Rocket flight control method, rocket and storage medium
By recording and smoothly transitioning the swing angle of the main swing nozzle engine when the last stage of the rocket reaches the preset height, the problem of attitude oscillation and divergence caused by the swing angle sudden change in the swing angle when the last stage of the rocket changes is solved, ensuring the normal orbital transformation of the rocket.
Patent Information
- Application Number
- CN202510474135.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-16
- Publication Date
- 2025-06-10
AI Technical Summary
When the last stage of the rocket needs to change the orbit and start the machine again, the swing angle of the main swing nozzle engine suddenly changes from zero to a larger swing angle, causing the last stage of the rocket to be impacted, and the attitude oscillation or divergence occurs, which makes the orbit unable to change normally.
When the rocket reaches a preset height, the shutdown swing angle of the first main swing nozzle engine is recorded and its swing angle is controlled to be 0. Then, within the preset time period (at least 4 seconds), the swing angle is transitioned from zero uniform speed to the recorded shutdown swing angle. When the target moment arrives, reboot and provide thrust to the rocket based on the shutdown swing angle.
By smoothing the transition swing angle, the impact interference of the rocket's last stage when the main swing nozzle engine is turned on again is avoided, and attitude oscillation and divergence are reduced, ensuring that the rocket can change orbit normally.
Smart Images
Figure CN120120923A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of rocket technology, and particularly to a rocket flight control method, a rocket, and a storage medium. Background Art
[0002] During the flight of the rocket upper stage (or the upper stage of the rocket) of a small solid launch vehicle, generally, there is a main swing nozzle engine arranged axially on the rocket upper stage and a plurality of radial thrust engines arranged at intervals around the circumference of the rocket upper stage. When the rocket is in the non-glide section, the main swing nozzle engine can achieve orbit control of the rocket upper stage and attitude control of the pitch channel and yaw channel of the rocket. When the rocket is in the glide section, the plurality of radial thrust engines are used for attitude control of the rocket.
[0003] During the flight of the rocket upper stage of the rocket, since the mass ratio of the propellant consumption in the liquid power system of the rocket upper stage to the mass of the rocket upper stage is relatively large. As the propellant is continuously consumed, the change in the mass distribution of the rocket upper stage is also relatively large, and correspondingly, a relatively large transverse shift of the center of mass of the rocket upper stage will also occur. Since the propellant consumption is generated in real time, the amount of influence on the center of mass of the rocket is time-varying. Therefore, it is necessary to control the main swing nozzle engine to have a relatively large swing angle to balance the center of mass of the rocket on the axis of the rocket. However, once the main swing nozzle engine shuts down, the swing angle of the main swing nozzle engine will automatically be set to zero, and then the rocket upper stage enters the glide section. When the rocket upper stage needs to change the orbit and starts up again, in order to quickly balance the center of mass of the rocket on the axis of the rocket, it is necessary for the swing angle of the main swing nozzle engine to suddenly change from zero to a relatively large swing angle, which will cause the rocket upper stage to be subjected to impact interference, resulting in attitude oscillation or divergence of the rocket, and further causing the rocket to be unable to change the orbit normally. Summary of the Invention
[0004] This application provides a rocket flight control method, a rocket, and a storage medium, which are used to solve the problem in the prior art that when the rocket upper stage needs to change the orbit and starts up again, in order to quickly balance the center of mass of the rocket on the axis of the rocket, it is necessary for the swing angle of the main swing nozzle engine to suddenly change from zero to a relatively large swing angle, which will cause the rocket upper stage to be subjected to impact interference, resulting in attitude oscillation or divergence of the rocket, and further causing the rocket to be unable to change the orbit normally.
[0005] In a first aspect, this application provides a rocket flight control method, which is applied to a rocket. The rocket includes a rocket primary stage and a rocket upper stage connected in sequence. A first main swing nozzle engine is arranged at the bottom of the rocket upper stage. The method provided by this application includes:
[0006] When it is determined according to a preset flight control program that the rocket reaches a preset height corresponding to a preset first flight orbit, control the first main swing nozzle engine to shut down. Among them, before the rocket reaches the preset height corresponding to the preset first flight orbit, the rocket primary stage has already separated from the rocket final stage;
[0007] Record the shutdown swing angle of the first main swing nozzle engine when it shuts down, and control the swing angle of the first main swing nozzle engine to be set to 0;
[0008] Within a preset time period before the target time, control the swing angle of the first main swing nozzle engine to uniformly transition from zero to the recorded shutdown swing angle. Among them, the preset time period is greater than or equal to 4s, and the target time is the time determined according to the flight control program to start controlling the switch from the first flight orbit to the second flight orbit;
[0009] At the target time, control the first main swing nozzle engine to start up so that the first main swing nozzle engine provides thrust for the rocket final stage based on the shutdown swing angle.
[0010] In some embodiments, the shutdown swing angle includes a pitch channel shutdown swing angle and a yaw channel shutdown swing angle. Controlling the swing angle of the first main swing nozzle engine to uniformly transition from zero to the recorded shutdown swing angle includes:
[0011] According to the formula 0 < t < T, control the pitch channel swing angle of the first main swing nozzle engine to uniformly transition from zero to the recorded pitch channel shutdown swing angle. Among them, t is the control duration of the swing angle of the first main swing nozzle engine, and T is the preset time period, is the pitch channel shutdown swing angle, δ pgj is the pitch channel swing angle of the first main swing nozzle engine corresponding to the control duration;
[0012] According to the formula 0 < t < T, control the yaw channel swing angle of the first main swing nozzle engine to uniformly transition from zero to the recorded yaw channel shutdown swing angle. Among them, t is the control duration of the swing angle of the first main swing nozzle engine, and T is the preset time period, is the yaw channel shutdown swing angle, δ ygj is the yaw channel swing angle of the first main swing nozzle engine corresponding to the control duration.
[0013] In some embodiments, recording the shutdown swing angle of the first main swing nozzle engine when it shuts down includes:
[0014] Extract the historical swing angles of the first main swing nozzle engine at N sampling moments before shutdown, where N is an integer greater than or equal to 2;
[0015] Record the average swing angle of the historical swing angles at N sampling moments as the shutdown swing angle of the first main swing nozzle engine at shutdown.
[0016] In some embodiments, the time interval between two adjacent sampling moments ranges from 5 ms to 10 ms.
[0017] In some embodiments, recording the shutdown swing angle of the first main swing nozzle engine at shutdown includes:
[0018] Record the swing angle of the first main swing nozzle engine collected at the last sampling moment before shutdown as the shutdown swing angle of the first main swing nozzle engine at shutdown.
[0019] In some embodiments, a second main swing nozzle engine is provided at the bottom of the rocket primary. Before controlling the first main swing nozzle engine to shutdown when it is determined according to a preset flight control program that the rocket reaches a preset height corresponding to a preset first flight orbit, the method further includes:
[0020] When receiving an ignition command, control the second main swing nozzle engine to start up so that the second main swing nozzle engine starts to provide thrust for the rocket;
[0021] Control the swing angle of the second main swing nozzle engine to uniformly transition from zero to a pre-recorded initial swing angle, where the initial swing angle satisfies that the center of mass of the rocket is located on the thrust line of the second main swing nozzle engine.
[0022] In some embodiments, the initial swing angle includes an initial swing angle of the pitch channel and an initial swing angle of the yaw channel. The initial swing angle of the pitch channel satisfies the formula The initial swing angle of the yaw channel satisfies the formula And Where X c Is the coordinate of the center of mass of the rocket in the X-axis direction of the rocket coordinate system, Y c Is the coordinate of the center of mass of the rocket in the Y-axis direction of the rocket coordinate system, Z c Is the coordinate of the center of mass of the rocket in the Z-axis direction of the rocket coordinate system, m i Is the mass of the i-th mass point on the pre-collected rocket, n is the total number of mass points of the rocket, (x i , y i , z i ) Is the coordinate of the i-th mass point in the rocket coordinate system, δ p0 Is the initial swing angle of the pitch channel, δ y0 Is the initial swing angle of the yaw channel.
[0023] In a second aspect, the present application provides a rocket, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the rocket is caused to execute the method provided in the first aspect of the present application.
[0024] In a third aspect, the present application further provides a storage medium storing a computer program, which when executed by a processor, causes a computer to execute the method provided in the first aspect of the present application.
[0025] In a fourth aspect, the present application further provides a computer program product including a computer program, which when run, causes a rocket to execute the method provided in the first aspect of the present application.
[0026] The present application provides a rocket flight control method, a rocket, and a storage medium. When controlling the shutdown of the first main swing nozzle engine, the shutdown swing angle of the first main swing nozzle engine at shutdown can be recorded, and the swing angle of the first main swing nozzle engine can be set to 0. Within a preset duration before the target moment, the swing angle of the first main swing nozzle engine is controlled to uniformly transition from zero to the recorded shutdown swing angle, where the preset duration is greater than or equal to 4 s. At the target moment, the first main swing nozzle engine is controlled to start up so that the first main swing nozzle engine provides thrust for the rocket upper stage based on the shutdown swing angle. In this way, before the first main swing nozzle engine starts up again, the swing angle of the first main swing nozzle engine has smoothly transitioned from zero to the recorded shutdown swing angle. When the rocket upper stage needs to change the orbit and starts up again, the first main swing nozzle engine can be directly controlled to provide thrust for the rocket upper stage based on the shutdown swing angle, and the situation where the swing angle of the first main swing nozzle engine suddenly changes from zero to a large swing angle will not occur, avoiding the rocket upper stage being subjected to impact interference resulting in the attitude oscillation or divergence of the rocket, and ensuring that the rocket can normally change the orbit. Description of the Drawings
[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.
[0028] Figure 1 It is a flowchart of the rocket flight control method provided by the embodiment of the present application;
[0029] Figure 2 It is a functional module block diagram of the rocket flight control device provided by the embodiment of the present application. Detailed Embodiments
[0030] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. However, it should be understood that these descriptions are merely exemplary and are not intended to limit the scope of the present disclosure. In addition, in the following description, descriptions of well-known structures and technologies are omitted to avoid unnecessarily confusing the concepts of the present disclosure.
[0031] Various structural schematic diagrams according to embodiments of the present disclosure are shown in the accompanying drawings. These figures are not drawn to scale, where for the purpose of clear expression, some details are enlarged and some details may be omitted. The shapes of various regions and layers shown in the figures, as well as their relative sizes and positional relationships, are merely exemplary and may deviate in practice due to manufacturing tolerances or technical limitations. And those skilled in the art can design regions / layers with different shapes, sizes, and relative positions according to actual needs.
[0032] In the context of the present disclosure, when a layer / element is referred to as being "on" another layer / element, the layer / element can be directly on the other layer / element, or there can be an intermediate layer / element between them. Additionally, if a layer / element is "on" another layer / element in one orientation, then when the orientation is reversed, the layer / element can be "under" the other layer / element.
[0033] Explanation of patent terms in this application:
[0034] Main swiveling nozzle engine: A main swiveling nozzle engine refers to a rocket engine in which the entire engine or the thrust chamber can swing around a rotating shaft. This engine provides a thrust vector control moment through swinging and can change the direction of thrust by swinging the nozzle, thereby achieving precise control. Specifically, the main swiveling nozzle engine can change the exhaust direction by swinging the nozzle, thereby controlling the thrust direction of the engine. The main swiveling nozzle engine usually includes more than two engines connected in parallel to form a unit, or one turbopump drives multiple swiveling thrust chambers.
[0035] Hereinafter, the technical solutions of this application and how the technical solutions of this application solve the above technical problems will be described in detail with specific embodiments. These several specific embodiments below can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. Hereinafter, embodiments of this application will be described with reference to the accompanying drawings.
[0036] An embodiment of this application provides a rocket flight control method, which is applied to a rocket. The rocket includes a rocket primary stage and a rocket final stage connected in sequence, and a first main swiveling nozzle engine is provided at the bottom of the rocket final stage. Among them, the first main swiveling nozzle engine can be located on the central axis of the rocket. As Figure 1 shown, the method provided by the embodiment of this application includes:
[0037] S101: When it is determined according to a preset flight control program that the rocket reaches a preset height corresponding to a preset first flight orbit, control the first main swing nozzle engine to shut down.
[0038] Among them, before the rocket reaches the preset height corresponding to the preset first flight orbit, the rocket primary stage has separated from the rocket upper stage. When the rocket upper stage reaches the preset height corresponding to the preset first flight orbit, it is in the gliding stage. Therefore, the first main swing nozzle engine can be controlled to shut down to suspend the thrust provided to the rocket upper stage.
[0039] It should be noted that before the first main swing nozzle engine shuts down, it is necessary to control the main swing nozzle engine to be at a relatively large swing angle to balance the center of mass of the rocket on the axis of the rocket.
[0040] S102: Record the shutdown swing angle of the first main swing nozzle engine when it shuts down, and control the swing angle of the first main swing nozzle engine to be set to 0.
[0041] It can be understood that when the rocket upper stage is in the gliding stage, the swing angle of the first main swing nozzle engine can be set to 0.
[0042] Exemplarily, in some embodiments, the historical swing angles of the first main swing nozzle engine at N sampling moments before shutdown can be extracted, where N is an integer greater than or equal to 2. For example, N can be, but is not limited to, 5, 10, or 15, etc. The average swing angle of the historical swing angles at N sampling moments is recorded as the shutdown swing angle of the first main swing nozzle engine when it shuts down. In this way, the obtained shutdown swing angle has high reliability. Optionally, the range of the interval duration between two adjacent sampling moments is 5ms - 10ms. For example, the interval duration between two adjacent sampling moments can be 5ms, 8ms, or 10ms, etc.
[0043] In other embodiments, the swing angle of the first main swing nozzle engine collected at the last sampling moment before shutdown is recorded as the shutdown swing angle of the first main swing nozzle engine when it shuts down. In this way, the obtained shutdown swing angle also has high reliability.
[0044] S103: Within a preset duration before the target moment, control the swing angle of the first main swing nozzle engine to uniformly transition from 0 to the recorded shutdown swing angle.
[0045] Among them, the preset duration is greater than or equal to 4s (such as 4s, 5s, or 6s), and the target moment is the moment determined according to the flight control program to start controlling the switch from the first flight orbit to the second flight orbit.
[0046] Exemplarily, the shutdown swing angle includes the pitch channel shutdown swing angle and the yaw channel shutdown swing angle. S103 can be specifically implemented as: According to the formula When \(0 \lt t \lt T\), control the pitch channel swing angle of the first main swing nozzle engine to uniformly transition from zero to the recorded pitch channel shutdown swing angle, where \(t\) is the control duration of the swing angle of the first main swing nozzle engine, and \(T\) is a preset duration. is the pitch channel shutdown swing angle, \(\delta\) pgj is the pitch channel swing angle of the first main swing nozzle engine corresponding to the control duration.
[0047] According to the formula When \(0 \lt t \lt T\), control the yaw channel swing angle of the first main swing nozzle engine to uniformly transition from zero to the recorded yaw channel shutdown swing angle, where \(t\) is the control duration of the swing angle of the first main swing nozzle engine, and \(T\) is a preset duration. is the yaw channel shutdown swing angle, \(\delta\) ygj is the yaw channel swing angle of the first main swing nozzle engine corresponding to the control duration. It should be noted that the end moment of the preset duration can be 1 s or 2 s, etc. away from the target moment, which is not limited here to ensure a reliable transition to the pitch channel shutdown swing angle and the yaw channel shutdown swing angle.
[0048] S104: At the target moment, control the first main swing nozzle engine to start up so that the first main swing nozzle engine provides thrust for the rocket upper stage based on the shutdown swing angle.
[0049] In summary, the embodiment of the present application provides a rocket flight control method. When controlling the first main swing nozzle engine to shut down, the shutdown swing angle of the first main swing nozzle engine at shutdown can be recorded, and the swing angle of the first main swing nozzle engine is controlled to be set to 0. Within the preset duration before the target moment, control the swing angle of the first main swing nozzle engine to uniformly transition from zero to the recorded shutdown swing angle, where the preset duration is greater than or equal to 4 s. At the target moment, control the first main swing nozzle engine to start up so that the first main swing nozzle engine provides thrust for the rocket upper stage based on the shutdown swing angle. In this way, before the first main swing nozzle engine starts up again, the swing angle of the first main swing nozzle engine has smoothly transitioned from zero to the recorded shutdown swing angle. When the rocket upper stage needs to change the orbit and starts up again, the first main swing nozzle engine can be directly controlled to provide thrust for the rocket upper stage based on the shutdown swing angle, and the situation where the swing angle of the first main swing nozzle engine suddenly changes from zero to a large swing angle will not occur, avoiding the rocket upper stage being affected by impact interference and resulting in attitude oscillation or divergence of the rocket, ensuring that the rocket can change the orbit normally.
[0050] In addition, a second main swing nozzle engine is provided at the bottom of the rocket primary. Before the above S101, the method provided by the embodiment of the present application further includes:
[0051] Step A1: When receiving the ignition command, control the second main swivel nozzle engine to start up so that the second main swivel nozzle engine begins to provide thrust for the rocket.
[0052] Step A2: Control the swing angle of the second main swivel nozzle engine to uniformly transition from zero to the pre-recorded initial swing angle.
[0053] Among them, the initial swing angle satisfies that the center of mass of the rocket is located on the thrust line of the second main swivel nozzle engine.
[0054] Based on the above S201 - S202, it can be known that before the rocket is launched, a satellite is generally loaded. If the mass of the satellite is large or the loading position is inappropriate, it will cause a large offset of the center of mass of the rocket from the central axis of the rocket. In order to make up for the instability of the rocket body attitude caused by the offset of the center of mass of the rocket from the central axis of the rocket during launch, the swing angle of the second main swivel nozzle engine needs to be at the initial swing angle after the rocket is launched.
[0055] When the swing angle of the second main swivel nozzle engine uniformly transitions from zero to the pre-recorded initial swing angle, it can not only ensure that the center of mass of the rocket is on the central axis of the rocket, but also the swing angle of the engine can smoothly transition from zero to a large swing angle, avoiding the attitude oscillation or divergence of the rocket caused by the impact interference on the last stage of the rocket.
[0056] Furthermore, the initial swing angle can include the initial swing angle of the pitch channel and the initial swing angle of the yaw channel. The initial swing angle of the pitch channel satisfies the formula The initial swing angle of the yaw channel satisfies the formula And In this way, the above-mentioned initial swing angle can be accurately obtained.
[0057] Among them, X c is the coordinate of the center of mass of the rocket in the X-axis direction of the rocket coordinate system, Y c is the coordinate of the center of mass of the rocket in the Y-axis direction of the rocket coordinate system, Z c is the coordinate of the center of mass of the rocket in the Z-axis direction of the rocket coordinate system, m i is the mass of the i-th mass point on the pre-acquired rocket, n is the total number of preset mass points of the rocket, (x i , y i , z i ) is the coordinate of the i-th mass point in the rocket coordinate system, δ p0 is the initial swing angle of the pitch channel, δ y0 is the initial swing angle of the yaw channel. Among them, the X-axis of the rocket coordinate system points to the east, the Y-axis of the rocket coordinate system points to the axial direction of the rocket, and the Z-axis of the rocket coordinate system points to the vertical direction.
[0058] Please refer to Figure 2, an embodiment of the present application provides a rocket flight control device, which is applied to a rocket. It should be noted that the basic principle and the technical effects generated by the rocket flight control device provided in the embodiment of the present application are the same as those in the above embodiment. For the sake of brief description, for the parts not mentioned in the embodiment of the present application, reference may be made to the corresponding content in the above embodiment. The rocket includes a rocket primary stage and a rocket final stage connected in sequence, and a first main swing nozzle engine is provided at the bottom of the rocket final stage. Specifically, the device provided in the embodiment of the present application includes a shutdown control unit, a swing angle recording unit, a swing angle control unit, and a startup control unit. Among them,
[0059] The shutdown control unit is configured to control the shutdown of the first main swing nozzle engine when it is determined according to a preset flight control program that the rocket reaches a preset height corresponding to a preset first flight orbit. Before the rocket reaches the preset height corresponding to the preset first flight orbit, the rocket primary stage has separated from the rocket final stage.
[0060] The swing angle recording unit is configured to record the shutdown swing angle of the first main swing nozzle engine when it shuts down.
[0061] The swing angle control unit is configured to control the swing angle of the first main swing nozzle engine to be set to 0;
[0062] The swing angle control unit is further configured to control the swing angle of the first main swing nozzle engine to uniformly transition from zero to the recorded shutdown swing angle within a preset time period before the target time. The preset time period is greater than or equal to 4 s, and the target time is the time determined according to the flight control program to start controlling the switch from the first flight orbit to the second flight orbit;
[0063] The startup control unit is configured to control the startup of the first main swing nozzle engine at the target time, so that the first main swing nozzle engine provides thrust for the rocket final stage based on the shutdown swing angle.
[0064] In some embodiments, the shutdown swing angle includes a pitch channel shutdown swing angle and a yaw channel shutdown swing angle. The swing angle control unit is specifically configured to control the pitch channel swing angle of the first main swing nozzle engine to uniformly transition from zero to the recorded pitch channel shutdown swing angle according to the formula 0 < t < T, where t is the control duration of the swing angle of the first main swing nozzle engine, and T is the preset time period. is the pitch channel shutdown swing angle, and δ pgj is the pitch channel swing angle of the first main swing nozzle engine corresponding to the control duration; and according to the formula 0 < t < T, where t is the control duration of the swing angle of the first main swing nozzle engine, and T is the preset time period. is the yaw channel shutdown swing angle, δ ygj is the yaw channel swing angle of the first main swing nozzle engine corresponding to the control duration.
[0065] In some embodiments, the swing angle recording unit is specifically configured to extract the historical swing angles of the first main swing nozzle engine at N sampling moments before shutdown. Where N is an integer greater than or equal to 2; record the average swing angle of the historical swing angles at N sampling moments as the shutdown swing angle of the first main swing nozzle engine at shutdown.
[0066] In some embodiments, the range of the interval duration between two adjacent sampling moments is 5ms - 10ms.
[0067] In other embodiments, the swing angle recording unit is also specifically configured to record the swing angle of the first main swing nozzle engine collected at the last sampling moment before shutdown as the shutdown swing angle of the first main swing nozzle engine at shutdown.
[0068] In some embodiments, a second main swing nozzle engine is provided at the bottom of the rocket primary. The startup control unit is further configured to control the second main swing nozzle engine to start up when receiving an ignition command, so that the second main swing nozzle engine starts to provide thrust for the rocket.
[0069] The swing angle control unit is further configured to control the swing angle of the second main swing nozzle engine to uniformly transition from zero to a pre-recorded initial swing angle, where the initial swing angle satisfies that the center of mass of the rocket is located on the thrust line of the second main swing nozzle engine.
[0070] In some embodiments, the initial swing angle includes a pitch channel initial swing angle and a yaw channel initial swing angle. The pitch channel initial swing angle satisfies the formula The yaw channel initial swing angle satisfies the formula and where X c is the coordinate of the center of mass of the rocket in the X-axis direction of the rocket coordinate system, Y c is the coordinate of the center of mass of the rocket in the Y-axis direction of the rocket coordinate system, Z c is the coordinate of the center of mass of the rocket in the Z-axis direction of the rocket coordinate system, m i is the mass of the i-th mass point on the pre-acquired rocket, n is the total number of mass points of the rocket, (x i , y i , z i ) is the coordinate of the i-th mass point in the rocket coordinate system, δ p0 is the pitch channel initial swing angle, δ y0 is the yaw channel initial swing angle.
[0071] In addition, an embodiment of the present application provides a rocket, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the rocket executes the method provided in the above embodiment of the present application.
[0072] In addition, an embodiment of the present application further provides a storage medium storing a computer program, which, when executed by a processor, causes a computer to execute the method provided in the above embodiment of the present application.
[0073] In addition, an embodiment of the present application further provides a computer program product including a computer program, which, when run, causes a rocket to execute the method provided in the above embodiment of the present application.
[0074] In the above description, no detailed description is made of technical details such as the composition of each layer. However, those skilled in the art should understand that various technical means can be used to form layers, regions, etc. of the required shapes. In addition, in order to form the same structure, those skilled in the art can also design methods that are not exactly the same as the methods described above. In addition, although the above embodiments are described separately, this does not mean that the measures in each embodiment cannot be used advantageously in combination.
[0075] Although the preferred embodiments of the present application have been described, those skilled in the art can make additional changes and modifications once they know the basic creative concept. Therefore, the appended claims are intended to be construed to include the preferred embodiments as well as all changes and modifications falling within the scope of the present application.
[0076] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalent technologies, the present application is also intended to include these modifications and variations.
Claims
1. A rocket flight control method, characterized in that: Applied to a rocket, the rocket comprises a rocket primary stage and a rocket final stage connected in sequence, a first main swing nozzle engine is arranged at the bottom of the rocket final stage, and the method comprises: When it is determined according to a preset flight control program that the rocket reaches a preset altitude corresponding to a preset first flight trajectory, the first main swing nozzle engine is controlled to shut down, wherein before the rocket reaches the preset altitude corresponding to the preset first flight trajectory, the first stage of the rocket has separated from the last stage of the rocket; Recording a shutdown swing angle of the first main swing nozzle engine when shutting down, and controlling the swing angle of the first main swing nozzle engine to be set to 0; Within a preset time period before a target time, controlling the swing angle of the first main swing nozzle engine to transition from zero to the recorded shutdown swing angle at a constant speed, wherein the preset time period is greater than or equal to 4 seconds, and the target time is the time determined according to the flight control program to start controlling the switch from the first flight trajectory to the second flight trajectory; At the target moment, the first main oscillating nozzle engine is controlled to start up so that the first main oscillating nozzle engine provides thrust for the rocket final stage based on the shutdown swing angle.
2. The method according to claim 1, characterized in that The shutdown swing angle includes a pitch channel shutdown swing angle and a yaw channel shutdown swing angle, and the step of controlling the swing angle of the first main swing nozzle engine to transition from zero uniform speed to the recorded shutdown swing angle includes: According to the arithmetic formula When 0 < t < T, control the pitch channel swing angle of the first main swing nozzle engine to uniformly transition from zero to the recorded pitch channel shutdown swing angle, where t is the control duration of the swing angle of the first main swing nozzle engine, and T is the preset duration is the pitch channel shutdown swing angle, and δ pgj is the pitch channel swing angle of the first main swing nozzle engine corresponding to the control duration; According to the arithmetic formula When \(0 \lt t \lt T\), control the yaw channel swing angle of the first main swing nozzle engine to uniformly transition from zero to the recorded yaw channel shutdown swing angle, where \(t\) is the control duration of the swing angle of the first main swing nozzle engine, and \(T\) is the preset duration is the yaw channel shutdown swing angle, and \(\delta\) ygj is the yaw channel swing angle of the first main swing nozzle engine corresponding to the control duration 3. The method according to claim 1, characterized in that The recording of the shutdown swing angle of the first main swing nozzle engine when shutting down comprises: Extracting the historical swing angles of the first main swing nozzle engine at N sampling moments before shutdown, where N is an integer greater than or equal to 2; The average swing angle of the historical swing angles at the N sampling moments is recorded as the shutdown swing angle of the first main swing nozzle engine when it is shut down.
4. The method according to claim 3, characterized in that The interval between two adjacent sampling moments ranges from 5 ms to 10 ms.
5. The method according to claim 1, characterized in that The recording of the shutdown swing angle of the first main swing nozzle engine when shutting down comprises: The swing angle of the first main swing nozzle engine collected at the last sampling moment before shutdown is recorded as the shutdown swing angle of the first main swing nozzle engine when it is shut down.
6. The method according to claim 1, characterized in that A second main swing nozzle engine is disposed at the bottom of the rocket primary stage. When it is determined according to a preset flight control program that the rocket reaches a preset altitude corresponding to a preset first flight trajectory, before controlling the first main swing nozzle engine to shut down, the method further includes: Upon receiving the ignition command, controlling the second main swing nozzle engine to start up, so that the second main swing nozzle engine starts to provide thrust for the rocket; The swing angle of the second main swing nozzle engine is controlled to transition from zero to a pre-recorded initial swing angle at a constant speed, wherein the initial swing angle satisfies the requirement that the center of mass of the rocket is located on the thrust line of the second main swing nozzle engine.
7. The method according to claim 6, characterized in that The initial swing angle includes the initial swing angle of the pitch channel and the initial swing angle of the yaw channel. The initial swing angle of the pitch channel satisfies the formula The initial swing angle of the yaw channel satisfies the formula and Among them, X c is the coordinate of the center of mass of the rocket in the X-axis direction of the rocket coordinate system, Y c is the coordinate of the center of mass of the rocket in the Y-axis direction of the rocket coordinate system, Z c is the coordinate of the center of mass of the rocket in the Z-axis direction of the rocket coordinate system, m i is the mass of the i-th mass point on the rocket collected in advance, n is the total number of mass points of the rocket, (x i ,y i , z i ) is the coordinate of the i-th mass point in the rocket coordinate system, δ p0 is the initial swing angle of the pitch channel, δ y0 is the initial swing angle of the yaw channel.
8. A rocket comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the rocket executes the method as described in any one of claims 1 to 7.
9. A storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the computer is caused to perform the method according to any one of claims 1 to 7.
10. A computer program product, comprising a computer program, characterized in that When the computer program is executed, the rocket executes the method as claimed in any one of claims 1 to 7.