of the attitude angle channel and the standard value α2 of the static amplification factor of the attitude angular velocity channel are set in the binding data.

[0021] In the above-mentioned online testing method of the gain coefficient of the launch vehicle AAC controller based on input deviation, the control turntable includes: a three-axis position turntable and a single-axis rate turntable; wherein the inertial group is installed on the three-axis position turntable, and the rate gyro is installed on the single-axis rate turntable.

[0022] In the above-mentioned online test method of the gain coefficient of the launch vehicle AAC controller based on input deviation, the turntable is controlled to run to the initial zero position, including: controlling the three-axis position turntable to rotate so that the initial attitude angle of the inertial group is the initial zero position; controlling the single-axis rate turntable to be in the 0° / s state.

[0023] In the above-mentioned online test method of the gain coefficient of the launch vehicle AAC controller based on input deviation, in the G-system navigation stage, the navigation coordinate system adopts the launch point gravity coordinate system with the ground speed component deducted, that is, the G-system navigation stage only causes the control output of the servo mechanism according to the change of the real attitude angle or attitude angular velocity, which is not affected by the rotation of the earth.

[0024] In the above-mentioned launch vehicle AAC controller gain coefficient online testing method based on input deviation, the AAC controller gain coefficient of the attitude angle control channel is tested online, including:

[0025] The host computer controls the arrow control software to enter the servo control stage. In the servo control stage, the navigation coordinate system adopts the launch point gravity coordinate system with the ground speed component deducted. That is, the control output of the servo mechanism is caused only by the change of the real attitude angle in the servo control stage, and the influence of the earth's rotation needs to be deducted.

[0026] When testing the pitch attitude angle control channel, close the response capabilities of the angular attitude angular velocity control channel, the yaw attitude angle control channel, and the roll attitude angle control channel to avoid introducing error interference; control the initial position of the three-axis position turntable pitch channel to 90° as the pitch program angle Input1_1, that is, Input1_1 = 90°; control the three-axis position turntable pitch channel to rotate to a certain angle, introduce attitude angle deviation, trigger the AAC controller to control, and after the three-axis position turntable rotates to the right position, wait for the AAC controller to converge after T1, obtain the pitch attitude angle Input2_1 output by the inertial group in the current state, and the pitch rudder swing angle Ouput2_1 output by the servo mechanism, and calculate the gain coefficient Kt_1 of the AAC controller pitch attitude angle control channel;

[0027] When testing the yaw attitude angle control channel, close the response capabilities of the angular attitude angular velocity control channel, the pitch attitude angle control channel, and the roll attitude angle control channel to avoid introducing error interference; control the initial position of the yaw channel of the three-axis position turntable to 90° as the yaw program angle Input1_2, that is, Input1_2=0°; control the yaw channel of the three-axis position turntable to rotate to a certain angle, introduce attitude angle deviation, trigger the AAC controller for control, and after the three-axis position turntable rotates to the right position, wait for the AAC controller to converge after T1, obtain the yaw attitude angle Input2_2 output by the inertial group in the current state, and the yaw rudder swing angle Ouput2_2 output by the servo mechanism, and calculate the gain coefficient Kt_2 of the yaw attitude angle control channel of the AAC controller;

[0028] When testing the rolling attitude angle control channel, close the response capabilities of the angular attitude angular velocity control channel, the pitch attitude angle control channel, and the yaw attitude angle control channel to avoid introducing error interference; control the initial position of the rolling channel of the three-axis position turntable to 90° as the rolling program angle Input1_3, that is, Input1_3=0°; control the rolling channel of the three-axis position turntable to rotate to a certain angle, introduce attitude angle deviation, trigger the AAC controller to control, and after the three-axis position turntable rotates to the right position, wait for the AAC controller to converge after T1, obtain the rolling attitude angle Input2_3 output by the inertial group in the current state, and the rolling rudder swing angle Ouput2_2 output by the servo mechanism, and calculate the AAC controller roll attitude angle control channel gain coefficient Kt_3;

[0029] Compare the calculated Kt_i with the corresponding standard value; where i=1, 2, 3;

[0030] If the calculated Kt_i is consistent with the corresponding standard value, a qualified mark is output; otherwise, an unqualified mark is output.

[0031] In the above-mentioned online test method of the launch vehicle AAC controller gain coefficient based on input deviation,

[0032]

[0033] Among them, Output1_i represents the rudder swing angle feedback of the servo mechanism in the G-based navigation phase obtained in step S5.

[0034] In the above-mentioned launch vehicle AAC controller gain coefficient online testing method based on input deviation, the AAC controller gain coefficient of the attitude angular velocity control channel is tested online, including:

[0035] The host computer controls the arrow control software to enter the servo control stage. In the servo control stage, the navigation coordinate system adopts the launch point gravity coordinate system with the ground speed component deducted. That is, the control output of the servo mechanism is caused only by the change of the real attitude angle in the servo control stage, and the influence of the earth's rotation needs to be deducted.

[0036] When testing the pitch attitude angular velocity control channel, close the response capabilities of the attitude angle control channel, the yaw attitude angular velocity control channel, and the roll attitude angular velocity control channel to avoid introducing error interference; control the initial velocity of the single-axis rate turntable pitch channel to 0° / s as the pitch program angular velocity Input3_1; control the single-axis rate turntable pitch channel to convert to a certain angular velocity, introduce attitude angular velocity deviation, trigger the AAC controller for control, and wait for the single-axis rate turntable speed to stabilize. After the AAC controller converges for T2, obtain the pitch attitude angular velocity Input4_1 output by the rate gyro in the current state and the pitch rudder swing angle Ouput4_1 output by the servo mechanism; calculate and obtain the gain coefficient Pt_1 of the pitch attitude angular velocity control channel of the AAC controller;

[0037] When testing the yaw attitude angular velocity control channel, close the response capabilities of the attitude angle control channel, the pitch attitude angular velocity control channel, and the roll attitude angular velocity control channel to avoid introducing error interference; control the initial velocity of the yaw channel of the single-axis rate turntable to 0° / s as the yaw program angular velocity Input3_2; control the yaw channel of the single-axis rate turntable to convert to a certain angular velocity, introduce the attitude angular velocity deviation, trigger the AAC controller for control, and wait for the single-axis rate turntable speed to stabilize. After the AAC controller converges for T2 time, obtain the yaw attitude angular velocity Input4_2 output by the rate gyro in the current state and the yaw rudder swing angle Ouput4_2 output by the servo mechanism; calculate and obtain the gain coefficient Pt_2 of the yaw attitude angular velocity control channel of the AAC controller;

[0038] Compare the calculated Pt_j with the corresponding standard value; where j = 1, 2;

[0039] If the calculated Pt_j is consistent with the corresponding standard value, a qualified mark is output; otherwise, an unqualified mark is output.

[0040] In the above-mentioned online test method of the launch vehicle AAC controller gain coefficient based on input deviation,

[0041]

[0042] Among them, Output1_j represents the rudder swing angle feedback of the servo mechanism in the G-based navigation phase obtained in step S5.

[0043] The present invention has the following advantages:

[0044] (1) The present invention discloses an online testing method for the gain coefficient of a launch vehicle AAC controller based on input deviation. In order to solve the problem of obtaining the gain coefficient of the AAC controller in a single test of a launch vehicle, a deviation is caused by physical input, so that the controller gain coefficient can be obtained online, and the obtained gain coefficient has high accuracy.

[0045] (2) The present invention discloses an online testing method for the gain coefficient of a launch vehicle AAC controller based on input deviation. Through a single test, the correctness of the AAC controller design is assessed, the test coverage of the launch vehicle is improved, and the triggering, convergence and limiting functions of the AAC controller are assessed, thereby improving the accuracy and reliability of the launch vehicle flight control. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 It is a flow chart of an online testing method for a launch vehicle AAC controller gain coefficient based on input deviation in an embodiment of the present invention. DETAILED DESCRIPTION

[0047] In order to make the objectives, technical solutions and advantages of the present invention more clear, the embodiments disclosed in the present invention will be further described in detail below with reference to the accompanying drawings.

[0048] As mentioned above, the AAC controller is a control law, and the onboard computer is a control unit that runs the arrow control software. The AAC controller exists in the arrow control software as a control law, that is, it runs in the onboard computer. The onboard computer calls the control law to solve and output the control result according to the input data. The three-axis position turntable is a high-precision positioning device that can achieve precise displacement in three dimensions: pitch, yaw, and roll. The inertial group is a single inertial sensitive device that can measure the attitude angle of an object. In the test, the inertial group is installed on the three-axis position turntable. By controlling the displacement change of the three-axis position turntable, the attitude angle changes, and the inertial group can measure the attitude angle. The single-axis rate turntable is a device that can rotate in one axis with high precision. The rate gyro is a single sensitive device that can measure the attitude angular velocity of an object. In the test, the rate gyro is installed in the single-axis rate turntable. By controlling the rotation of the single-axis rate turntable, the attitude angular velocity changes, and the rate gyro can measure the attitude angular velocity. The servo controller is a control unit used to directly control the rudder swing of the servo mechanism. In the present invention, therefore, in the method described in the present invention, input data: after the three-axis position turntable rotates, the inertial group measures to obtain the attitude angle; after the single-axis rate turntable rotates, the rate gyroscope measures to obtain the attitude angular velocity; intermediate processing: the onboard computer calls the AAC controller to perform calculations based on the input data, and obtains the output control result of the servo mechanism; output: the onboard computer sends the output control result of the servo mechanism to the servo controller, and after receiving the instruction, the servo controller finally controls the rudder of the servo mechanism to swing.

[0049] like Figure 1 As shown, in this embodiment, the online test method of the launch vehicle AAC controller gain coefficient based on input deviation includes:

[0050] S1, prepare binding data for AAC controller test. The binding data for AAC controller test is used for reading and running by the onboard computer to realize AAC solution control of the test channel.

[0051] In this embodiment, the process of making binding data for AAC controller testing is as follows:

[0052] According to the test requirements, the control loops that need to undergo AAC controller gain testing are set in the binding data, including: attitude angle control loop and / or attitude angular velocity control loop, etc.; wherein, for the control loops that need to be tested, the test flag is set to TRUE, and for the control loops that are not to be tested, the test flag is set to FALSE.

[0053] The threshold value Ktdot_limit of the change rate of the gain coefficient of the AAC controller is set in the binding data as the trigger threshold of the AAC controller.

[0054] The channels to be tested are set in the binding data, including: a pitch channel, a yaw channel and / or a roll channel.

[0055] The standard value α1 of the static amplification factor of the attitude angle channel and the standard value α2 of the static amplification factor of the attitude angular velocity channel are set in the binding data.

[0056] S2, all units on the control system arrow are powered on and in normal working condition.

[0057] In this embodiment, the units on the launch vehicle control system (such as the inertial group, rate gyro, servo controller, onboard computer, etc.) are powered on, and the operating status of each unit is judged according to the communication protocol between the host computer and each unit. If each unit is in normal working state, the next step is entered.

[0058] S3, controls the turntable to run to the initial zero position.

[0059] In this embodiment, the control turntable includes: a three-axis position turntable and a single-axis rate turntable; wherein the inertial group is installed on the three-axis position turntable, and the rate gyro is installed on the single-axis rate turntable. Controlling the turntable to run to the initial zero position specifically includes: controlling the three-axis position turntable to rotate so that the initial attitude angle of the inertial group is the initial zero position, such as [90°, 0°, 0°]; controlling the single-axis rate turntable to be in a 0° / s state.

[0060] S4, after heating the inside of the inertial group to reach a steady-state operating state, the synthetic accuracy test of the inertial group begins.

[0061] In this embodiment, the internal heating control is performed on the inertial group. When the temperature satisfies the inertial group operation and is in a steady state, the synthesis accuracy test of the inertial group is performed. In this process, the arrow machine performs synthesis accuracy calculations on the received inertial group pulses, and interprets them according to the accuracy criteria of the system design. If qualified, it proceeds to the next step.

[0062] S5, entering the G-system navigation phase, starting the servo mechanism, and obtaining the rudder swing angle feedback of the servo mechanism in the G-system navigation phase.

[0063] In this embodiment, after the result of the synthetic accuracy test is determined to be qualified, the G system navigation stage is entered. In the G system navigation stage, the navigation coordinate system adopts the launch point gravity coordinate system with the ground speed component deducted, that is, the G system navigation stage only causes the control output of the servo mechanism according to the change of the real attitude angle or attitude angular velocity, and is not affected by the rotation of the earth. According to the communication protocol, the host computer controls the arrow machine control software to enter the G system navigation stage, starts the servo mechanism, and obtains the rudder swing angle feedback Ouput1_i of the servo mechanism in the G system navigation stage as the output initial value; wherein Ouput1_1, Ouput1_2 and Ouput1_3 respectively represent the pitch rudder swing angle feedback, yaw rudder swing angle feedback, and roll rudder swing angle feedback of the servo mechanism in the G system navigation stage. This step is an important step in the embodiment of the present invention, that is, the initial value of the servo mechanism rudder swing angle feedback should adopt the rudder swing angle feedback of the servo mechanism in the G system navigation stage.

[0064] S6, perform online test of the AAC controller gain coefficient of the attitude angle control channel.

[0065] In this embodiment, the host computer controls the arrow control software to enter the servo control stage; wherein, in the servo control stage, the navigation coordinate system adopts the launch point gravity coordinate system minus the ground speed component, that is, the servo control stage only causes the control output of the servo mechanism based on the real attitude angle change, and the influence of the earth's rotation needs to be deducted.

[0066] When testing the pitch attitude angle control channel, close the response capabilities of the angular attitude angular velocity control channel, the yaw attitude angle control channel, and the roll attitude angle control channel to avoid introducing error interference; control the initial position of the three-axis position turntable pitch channel to 90° as the pitch program angle Input1_1, that is, Input1_1 = 90°; control the three-axis position turntable pitch channel to rotate to a certain angle, introduce attitude angle deviation, trigger the AAC controller for control, and after the three-axis position turntable rotates into place, wait for the AAC controller to converge after T1, obtain the pitch attitude angle Input2_1 output by the inertial group in the current state, and the pitch rudder swing angle Ouput2_1 output by the servo mechanism, and calculate the gain coefficient Kt_1 of the AAC controller pitch attitude angle control channel.

[0067] When testing the yaw attitude angle control channel, close the response capabilities of the angular attitude angular velocity control channel, the pitch attitude angle control channel, and the roll attitude angle control channel to avoid introducing error interference; control the initial position of the yaw channel of the three-axis position turntable to 90° as the yaw program angle Input1_2, that is, Input1_2=0°; control the yaw channel of the three-axis position turntable to rotate to a certain angle, introduce attitude angle deviation, trigger the AAC controller for control, and after the three-axis position turntable rotates into place, wait for the AAC controller to converge after T1, obtain the yaw attitude angle Input2_2 output by the inertial group in the current state and the yaw rudder swing angle Ouput2_2 output by the servo mechanism, and calculate the AAC controller yaw attitude angle control channel gain coefficient Kt_2.

[0068] When testing the roll attitude angle control channel, close the response capabilities of the angular attitude angular velocity control channel, the pitch attitude angle control channel, and the yaw attitude angle control channel to avoid introducing error interference; control the initial position of the three-axis position turntable roll channel to 90° as the roll program angle Input1_3, that is, Input1_3=0°; control the three-axis position turntable roll channel to rotate to a certain angle, introduce attitude angle deviation, trigger the AAC controller for control, and after the three-axis position turntable rotates to the right position, wait for the AAC controller to converge after T1, obtain the roll attitude angle Input2_3 output by the inertial group in the current state, and the roll rudder swing angle Ouput2_2 output by the servo mechanism, and calculate the AAC controller roll attitude angle control channel gain coefficient Kt_3.

[0069] The calculation formula of Kt_i is as follows:

[0070]

[0071] Among them, i=1,2,3.

[0072] Compare the calculated Kt_i with the corresponding standard value; if the calculated Kt_i is consistent with the corresponding standard value, output a qualified mark; otherwise, output a failed mark. At the same time, in the real-time interpretation software, the consistency between the change of Kt_i and the standard value can be observed in real time. It should be pointed out that since the AAC controller sets a trigger threshold, the trigger threshold design of AAC can be tested by adjusting the angle of the three-axis position turntable and introducing different levels of attitude angle deviation.

[0073] S7, perform online test of the AAC controller gain coefficient of the attitude angular velocity control channel.

[0074] In this embodiment, the host computer controls the arrow control software to enter the servo control stage; wherein, in the servo control stage, the navigation coordinate system adopts the launch point gravity coordinate system minus the ground speed component, that is, the servo control stage only causes the control output of the servo mechanism based on the real attitude angle change, and the influence of the earth's rotation needs to be deducted.

[0075] When testing the pitch attitude angular velocity control channel, close the response capabilities of the attitude angle control channel, the yaw attitude angular velocity control channel, and the roll attitude angular velocity control channel to avoid introducing error interference; control the initial velocity of the single-axis rate turntable pitch channel to 0° / s as the pitch program angular velocity Input3_1; control the single-axis rate turntable pitch channel to convert to a certain angular velocity, introduce attitude angular velocity deviation, trigger the AAC controller for control, and wait for the single-axis rate turntable speed to stabilize. After the AAC controller converges for T2, obtain the pitch attitude angular velocity Input4_1 output by the rate gyro in the current state and the pitch rudder swing angle Ouput4_1 output by the servo mechanism; calculate and obtain the gain coefficient Pt_1 of the pitch attitude angular velocity control channel of the AAC controller.

[0076] When testing the yaw attitude angular velocity control channel, turn off the response capabilities of the attitude angle control channel, the pitch attitude angular velocity control channel, and the roll attitude angular velocity control channel to avoid introducing error interference; control the initial velocity of the yaw channel of the single-axis rate turntable to 0° / s as the yaw program angular velocity Input3_2; control the yaw channel of the single-axis rate turntable to convert to a certain angular velocity, introduce attitude angular velocity deviation, trigger the AAC controller for control, and wait for the single-axis rate turntable speed to stabilize. After the AAC controller converges for T2 time, obtain the yaw attitude angular velocity Input4_2 output by the rate gyro in the current state and the yaw rudder swing angle Ouput4_2 output by the servo mechanism; calculate and obtain the gain coefficient Pt_2 of the yaw attitude angular velocity control channel of the AAC controller.

[0077] The calculation formula of Pt_j is as follows:

[0078]

[0079] Among them, j=1,2.

[0080] Compare the calculated Pt_j with the corresponding standard value; if the calculated Pt_j is consistent with the corresponding standard value, output a qualified mark; otherwise, output a failed mark. At the same time, in the real-time interpretation software, the consistency between the change of Pt_j and the standard value can be observed in real time. It should be pointed out that since the AAC controller sets a trigger threshold, the trigger threshold design of AAC can be tested by adjusting the angular velocity of the single-axis rate turntable and introducing different levels of attitude angular velocity deviations.

[0081] S8, after the test is completed, the servo mechanism and each unit of the control system are powered off to end the test.

[0082] To sum up, after the AAC controller is designed, an online testing method for the gain coefficient of the launch vehicle AAC controller based on input deviation is adopted. During the single test of the control system, the AAC controller gain coefficient of the real control loop is calculated through servo-rudder feedback, rocket body attitude deviation collection results and forward controller amplification coefficient, so as to evaluate the triggering, convergence and limiting functions of the AAC controller.

[0083] Although the present invention has been disclosed as above in the form of a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art may make possible changes and modifications to the technical solution of the present invention by using the methods and technical contents disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention shall fall within the protection scope of the technical solution of the present invention.

[0084] The contents not described in detail in the specification of the present invention belong to the common knowledge of the professionals in this field.

Claims

1. An online test method for the gain coefficient of a launch vehicle AAC controller based on input deviation, characterized in that: include: S1, prepare binding data for AAC controller testing; S2, each unit on the control system arrow is powered on and in normal working condition; S3, control the turntable to run to the initial zero position; S4, after the internal heating of the inertial group reaches a steady-state operation state, the synthetic accuracy test of the inertial group begins; S5, after the result of the synthetic accuracy test is judged as qualified, the G-system navigation phase is entered, the servo mechanism is started, and the rudder swing angle feedback of the servo mechanism in the G-system navigation phase is obtained; S6, perform online test of the AAC controller gain coefficient of the attitude angle control channel; S7, perform online test of the AAC controller gain coefficient of the attitude angular velocity control channel; S8, after the test is completed, the servo mechanism and each unit of the control system are powered off to end the test.

2. The online test method for the gain coefficient of the launch vehicle AAC controller based on input deviation according to claim 1 is characterized in that: The AAC controller test binding data is used for reading and running by the onboard computer to realize AAC solution control of the test channel.

3. The online test method for the gain coefficient of the launch vehicle AAC controller based on input deviation according to claim 1 is characterized in that: Make binding data for AAC controller testing, including: According to the test requirements, the control loops that need to be tested for the AAC controller gain are set in the binding data, including: attitude angle control loop and / or attitude angular velocity control loop; wherein, for the control loops that need to be tested, the test flag is set to TRUE, and for the control loops that are not tested, the test flag is set to FALSE; The threshold value Ktdot_limit of the gain coefficient change rate of the AAC controller is set in the binding data as the trigger threshold of the AAC controller; Set the channels to be tested in the binding data, including: pitch channel, yaw channel and / or roll channel; The standard value α1 of the static amplification factor of the attitude angle channel and the standard value α2 of the static amplification factor of the attitude angular velocity channel are set in the binding data.

4. The online test method for the gain coefficient of the launch vehicle AAC controller based on input deviation according to claim 3 is characterized in that: The control turntable comprises: a three-axis position turntable and a single-axis rate turntable; wherein the inertial group is installed on the three-axis position turntable, and the rate gyro is installed on the single-axis rate turntable.

5. The online test method for the gain coefficient of the launch vehicle AAC controller based on input deviation according to claim 4 is characterized in that: Controlling the turntable to run to the initial zero position includes: controlling the three-axis position turntable to rotate so that the initial attitude angle of the inertial group is the initial zero position; and controlling the single-axis rate turntable to be in a 0° / s state.

6. The online test method for the gain coefficient of the launch vehicle AAC controller based on input deviation according to claim 1 is characterized in that: During the G-based navigation stage, the navigation coordinate system adopts the launch point gravity coordinate system minus the ground speed component. That is, the G-based navigation stage only causes the control output of the servo mechanism based on the change of the true attitude angle or attitude angular velocity and is not affected by the rotation of the earth.

7. The online test method for the gain coefficient of the launch vehicle AAC controller based on input deviation according to claim 4 is characterized in that: Perform online test of the AAC controller gain coefficient of the attitude angle control channel, including: The host computer controls the arrow control software to enter the servo control stage. In the servo control stage, the navigation coordinate system adopts the launch point gravity coordinate system with the ground speed component deducted. That is, the control output of the servo mechanism is caused only by the change of the real attitude angle in the servo control stage, and the influence of the earth's rotation needs to be deducted. When testing the pitch attitude angle control channel, close the response capabilities of the angular attitude angular velocity control channel, the yaw attitude angle control channel, and the roll attitude angle control channel to avoid introducing error interference; control the initial position of the three-axis position turntable pitch channel to 90° as the pitch program angle Input1_1, that is, Input1_1 = 90°; control the three-axis position turntable pitch channel to rotate to a certain angle, introduce attitude angle deviation, trigger the AAC controller to control, and after the three-axis position turntable rotates to the right position, wait for the AAC controller to converge after T1, obtain the pitch attitude angle Input2_1 output by the inertial group in the current state, and the pitch rudder swing angle Ouput2_1 output by the servo mechanism, and calculate the gain coefficient Kt_1 of the AAC controller pitch attitude angle control channel; When testing the yaw attitude angle control channel, close the response capabilities of the angular attitude angular velocity control channel, the pitch attitude angle control channel, and the roll attitude angle control channel to avoid introducing error interference; control the initial position of the yaw channel of the three-axis position turntable to 90° as the yaw program angle Input1_2, that is, Input1_2=0°; control the yaw channel of the three-axis position turntable to rotate to a certain angle, introduce attitude angle deviation, trigger the AAC controller for control, and after the three-axis position turntable rotates to the right position, wait for the AAC controller to converge after T1, obtain the yaw attitude angle Input2_2 output by the inertial group in the current state, and the yaw rudder swing angle Ouput2_2 output by the servo mechanism, and calculate the gain coefficient Kt_2 of the yaw attitude angle control channel of the AAC controller; When testing the rolling attitude angle control channel, close the response capabilities of the angular attitude angular velocity control channel, the pitch attitude angle control channel, and the yaw attitude angle control channel to avoid introducing error interference; control the initial position of the rolling channel of the three-axis position turntable to 90° as the rolling program angle Input1_3, that is, Input1_3=0°; control the rolling channel of the three-axis position turntable to rotate to a certain angle, introduce attitude angle deviation, trigger the AAC controller to control, and after the three-axis position turntable rotates to the right position, wait for the AAC controller to converge after T1, obtain the rolling attitude angle Input2_3 output by the inertial group in the current state, and the rolling rudder swing angle Ouput2_2 output by the servo mechanism, and calculate the AAC controller roll attitude angle control channel gain coefficient Kt_3; Compare the calculated Kt_i with the corresponding standard value; where i=1, 2, 3; If the calculated Kt_i is consistent with the corresponding standard value, a qualified mark is output; otherwise, an unqualified mark is output.

8. The online test method for the gain coefficient of the launch vehicle AAC controller based on input deviation according to claim 7 is characterized in that: Among them, Output1_i represents the rudder swing angle feedback of the servo mechanism in the G-based navigation phase obtained in step S5.

9. The online test method for the gain coefficient of the launch vehicle AAC controller based on input deviation according to claim 4 is characterized in that: Perform online test of the AAC controller gain coefficient of the attitude angular velocity control channel, including: The host computer controls the arrow control software to enter the servo control stage. In the servo control stage, the navigation coordinate system adopts the launch point gravity coordinate system with the ground speed component deducted. That is, the control output of the servo mechanism is caused only by the change of the real attitude angle in the servo control stage, and the influence of the earth's rotation needs to be deducted. When testing the pitch attitude angular velocity control channel, close the response capabilities of the attitude angle control channel, the yaw attitude angular velocity control channel, and the roll attitude angular velocity control channel to avoid introducing error interference; control the initial velocity of the single-axis rate turntable pitch channel to 0° / s as the pitch program angular velocity Input3_1; control the single-axis rate turntable pitch channel to convert to a certain angular velocity, introduce attitude angular velocity deviation, trigger the AAC controller for control, and wait for the single-axis rate turntable speed to stabilize. After the AAC controller converges for T2, obtain the pitch attitude angular velocity Input4_1 output by the rate gyro in the current state and the pitch rudder swing angle Ouput4_1 output by the servo mechanism; calculate and obtain the gain coefficient Pt_1 of the pitch attitude angular velocity control channel of the AAC controller; When testing the yaw attitude angular velocity control channel, close the response capabilities of the attitude angle control channel, the pitch attitude angular velocity control channel, and the roll attitude angular velocity control channel to avoid introducing error interference; control the initial velocity of the yaw channel of the single-axis rate turntable to 0° / s as the yaw program angular velocity Input3_2; control the yaw channel of the single-axis rate turntable to convert to a certain angular velocity, introduce the attitude angular velocity deviation, trigger the AAC controller for control, and wait for the single-axis rate turntable speed to stabilize. After the AAC controller converges for T2 time, obtain the yaw attitude angular velocity Input4_2 output by the rate gyro in the current state and the yaw rudder swing angle Ouput4_2 output by the servo mechanism; calculate and obtain the gain coefficient Pt_2 of the yaw attitude angular velocity control channel of the AAC controller; Compare the calculated Pt_j with the corresponding standard value; where j = 1, 2; If the calculated Pt_j is consistent with the corresponding standard value, a qualified mark is output; otherwise, an unqualified mark is output.

10. The online test method for the gain coefficient of the launch vehicle AAC controller based on input deviation according to claim 9 is characterized in that: Among them, Output1_j represents the rudder swing angle feedback of the servo mechanism in the G-based navigation phase obtained in step S5.

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