Rocket attitude control method and related equipment

Abstract

The invention discloses a rocket attitude control method and related equipment, and relates to the technical field of attitude control, and the method comprises the steps: obtaining a rolling attitude angle of a rocket; generating a control instruction according to the deviation between the rolling attitude angle and the target attitude angle; and on the basis of the control instruction, electromagnetic valves of at least one pair of symmetrically-arranged cold air spray pipes are controlled to be opened and closed so that high-pressure gas can be released to generate thrust, the posture is adjusted to the target posture angle, the high-pressure gas is supplied through a pressure reducing valve, and a buffering electromagnetic valve and a buffering hole plate are arranged in front of the pressure reducing valve so that the pressure rise rate in front of the pressure reducing valve can be controlled not to exceed a preset threshold value. The combined structure of the buffer electromagnetic valve and the buffer pore plate is arranged in front of the pressure reducing valve, the pressure rise rate of high-pressure gas is dynamically adjusted, it is ensured that the pressure change of an inlet of the pressure reducing valve is always lower than the preset threshold value, and the pressure impact problem caused by rapid opening and closing of the electromagnetic valve is effectively restrained.

Description

Technical Field

[0001] This application relates to the field of attitude control technology, and in particular, to a method for controlling the attitude of a rocket and related devices. Background Art

[0002] In the field of rocket attitude control, traditional cold gas attitude control systems mostly use low-thrust engines (usually in the order of dozens of Newtons), which are difficult to meet the high-thrust requirements (such as above 300 N). Especially when the rocket engine shuts down or only a single engine is working, the existing system has low attitude adjustment accuracy and slow response speed due to insufficient thrust. Moreover, during the supply of high-pressure gas, the pressure rise rate before the pressure reducing valve is difficult to stably control, easily causing system pressure fluctuations and affecting reliability and reusability. In addition, during the supply of high-pressure gas in the traditional system, the pressure rise rate before the pressure reducing valve is difficult to accurately control, easily leading to system instability or damage. Therefore, there is an urgent need for a method for controlling the attitude of a rocket to solve the technical problems mentioned in the prior art. Summary of the Invention

[0003] A series of simplified concepts are introduced in the Summary of the Invention section, which will be further detailed in the Detailed Description section. The Summary of the Invention section of this application does not mean to attempt to define the key features and essential technical features of the claimed technical solution, nor does it mean to attempt to determine the protection scope of the claimed technical solution.

[0004] In a first aspect, this application provides a method for controlling the attitude of a rocket, the method including:

[0005] Obtain the roll attitude angle of the rocket;

[0006] Generate a control command according to the deviation between the roll attitude angle and the target attitude angle;

[0007] Based on the control command, control the opening and closing of the solenoid valves of at least a pair of symmetrically arranged cold gas nozzles to release high-pressure gas to generate thrust and adjust the attitude to the target attitude angle. Among them, the high-pressure gas is supplied through a pressure reducing valve, and a buffer solenoid valve and a buffer orifice plate are provided in front of the pressure reducing valve to control the pressure rise rate in front of the pressure reducing valve not to exceed a preset threshold.

[0008] In some embodiments, the throttling orifice area of the buffer orifice plate and the pipeline volume in front of the pressure reducing valve satisfy a preset matching relationship, where the preset matching relationship is to dynamically adjust the throttling orifice area so that the ratio of it to the pipeline volume is within a preset range.

[0009] In some embodiments, the symmetrically arranged cold gas nozzles include two sets of nozzles that are centrosymmetric. Among them, the first set of nozzles is controlled by a first solenoid valve and is used to generate a clockwise rolling moment; the second set of nozzles is controlled by a second solenoid valve and is used to generate a counterclockwise rolling moment; the first solenoid valve and the second solenoid valve are driven by the same control signal to open and close synchronously.

[0010] In some embodiments, the thrust axis of the first set of nozzles and / or the second set of nozzles forms a preset angle with the longitudinal axis of the rocket.

[0011] In some embodiments, control instructions are generated according to the deviation between the rolling attitude angle and the target attitude angle, including:

[0012] The rolling attitude angle is detected by a gyroscope, and the detection result is transmitted to the controller;

[0013] The controller generates a pulse control signal according to the deviation between the rolling attitude angle and the target attitude angle;

[0014] Based on the pulse control signal, the on-off frequency of the solenoid valve is adjusted to control the thrust output of the cold gas nozzle, so as to realize the closed-loop feedback control of the rocket attitude.

[0015] In some embodiments, the high-pressure gas is supplied by gas cylinders with a total volume of 130L × 8 and a pressure of 35MPa.

[0016] In some embodiments, the supply flow rate of the pressure reducing valve is greater than a preset flow rate threshold, where the preset flow rate threshold is 4.8 kg / s.

[0017] In a second aspect, the present application proposes a control device for a rocket attitude, including:

[0018] An attitude acquisition unit for acquiring the rolling attitude angle of the rocket;

[0019] An instruction generation unit for generating control instructions according to the deviation between the rolling attitude angle and the target attitude angle;

[0020] An attitude adjustment unit, based on the control instructions, controls the opening and closing of the solenoid valves of at least one pair of symmetrically arranged cold gas nozzles to release high-pressure gas to generate thrust, and adjusts the attitude to the target attitude angle. Among them, the high-pressure gas is supplied through a pressure reducing valve, and a buffer solenoid valve and a buffer orifice plate are arranged in front of the pressure reducing valve to control the pressure rise rate in front of the pressure reducing valve not to exceed a preset threshold.

[0021] In a third aspect, an electronic device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor. The processor is used to implement the steps of the rocket attitude control method according to any one of the first aspects when executing the computer program stored in the memory.

[0022] Fourthly, the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it implements the rocket attitude control method according to any one of the first aspect.

[0023] In summary, by adopting the combined structure of a parallel pressure reducing valve, a buffer solenoid valve, and a buffer orifice plate, the present application effectively solves the problems of insufficient thrust and inaccurate control of the pressure rise rate in the traditional cold gas attitude control system. By dynamically adjusting the matching relationship between the throttle area of the buffer orifice plate and the volume of the pipeline in front of the pressure reducing valve, it is ensured that the pressure rise rate does not exceed the preset threshold, improving the stability and reliability of the system. At the same time, the symmetric layout of the cold gas nozzles and the design of the synchronously controlled solenoid valves can accurately generate the rolling moment and achieve high-precision adjustment of the rocket attitude. In addition, through the closed-loop feedback control mechanism, the accuracy and response speed of the attitude control are further improved, which is applicable to the rocket attitude control task with large thrust requirements.

[0024] For the rocket attitude control method proposed in the present application, other advantages, objectives, and features of the present application will be partially reflected by the following description and partially understood by those skilled in the art through the research and practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] By reading the following detailed description of the preferred embodiments, various other advantages and benefits will become clear to those of ordinary skill in the art. The drawings are only for the purpose of showing the preferred embodiments and are not considered to limit this specification. Moreover, throughout the drawings, the same reference numerals are used to represent the same components. In the drawings:

[0026] Figure 1 It is a schematic flowchart of a rocket attitude control method provided by an embodiment of the present application;

[0027] Figure 2 It is a schematic structural diagram of a cold gas attitude control system provided by an embodiment of the present application;

[0028] Figure 3 It is a schematic structural diagram of a rocket attitude control device provided by an embodiment of the present application;

[0029] Figure 4 It is a schematic structural diagram of a rocket attitude control electronic device provided by an embodiment of the present application;

[0030] Wherein, Figure 2 The corresponding relationship between the reference numerals in the drawings and the component names is as follows:

[0031] 101 Filter, 201 Inflation and deflation solenoid valve, 301 Gas cylinder, 401 Gas supply solenoid valve, 501 Buffer solenoid valve, 601 Buffer orifice plate, 701 First pressure reducing valve, 702 Second pressure reducing valve, 703 Third pressure reducing valve, 801 First solenoid valve, 802 Second solenoid valve, 901 First cold air nozzle, 902 Second cold air nozzle, 903 Third cold air nozzle, 904 Fourth cold air nozzle. Detailed implementation manner

[0032] In the specification and claims of this application and the above-mentioned drawings, the terms "first", "second", "third", "fourth", etc. (if any) are used to distinguish similar objects and do not necessarily describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances so that the embodiments described here can be implemented in an order other than that illustrated or described here. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units does not necessarily limit to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products, or devices. The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all of the embodiments.

[0033] Please refer to Figure 1 , which is a schematic flowchart of a method for controlling the attitude of a rocket provided by an embodiment of this application, and specifically may include:

[0034] S110. Obtain the roll attitude angle of the rocket;

[0035] Exemplarily, in the process of rocket attitude control, obtaining the roll attitude angle in real time is the basis for realizing precise attitude adjustment. The roll attitude angle refers to the angle at which the rocket rotates around its longitudinal axis, which directly affects flight stability and mission execution accuracy. Through attitude sensors such as gyroscopes, the current roll attitude angle of the rocket can be detected in real time, and the detection data can be converted into a signal that can be processed, providing the original input for the generation of subsequent control commands. The core of this step is to capture the real-time motion state of the rocket through high-precision sensors to ensure the accuracy and timeliness of the attitude information.

[0036] The key to obtaining the roll attitude angle lies in establishing the attitude perception ability to support the operation of the closed-loop control system. The gyroscope obtains the change in the attitude angle by integrating the measured angular velocity. Combining with the initial calibration data, it can accurately reflect the actual roll angle of the rocket. This data is transmitted to the controller through the signal transmission link and becomes the basis for judging the deviation between the current attitude and the target attitude. This process constitutes the front-end perception layer of the attitude control system, and its reliability directly determines the effectiveness of the subsequent control logic, which is a necessary prerequisite for the rocket to achieve attitude adjustment.

[0037] S120. Generate a control command according to the deviation between the roll attitude angle and the target attitude angle;

[0038] Exemplarily, after obtaining the roll attitude angle of the rocket, compare it with the pre-set target attitude angle, and the difference between the two is the deviation between the roll attitude angle and the target attitude angle. This deviation value is the core basis for generating subsequent control commands, and it intuitively reflects the gap between the current attitude and the desired attitude of the rocket.

[0039] After receiving the deviation information between the roll attitude angle and the target attitude angle, the controller processes it according to a specific algorithm. The design principle of the controller is based on the feedback control theory. It takes the deviation value as the input and generates corresponding control commands according to the pre-set control logic. These commands are aimed at correcting the attitude deviation of the rocket, adjusting the rocket towards the target attitude angle, and determining the opening and closing logic and the action direction of the cold gas nozzle, so as to provide clear action commands for subsequent thrust adjustment, which is the key link to achieve precise control of the rocket attitude.

[0040] S130. Based on the control command, control the opening and closing of the solenoid valves of at least a pair of symmetrically arranged cold gas nozzles to release high-pressure gas to generate thrust and adjust the attitude to the target attitude angle. Among them, the high-pressure gas is supplied through a pressure reducing valve, and a buffer solenoid valve and a buffer orifice plate are arranged in front of the pressure reducing valve to control the pressure rise rate in front of the pressure reducing valve not to exceed the preset threshold.

[0041] Exemplarily, when the controller generates a control command, the command is transmitted to the actuator that controls the solenoid valves of the cold gas nozzles. At least a pair of symmetrically arranged cold gas nozzles work under the control of the opening and closing of the solenoid valves. When the solenoid valve is opened, the high-pressure gas stored in the gas cylinder is regulated by the pressure reducing valve and released through the nozzle. According to Newton's third law, the reaction force generated by the ejection of the high-pressure gas forms thrust, which acts on the rocket and then changes the attitude of the rocket. Due to the symmetrical layout of the nozzles, the required torque can be accurately generated to achieve precise adjustment of the rocket attitude and make it gradually approach the target attitude angle.

[0042] During the high-pressure gas supply process, the pressure reducing valve plays a crucial role in regulating the gas pressure, ensuring a stable output gas pressure to meet the thrust requirements. The buffer solenoid valve and buffer orifice plate are set in front of the pressure reducing valve to optimize the stability of gas supply. When the system starts or the pressure changes, the buffer solenoid valve and buffer orifice plate work together to limit the rising speed of the gas pressure in front of the pressure reducing valve, so that its pressure rise rate does not exceed the preset threshold. This design can effectively avoid the impact on the system caused by pressure mutation, ensure the stable and reliable operation of the entire attitude control system, and provide stable gas power support for the precise control of the rocket attitude.

[0043] In summary, the present application effectively solves the problems of insufficient thrust and inaccurate control of the pressure rise rate in the traditional cold gas attitude control system by adopting a combined structure of a parallel pressure reducing valve, a buffer solenoid valve, and a buffer orifice plate. By dynamically adjusting the matching relationship between the throttle area of the buffer orifice plate and the volume of the pipeline in front of the pressure reducing valve, it is ensured that the pressure rise rate does not exceed the preset threshold, improving the stability and reliability of the system. At the same time, the symmetric layout of the cold gas nozzles and the synchronous control of the solenoid valves can accurately generate the rolling moment to achieve high-precision adjustment of the rocket attitude. In addition, through the closed-loop feedback control mechanism, the accuracy and response speed of attitude control are further improved, which is applicable to the rocket attitude control task with large thrust requirements.

[0044] In some embodiments, Figure 2 FIG. is a schematic structural diagram of the cold gas attitude control system provided by the embodiment of the present application. The cold gas attitude control system realizes the precise control of the rocket attitude through modular design, and is composed of a gas source supply module, a pressure buffer module, a pressure regulation module, and a nozzle execution module. Each module is connected by pipelines to form a closed-loop control link. The core components of the gas source supply module include a gas cylinder 301, a charging and discharging solenoid valve 201, and a filter 101. Among them, the gas cylinder 301 is connected to the system pipeline through the charging and discharging solenoid valve 201, and the charging and discharging solenoid valve 201 realizes the rapid charging and discharging of pressure of the gas cylinder through the charging port; a filter 101 is connected in series at the outlet of the gas cylinder 301 to remove impurity particles in the high-pressure gas and ensure the reliability of subsequent components.

[0045] The pressure buffer module consists of a buffer solenoid valve 501 and a buffer orifice plate 601, which are connected in series in the pipeline upstream of the pressure reducing valve: the buffer solenoid valve 501 dynamically adjusts the gas flow according to the control instruction, and the throttle area of the buffer orifice plate 601 matches the pipeline volume, and controls the pressure rise rate at the inlet of the pressure reducing valve (701-703) within the preset threshold by restricting the gas flow velocity, avoiding the pipeline impact caused by sudden pressure rise.

[0046] The pressure regulation module adopts a three - stage parallel pressure reduction design, including a first pressure reducing valve 701, a second pressure reducing valve 702 and a third pressure reducing valve 703. After the 35MPa high - pressure gas output from the gas cylinder 301 passes through the buffer module, it is gradually reduced to the working pressure range required by the cold gas nozzles (901 - 904) by the three - stage pressure reducing valves. Different pressure reducing valves can independently adapt to the different pressure requirements of multiple groups of nozzles.

[0047] The nozzle execution module includes symmetrically distributed cold gas nozzles (a first cold gas nozzle 901, a second cold gas nozzle 902, a third cold gas nozzle 903, a fourth cold gas nozzle 904) and corresponding first solenoid valve 801, second solenoid valve 802; the thrust axis of the nozzle forms a preset angle with the rocket longitudinal axis. The first solenoid valve 801 synchronously controls the first cold gas nozzle 901 and the third cold gas nozzle 903, and the second solenoid valve 802 synchronously controls the second cold gas nozzle 902 and the fourth cold gas nozzle 904, forming an orthogonal symmetric layout; the thrust vectors of the two groups of nozzles project and synthesize a pure rolling moment on the rocket cross - section, and at the same time, their pitch and yaw components cancel each other out. Finally, the solenoid valve is driven to turn on and off through a pulse modulation signal to achieve high - precision adjustment of the rolling attitude.

[0048] In some examples, the throttle area of the buffer orifice plate and the pipeline volume in front of the pressure reducing valve satisfy a preset matching relationship, where the preset matching relationship is that by dynamically adjusting the throttle area, the ratio of it to the pipeline volume is within a preset interval range.

[0049] Exemplarily, for the preset matching relationship between the throttle area of the buffer orifice plate 601 and the pipeline volume in front of the pressure reducing valves (701 - 703), its core principle lies in the active control of the dynamic characteristics of the gas path through the parametric design of the physical structure. As Figure 2 shown, the buffer orifice plate 601 is serially arranged in the pipeline between the buffer solenoid valve 501 and the pressure reducing valves (701 - 703), and its throttle area is designed to match according to the volume of the pipeline (the pipeline section from the gas cylinder 301 to the pressure reducing valve 701). Specifically, when the pipeline volume increases, the transient pressure fluctuation amplitude of the gas in the pipeline increases accordingly. At this time, by increasing the throttle area of the buffer orifice plate (601), the pressure drop gradient generated by the throttling effect can be reduced, so as to limit the pressure rise rate within a preset threshold.

[0050] In the dynamic regulation process, the buffer solenoid valve 501 and the buffer orifice plate 601 form a cooperative control mechanism: the buffer solenoid valve 501 adjusts the opening according to the instruction of the controller to control the gas flow; the buffer orifice plate 601 restricts the maximum flow upper limit through the cross - sectional area of the fixed throttle orifice. The linkage of the two makes the ratio of the pipeline volume to the throttle area always within a preset interval. For example, in an implementation scenario where the pipeline volume is 5L, the throttle area of the buffer orifice plate 601 is preferably designed to be 2.5mm 2, at this time, even if the buffer solenoid valve 501 is fully open, the gas flow rate is still restricted within the allowable range, ensuring that the inlet pressure fluctuation of the pressure reducing valves (701 - 703) does not exceed the preset threshold. This design solves the problem of pressure control mismatch caused by pipeline volume differences in traditional cold air systems through quantitative correlation of structural parameters. In a specific embodiment, when the pipeline volume is in the range of 1L to 10L, the ratio of the throttle orifice area to the pipeline volume is preferably 0.4 - 0.6mm 2 / L; when the pipeline volume exceeds 10L, the ratio is adjusted to 0.3 - 0.5mm 2 / L through a non - linear correction coefficient. This hierarchical matching strategy not only ensures the high responsiveness requirements of small - volume pipelines but also avoids the risk of pressure overshoot in large - volume pipelines.

[0051] It should be noted that in this embodiment, the ratio of the throttle orifice area to the pipeline volume is 0.5mm 2 / L.

[0052] In some instances, the symmetrically arranged cold air nozzles include two sets of nozzles that are centrosymmetric. Among them, the first set of nozzles is controlled by a first solenoid valve and is used to generate a clockwise rolling moment; the second set of nozzles is controlled by a second solenoid valve and is used to generate a counter - clockwise rolling moment; the first solenoid valve and the second solenoid valve are driven by the same control signal to open and close synchronously.

[0053] Exemplarily, the symmetrically arranged cold air nozzle execution module is composed of a first cold air nozzle 901, a second cold air nozzle 902, a third cold air nozzle 903, and a fourth cold air nozzle 904. Their spatial distribution and control logic are as Figure 2 shown. The first set of nozzles includes the first cold air nozzle 901 and the third cold air nozzle 903, which are synchronously controlled by the first solenoid valve 801; the second set of nozzles includes the second cold air nozzle 902 and the fourth cold air nozzle 904, which are synchronously controlled by the second solenoid valve 802 as shown by the reference numerals 801 and 802. The first solenoid valve 801 and the second solenoid valve 802 are driven by the same pulse modulation signal. When the controller detects a roll attitude angle deviation, it selects to open the first solenoid valve 801 or the second solenoid valve 802 according to the deviation direction, so that the two sets of nozzles alternately release high - pressure gas to generate clockwise or counter - clockwise rolling moments respectively.

[0054] From the analysis of the thrust synthesis principle, the first group of nozzles 901 and 903 and the second group of nozzles 902 and 904 are arranged in a central symmetry layout. The thrust axes of the first cold gas nozzle 901 and the third cold gas nozzle 903 form a preset angle of 15° - 75° with the rocket longitudinal axis. Their thrust vectors have opposite and collinear projection directions on the rocket cross-section, synthesizing a pure clockwise rolling moment. Similarly, the thrust vectors of the second cold gas nozzle 902 and the fourth cold gas nozzle 904 synthesize a pure counterclockwise rolling moment. By controlling the synchronous opening and closing of the first solenoid valve 801 and the second solenoid valve 802, the thrust action time and direction of the two groups of nozzles can be precisely matched to the attitude correction requirements. At the same time, due to the central symmetry layout characteristics, the components of the nozzle thrust in the pitch plane Y-Z plane and the yaw plane X-Z plane cancel each other out, avoiding the introduction of additional interference moments.

[0055] The synchronous control logic of the first solenoid valve 801 and the second solenoid valve 802 is achieved in the following way. When the controller generates a pulse modulation signal, this signal is simultaneously transmitted to the drive circuits of the first solenoid valve 801 and the second solenoid valve 802, but their on-off states are controlled by signal polarity switching. For example, when a clockwise rolling moment needs to be generated, the high level of the pulse signal triggers the opening of the first solenoid valve 801, and the low level triggers its closing; while the on-off logic of the second solenoid valve 802 is opposite to that of the first solenoid valve 801, thus realizing the mutually exclusive working mode of the two groups of nozzles. This design not only ensures the uniqueness of the thrust direction but also eliminates the control timing error through the synchronous action of the solenoid valves 801 and 802, ensuring the instantaneousness and symmetry of the rolling moment output.

[0056] In some instances, the thrust axes of the first group of nozzles and / or the second group of nozzles form a preset angle with the rocket longitudinal axis.

[0057] Exemplarily, the first group of nozzles (901, 903) and the second group of nozzles (902, 904) are respectively located at the diagonal positions of the bulkhead (the connecting line angle is 180°), forming two groups of central symmetry layouts. The thrust axis of each group of nozzles forms a preset angle with the rocket longitudinal axis Z-axis.

[0058] The thrust vectors of the cold gas nozzles 901 - 904 can be decomposed into radial components and axial components. Among them, the radial component F_xy = F×sinα, which is perpendicular to the Z-axis, has opposite and collinear directions in the X-Y plane. For example, the thrust projections of the first group of nozzles 901 and 903 are along the negative X-axis, and the second group of nozzles 902 and 904 are along the negative Y-axis, synthesizing a pure rolling moment M_z = F_xy×R around the Z-axis; the axial component F_z = Fcosα, which is along the Z-axis direction, is cancelled out due to the diagonal symmetric layout. For example, the F_z directions of the first group of nozzles 901 and 903 are the same, but their symmetric distribution makes the resultant force zero. By controlling the opening and closing of the first solenoid valve 801 or the second solenoid valve 802, the corresponding nozzle group is selected to be activated, so that the direction of the synthesized moment is opposite to the direction of the attitude deviation, realizing the rolling attitude correction.

[0059] It should be noted that in the embodiments of the present application, the value range of the preset included angle α is 15° - 75°. When α = 15°, the radial component F_xy = F × sin15° ≈ 0.26F, and the roll torque efficiency is relatively low; when α = 75°, the axial component F_z = F × cos75° ≈ 0.26F, and the propellant utilization rate decreases significantly. In the preferred embodiment, when α = 45°, F_xy = F_z ≈ 0.707F, taking into account both the roll torque efficiency and the balance of the axial thrust, and there is no risk of interference between the nozzle plume and the cabin wall. This design realizes the directional decomposition of the thrust through geometric constraints, avoids the generation of pitching or yaw interference torques, and ensures the accuracy of roll control.

[0060] In some instances, control commands are generated according to the deviation between the roll attitude angle and the target attitude angle, including:

[0061] The roll attitude angle is detected by a gyroscope, and the detection result is transmitted to the controller;

[0062] The controller generates a pulse control signal according to the deviation between the roll attitude angle and the target attitude angle;

[0063] Based on the pulse control signal, the on-off frequency of the solenoid valve is adjusted to control the thrust output of the cold gas nozzle, realizing the closed-loop feedback control of the rocket attitude.

[0064] Exemplarily, the roll attitude angle is detected in real time by a gyroscope. The gyroscope measures the angular velocity of the rocket around the longitudinal axis (Z-axis) and integrates it to obtain the current roll attitude angle. The detection result is transmitted to the controller through a signal transmission link. The controller compares the current roll attitude angle with the preset target attitude angle and calculates the deviation value between the two. This deviation value serves as the core input parameter for generating control commands and directly reflects the deviation degree between the current attitude and the desired attitude of the rocket.

[0065] The controller generates a pulse control signal according to the magnitude and polarity (positive or negative) of the roll attitude angle deviation (Δθ). Specifically, when the absolute value of the deviation exceeds the first preset threshold, the controller activates the pulse modulation logic. If Δθ is positive, a high level is generated to trigger the opening of the first solenoid valve 801, and a low level triggers its closing; if Δθ is negative, a high level is generated to trigger the opening of the second solenoid valve 802, and a low level triggers its closing. The duty cycle of the pulse control signal is positively correlated with the deviation magnitude, that is, the greater the deviation, the higher the duty cycle, the longer the opening time of the solenoid valve, and the stronger the thrust output of the cold gas nozzle.

[0066] Based on the pulse control signal, the controller dynamically adjusts the on-off frequency of the solenoid valves (801, 802) to control the thrust output of the cold gas nozzles (901 - 904). When the first solenoid valve 801 is opened, the first group of nozzles 901, 903 release high-pressure gas to generate a clockwise rolling moment; when the second solenoid valve 802 is opened, the second group of nozzles 902, 904 release high-pressure gas to generate a counterclockwise rolling moment. The gyroscope real-time detects the corrected rolling attitude angle and feeds the data back to the controller to form a closed-loop feedback control link. When the absolute value of the deviation converges to the second preset threshold, the controller stops the output of the pulse modulation signal to complete the attitude correction.

[0067] It should be noted that in the embodiments of the present application, the first preset threshold can be set to Δθ ≥ 5°, and the second preset threshold can be set to Δθ ≤ 1°.

[0068] In some examples, the high-pressure gas is supplied by 8 gas cylinders with a volume of 130L and a pressure of 35MPa.

[0069] Exemplarily, the high-pressure gas is supplied by 8 gas cylinders, each with a volume of 130L and a pressure of 35MPa. The gas cylinder 301 is connected to the system pipeline through the charging and discharging solenoid valve 201, and the charging and discharging solenoid valve 201 realizes the rapid charging and discharging pressure of the gas cylinder through the charging port. After the high-pressure gas output by the gas cylinder 301 is purified by the filter 101, it enters the gas supply control module, and the gas supply solenoid valve 401 adjusts the gas flow direction according to the control instruction to ensure that the high-pressure gas enters the subsequent module when needed.

[0070] The total volume of the gas cylinder 301 is 1040L and the pressure is 35MPa, which can provide sufficient gas reserve to meet the large thrust demand. After the high-pressure gas is adjusted by the buffer solenoid valve 501 and the buffer orifice plate 601, it is gradually reduced in pressure to the working pressure range required by the cold gas nozzles (901 - 904) by the three-stage pressure reducing valve (the first pressure reducing valve 701, the second pressure reducing valve 702, and the third pressure reducing valve 703). This design optimizes the configuration of the number and volume of gas cylinders to meet the high thrust demand of rocket attitude control while ensuring the stability of gas supply.

[0071] In some examples, the supply flow rate of the pressure reducing valve is greater than the preset flow rate threshold, where the preset flow rate threshold is 4.8 kg / s.

[0072] Exemplarily, the supply flow rate of the pressure reducing valve is greater than the preset flow rate threshold, and its technical principle is achieved through the parallel design of the three-stage pressure reducing valve and the collaborative work of the buffer component. As Figure 2As shown, the high-pressure gas output from the gas cylinder 301 is regulated by the buffer solenoid valve 501 and the buffer orifice plate 601 to adjust the pressure rise rate, and then is shunted in parallel by the three-stage pressure reducing valves (701 - 703). The rated flow rate of each pressure reducing valve is 1.6 kg / s, and the total supply flow rate can reach 4.8 kg / s, ensuring the gas supply stability of the cold gas nozzle under high thrust requirements.

[0073] In some instances, the pressure rise rate before the pressure reducing valve does not exceed a preset threshold, where the preset threshold is 5 MPa / s.

[0074] Exemplarily, when the cold gas attitude control system operates, after the high-pressure gas flows out of the gas cylinder 301, during the process of flowing towards the pressure reducing valve, its pressure change is crucial for the stable operation of the system. The pressure rise rate refers to the value of the gas pressure increase per unit time. If the pressure rise rate before the pressure reducing valve is too high, the pressure reducing valve will instantaneously bear too large a pressure shock, which may lead to a decrease in the adjustment accuracy of the pressure reducing valve or even damage the pressure reducing valve, thereby affecting the ability of the entire system to provide stable pressure gas for the cold gas nozzle, and ultimately having a negative impact on the accuracy and reliability of rocket attitude control.

[0075] To ensure the stable operation of the system, this application stipulates that the pressure rise rate before the pressure reducing valve does not exceed a preset threshold, and the preset threshold is set to 5 MPa / s. In the system, the pressure rise rate is controlled by setting a buffer solenoid valve 501 and a buffer orifice plate 601 before the pressure reducing valve. The buffer solenoid valve can precisely control the on-off of the gas, and the buffer orifice plate utilizes its throttling characteristics to limit the gas flow rate and flow. The two work together to effectively slow down the gas pressure rise speed, ensuring that the pressure rise rate before the pressure reducing valve remains within 5 MPa / s under various working conditions, thereby providing a reliable guarantee for the stable operation of the pressure reducing valve and the cold gas attitude control system to achieve precise rocket attitude control.

[0076] Please refer to Figure 3 , which is a schematic structural diagram of a control device for a rocket attitude provided by an embodiment of this application, including:

[0077] An attitude acquisition unit 21 for acquiring the roll attitude angle of the rocket;

[0078] An instruction generation unit 22 for generating a control instruction according to the deviation between the roll attitude angle and the target attitude angle;

[0079] An attitude adjustment unit 23, based on the control instruction, controls the opening and closing of the solenoid valves of at least a pair of symmetrically arranged cold gas nozzles to release high-pressure gas to generate thrust and adjust the attitude to the target attitude angle. Among them, the high-pressure gas is supplied through a pressure reducing valve, and a buffer solenoid valve and a buffer orifice plate are set before the pressure reducing valve to control the pressure rise rate before the pressure reducing valve not to exceed a preset threshold.

[0080] Please refer to Figure 4, an embodiment of the present application further provides an electronic device 300, including a memory 310, a processor 320, and a computer program 311 stored on the memory 310 and executable on the processor. When the processor 320 executes the computer program 311, the steps of any method of the rocket attitude control device are implemented.

[0081] Since the electronic device introduced in this embodiment is the device used to implement a rocket attitude control device in an embodiment of the present application, based on the method introduced in the embodiment of the present application, those skilled in the art can understand the specific implementation manner and various variations of the electronic device in this embodiment. Therefore, the specific implementation of how this electronic device implements the method in the embodiment of the present application will not be described in detail here. As long as the device used by those skilled in the art to implement the method in the embodiment of the present application belongs to the scope protected by the present application.

[0082] In the specific implementation process, when the computer program 311 is executed by the processor, any implementation manner in the corresponding embodiment of the first aspect can be realized.

[0083] It should be noted that in the above embodiments, the descriptions of each embodiment have their own emphases. For the parts not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0084] Those skilled in the art should understand that the embodiments of the present application can provide methods, systems, or computer program products. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-readable storage media (including but not limited to disk memories, CD-ROMs, optical memories, etc.) containing computer-readable program codes.

[0085] The present application is described with reference to the flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowcharts and / or block diagrams can be implemented by computer program instructions, and the combination of the processes and / or blocks in the flowcharts and / or block diagrams can also be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded computer, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate a device for realizing the functions specified in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0086] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to operate in a particular manner, such that the instructions stored in the computer-readable memory produce a manufacture including an instruction device that implements the functions specified in one or more of the processes and / or blocks Figure 1 of one or more of the processes and / or blocks Figure 1 specified in one or more of the processes and / or blocks.

[0087] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus, such that a series of operational steps are performed on the computer or other programmable apparatus to produce a computer-implemented process, whereby the instructions executed on the computer or other programmable apparatus provide steps for implementing the functions specified in one or more of the processes and / or blocks Figure 1 of one or more of the processes and / or blocks Figure 1 specified in one or more of the processes and / or blocks.

[0088] Embodiments of the present application also provide a computer program product, which includes computer software instructions that, when running on a processing device, cause the processing device to execute Figure 1 the process of a method for controlling the attitude of a rocket in a corresponding embodiment.

[0089] The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions according to the embodiments of the present application are all or partially generated. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wire (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.). The computer-readable storage medium may be any available medium that can be stored by a computer or a data storage device such as a server or data center that integrates one or more available media. The available medium may be a magnetic medium (such as a floppy disk, a hard disk, a magnetic tape), an optical medium (such as a DVD), or a semiconductor medium (such as a solid state disk (SSD)), etc.

[0090] Those skilled in the art can clearly understand that, for the convenience and conciseness of description, the specific working processes of the systems, apparatuses, and units described above may refer to the corresponding processes in the foregoing method embodiments, and will not be elaborated herein.

[0091] In several embodiments provided in the present application, it should be understood that the disclosed devices, apparatuses, and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling, direct coupling, or communication connection between each other can be through some interfaces. The indirect coupling or communication connection of devices or units can be in electrical, mechanical, or other forms.

[0092] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0093] In addition, in each embodiment of the present application, the functional units can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

[0094] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or all or part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods in each embodiment of the present application. And the aforementioned storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical discs that can store program codes.

[0095] The above embodiments are only used to illustrate the technical solution of the present application, rather than to limit it; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of each embodiment of the present application.

[0096] Although the preferred embodiments of the present specification have been described, those skilled in the art can make additional changes and modifications once they learn the basic creative concepts. 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 this specification.

[0097] Obviously, those skilled in the art can make various changes and deformations to this specification without departing from the spirit and scope of this specification. Thus, if these modifications and deformations of this specification fall within the scope of the claims of this specification and their equivalent technologies, this specification is also intended to include these modifications and deformations.

Claims

1. A method for controlling the attitude of a rocket, characterized in that, The method includes: Obtaining the roll attitude angle of the rocket; Generating a control command according to the deviation between the roll attitude angle and the target attitude angle; Based on the control command, controlling the opening and closing of the solenoid valves of at least a pair of symmetrically arranged cold gas nozzles to release high-pressure gas to generate thrust and adjust the attitude to the target attitude angle. Wherein, the high-pressure gas is supplied through a pressure reducing valve, and a buffer solenoid valve and a buffer orifice plate are arranged in front of the pressure reducing valve to control the pressure rise rate in front of the pressure reducing valve not to exceed a preset threshold value.

2. The method for controlling the rocket attitude according to claim 1, wherein The throttle orifice area of the buffer orifice plate and the pipeline volume in front of the pressure reducing valve satisfy a preset matching relationship, where the preset matching relationship is that by dynamically adjusting the throttle orifice area, the ratio of it to the pipeline volume is within a preset interval range.

3. The method for controlling the rocket attitude according to claim 1, wherein The symmetrically arranged cold gas nozzles include two groups of nozzles that are centrosymmetric. Among them, the first group of nozzles is controlled by a first solenoid valve and is used to generate a clockwise rolling moment; the second group of nozzles is controlled by a second solenoid valve and is used to generate a counterclockwise rolling moment; the first solenoid valve and the second solenoid valve are driven by the same control signal to open and close synchronously.

4. The control method for the rocket attitude according to claim 3, characterized in that, The thrust axis of the first group of nozzles and / or the second group of nozzles forms a preset angle with the rocket longitudinal axis.

5. The control method of the rocket attitude according to any one of claims 1 to 4, characterized in that, Generating a control command according to the deviation between the roll attitude angle and the target attitude angle includes: The roll attitude angle is detected by a gyroscope, and the detection result is transmitted to the controller; The controller generates a pulse control signal according to the deviation between the roll attitude angle and the target attitude angle; Based on the pulse control signal, adjusting the on-off frequency of the solenoid valve to control the thrust output of the cold gas nozzle and realizing the closed-loop feedback control of the rocket attitude.

6. The control method of the rocket attitude according to claim 1, wherein The high-pressure gas is supplied by gas cylinders with a total volume of 130L×8 and a pressure of 35MPa.

7. The control method for the rocket attitude according to claim 1, characterized in that The supply flow rate of the pressure reducing valve is greater than a preset flow rate threshold value, where the preset flow rate threshold value is 4.8 kg / s.

8. A control device for the attitude of a rocket, characterized in that, Includes: An attitude acquisition unit for obtaining the roll attitude angle of the rocket; An instruction generation unit for generating a control command according to the deviation between the roll attitude angle and the target attitude angle; An attitude adjustment unit, based on the control command, controlling the opening and closing of the solenoid valves of at least a pair of symmetrically arranged cold gas nozzles to release high-pressure gas to generate thrust and adjust the attitude to the target attitude angle. Wherein, the high-pressure gas is supplied through a pressure reducing valve, and a buffer solenoid valve and a buffer orifice plate are arranged in front of the pressure reducing valve to control the pressure rise rate in front of the pressure reducing valve not to exceed a preset threshold value.

9. An electronic device, comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor is used to implement the steps of the method for controlling the rocket attitude according to any one of claims 1-7 when executing the computer program stored in the memory.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: The computer program, when executed by the processor, implements the method for controlling the rocket attitude according to any one of claims 1-7.

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