A launch vehicle flight attitude control method and device, a computer and a medium

Abstract

The application discloses a launch vehicle flight attitude control method and device, a computer and a medium. The method comprises the following steps: acquiring the on-off frequency of the launch vehicle attitude control engine in the current flight period; comparing the on-off frequency with the natural frequency of the liquid power system storage tank diaphragm; correcting the on-off instruction of the attitude control engine in the current flight period according to the comparison result; and controlling the flight attitude of the rocket body based on the corrected on-off instruction. The method can prevent resonance and improve the flight safety of the rocket body.

Description

Technical Field

[0001] This invention relates to the field of launch vehicle flight environment and attitude control technology, and in particular to a method, device, computer and medium for controlling the flight attitude of a launch vehicle. Background Technology

[0002] During the flight of a launch vehicle, especially after entering the atmosphere, the primary power source is the liquid propulsion system. This system employs a helium-fueled bipropellant engine and consists of a charging valve, gas cylinders, pressure reducing valves, safety valves, a storage tank, oxidizer, fuel, electro-explosive valves, solenoid valves, the engine (thrust), piping, filters, sensors, passive thermal control devices, cables, and assembly components. It provides propellant and pressurized gas storage, management, and delivery functions. Under the control of the rocket's control system, it provides the launch vehicle with the impulse, control force, or torque required for orbital insertion, orbital maneuvers, and attitude control.

[0003] In hydraulic propulsion systems, the propellant tank is the weakest link, highly susceptible to environmental influences. Current hydraulic propulsion systems primarily employ a dual-membrane co-propellant tank design. While this design offers advantages such as simple structure and low cost, it is highly sensitive to flight conditions and can only withstand relatively low impact loads. If the diaphragm ruptures, the oxidizer and propellant inside the tank can mix, potentially leading to an explosion. Therefore, ensuring the safety of the propellant tank diaphragm is a pressing issue that needs to be addressed. Summary of the Invention

[0004] This application provides a method, device, computer, and medium for controlling the flight attitude of a launch vehicle. The method compares the on / off frequency of the attitude control engine with the natural frequency of the propellant tank diaphragm, and adjusts the on / off frequency of the attitude control engine according to the comparison result to prevent resonance and improve the flight safety of the rocket.

[0005] In a first aspect, the present invention provides the following technical solution through an embodiment of the present invention:

[0006] A method for controlling the flight attitude of a launch vehicle includes: acquiring the on / off frequency of the launch vehicle's attitude control engine during the current flight period; comparing the on / off frequency with the natural frequency of the diaphragm of the liquid propulsion system tank; correcting the on / off command of the attitude control engine during the current flight period based on the comparison result; and controlling the flight attitude of the launch vehicle based on the corrected on / off command.

[0007] Preferably, obtaining the on / off frequency of the launch vehicle attitude control engine during the current flight period includes: obtaining the number of times the attitude control engine is switched on and off during the current flight period; and determining the on / off frequency of the launch vehicle attitude control engine based on the number of on / off times and a preset flight period.

[0008] Preferably, obtaining the number of times the attitude control engine is switched on and off during the current flight period includes: obtaining the flight parameters of the launch vehicle; and determining the number of times the attitude control engine is switched on and off during the current flight period based on the flight parameters.

[0009] Preferably, determining the on / off frequency of the launch vehicle attitude control engine based on the number of on / off cycles and the preset flight period includes: determining the on / off frequency of the launch vehicle attitude control engine based on the ratio of the number of on / off cycles to the preset flight period.

[0010] Preferably, the step of correcting the on / off command of the attitude control engine during the current flight period based on the comparison result includes: if the difference between the on / off frequency and the inherent frequency is less than a safety threshold, then the on / off command of the attitude control engine during the current flight period is corrected.

[0011] Preferably, the step of correcting the attitude control engine's on / off command during the current flight period if the difference between the on / off frequency and the inherent frequency is less than a safety threshold includes: if the on / off frequency is greater than the inherent frequency and less than or equal to the sum of the inherent frequency and the safety threshold, then the attitude control engine's on / off command during the current flight period is reset to zero before controlling the attitude control engine to start; if the on / off frequency is less than the inherent frequency and greater than or equal to the difference between the inherent frequency and the safety threshold, then the attitude control engine's on / off command during the current flight period is reset to zero.

[0012] Preferably, before obtaining the on / off frequency of the launch vehicle attitude control engine during the current flight period, the method further includes: obtaining the natural frequency of the propellant tank diaphragm through modal testing.

[0013] Secondly, through an embodiment of the present invention, the present invention provides the following technical solution:

[0014] A control device for the flight attitude of a launch vehicle, comprising:

[0015] The acquisition module is used to acquire the on / off frequency of the launch vehicle's attitude control engine during the current flight period;

[0016] The comparison module is used to compare the switching frequency with the natural frequency of the diaphragm in the hydrodynamic system tank.

[0017] The correction module is used to correct the on / off commands of the attitude control engine during the current flight period based on the comparison results.

[0018] The control module is used to control the flight attitude of the rocket body based on the revised power-on and power-off commands.

[0019] Thirdly, through one embodiment of the present invention, the following technical solution is provided:

[0020] An onboard computer includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of any of the methods described in the first aspect above.

[0021] Fourthly, through one embodiment of the present invention, the following technical solution is provided:

[0022] A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method described in any of the first aspects above.

[0023] One or more technical solutions provided in the embodiments of this application have at least the following technical effects or advantages:

[0024] The launch vehicle flight attitude control method provided in this invention obtains the on / off frequency of the launch vehicle's attitude control engine during the current flight period, compares the on / off frequency with the natural frequency of the propellant tank diaphragm, and corrects the on / off command of the attitude control engine during the current flight period based on the comparison result. By adjusting the on / off frequency of the attitude control engine in reverse according to the natural frequency of the diaphragm, the on / off frequency and the natural frequency of the propellant tank diaphragm are always different in each flight period, preventing resonance, ensuring that the propellant tank diaphragm is not damaged, and improving the flight safety of the rocket. This application proposes to protect the propellant tank diaphragm by adjusting the on / off frequency of the attitude control engine. This method does not require additional reinforcement of the propellant tank and diaphragm stiffness, is low in cost, reduces the weight of the propellant tank, and has a simple process, strong adaptability, and high engineering application value. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a flowchart of the method for controlling the flight attitude of a launch vehicle in an embodiment of the present invention;

[0027] Figure 2 This is a schematic diagram of the structure of the control device for the flight attitude of a launch vehicle in an embodiment of the present invention;

[0028] Figure 3 This is a schematic diagram of the structure of the rocket-borne computer in an embodiment of the present invention. Detailed Implementation

[0029] The inventors discovered that during rocket flight, the attitude control loop uses attitude control engines within the hydrodynamic system as actuators. Typically, a side-jet system composed of 6 to 10 hydrodynamic attitude control engines achieves three-channel attitude control for the rocket's pitch, yaw, and roll. During side-jet control, a threshold-based discrete control method is employed. The duration and frequency of nozzle activation are determined by the magnitude of external disturbances and the rocket's initial angular deviation and angular rate. Since the disturbances and the rocket's initial attitude are random, the activation frequency of the attitude control engines may coincide with the frequency of the propellant tank diaphragm. Because the local modes of the propellant tank diaphragm are low, if this frequency coincides with the control frequency or other frequencies, resonance will occur, leading to diaphragm rupture and posing a flight risk.

[0030] In view of this, the present application provides a method, device, computer and medium for controlling the flight attitude of a launch vehicle. The method compares the on / off frequency of the attitude control engine with the natural frequency of the propellant tank diaphragm, and adjusts the on / off frequency of the attitude control engine according to the comparison result to prevent resonance and improve the flight safety of the rocket.

[0031] The technical solution of this application embodiment is to solve the above-mentioned technical problems, and the general idea is as follows:

[0032] A method for controlling the flight attitude of a launch vehicle includes: acquiring the on / off frequency of the launch vehicle's attitude control engine during the current flight period; comparing the on / off frequency with the natural frequency of the diaphragm of the liquid propulsion system tank; correcting the on / off command of the attitude control engine during the current flight period based on the comparison result; and controlling the flight attitude of the launch vehicle based on the corrected on / off command.

[0033] To better understand the above technical solutions, the following will provide a detailed explanation of the technical solutions in conjunction with the accompanying drawings and specific implementation methods.

[0034] It should be noted that the rocket's attitude control principle is as follows: a control scheme of "strap-inertial navigation system - onboard computer - actuator" is adopted, which is combined with the fixed inertial navigation system of the rocket body. The apparent velocity increment and angular increment in the coordinate axis direction are output. The rocket body attitude motion quaternion is calculated. The rocket body attitude motion quaternion is compared with the programmed attitude angle to form an angular deviation signal. When the angular deviation is greater than the switching threshold, the attitude control engine of the hydrodynamic system is activated, generating control force and control torque to act on the rocket body, thereby manipulating the attitude motion of the rocket body, keeping the rocket body attitude stable and realizing the tracking of the programmed attitude angle.

[0035] The "on / off" of the attitude control engine referred to in this application can refer to the control of turning on and off the corresponding attitude control engine during the flight attitude control of a launch vehicle.

[0036] Specifically, the attitude control of a launch vehicle generally consists of three channels: pitch, yaw, and roll. Taking the pitch channel as an example, the attitude control engine activates when the angular deviation exceeds the switching threshold; otherwise, it remains off. The activation and deactivation commands for the attitude control engine are described below, as shown in the following formula:

[0037]

[0038] in, P represents the pitch attitude angle deviation, Mx is the switching threshold, and P... y (i) represents the current flight control command of the launch vehicle. "±" indicates the direction of the command, corresponding to the attitude control engine installed at the positive and negative pitch channel positions. "1" indicates that the attitude control engine is on, and "0" indicates that the attitude control engine is off. The duration of the command is equal to the flight control period T. k Consistent, typical flight control cycle T k The value is 10ms. A 10ms interval is required after shutdown and restart, therefore one switching cycle is at least 20ms. A complete power-on / off command consists of either a cycle from 0 to +1, then from +1 to 0, or from 0 to -1, then from -1 to 0. The power-on / off frequency of the attitude control engine can be adjusted by modifying the power-on / off command.

[0039] Firstly, the present invention provides a method for controlling the flight attitude of a launch vehicle, specifically, as follows: Figure 1 As shown, the method includes the following steps S101 to S104:

[0040] Step S101: Obtain the on / off frequency of the launch vehicle attitude control engine during the current flight period;

[0041] Step S102: Compare the switching frequency with the natural frequency of the diaphragm in the fluid power system tank.

[0042] In this application, the flight periods of the launch vehicle are pre-set, the number of times the launch vehicle's attitude control engine is turned on and off is calculated separately for each flight period, the on / off frequency of each flight period is compared with the natural frequency, and the on / off command for each flight period is modified based on the comparison results.

[0043] For example, the current flight period (the 0th flight period) is from 0s to T0, where T0 is 0.2s. The number of times the attitude control engine is switched on and off during the current flight period is determined to be N(0). Assuming that one switching cycle (the total duration of on and off) is 20ms, the maximum number of times the engine is switched on and off during one flight period is 0.2 / 0.02s = 10 times. The next flight period (the 1st flight period) is from 0s+Tk to T0+Tk, where Tk is 10ms. The next flight period is from 0.01 to 0.21s. The number of times the attitude control engine is switched on and off during the current flight period is determined to be N(1), ... The (i+1)th flight period is from 0s+i×Tk to T0+i×Tk. The number of times the attitude control engine is switched on and off during the current flight period is determined to be N(i), and so on.

[0044] The flight period T0 is a preset fixed value. Optionally, the flight duration T within the flight period can be any value between 0.2 and 2 seconds, such as 0.3 seconds, 0.5 seconds, 1 second, 2 seconds, etc. The specific value can be set as needed, and this application does not limit it.

[0045] During the flight of the launch vehicle, for each flight period, the on / off frequency of the launch vehicle's attitude control engine is obtained. That is, in the 0th flight period, the on / off frequency of the launch vehicle's attitude control engine is obtained, and in the first flight period, the on / off frequency of the launch vehicle's attitude control engine is obtained.

[0046] In a specific embodiment, obtaining the on / off frequency of the launch vehicle attitude control engine during the current flight period may include: obtaining the number of times the attitude control engine is turned on and off during the current flight period; and determining the on / off frequency of the launch vehicle attitude control engine based on the number of on / off times and a preset flight period.

[0047] As an example, obtaining the number of times the attitude control engine is switched on and off during the current flight period can include: acquiring the launch vehicle's flight parameters; and determining the number of times the attitude control engine is switched on and off during the current flight period based on the flight parameters. The flight parameters can include flight trajectory, flight speed, and attitude, among other things.

[0048] It should be noted that the number of engine start-ups and shutdowns refers to the number of times the engine is started and shut down to adjust the aircraft's attitude, which reflects the frequency of engine activity when performing attitude control tasks.

[0049] Specifically, based on the predetermined flight mission and target requirements, the flight parameters of the launch vehicle, namely the attitude control requirements of the flight, can be determined; then, based on the attitude control requirements, the number of on / off commands issued by the attitude control engine during the current flight period can be determined, and the number of on / off cycles of the attitude engine can be determined.

[0050] As one embodiment, determining the on / off frequency of the launch vehicle attitude control engine based on the number of on / off cycles and the preset flight time period can include: determining the on / off frequency of the attitude control engine based on the ratio between the number of on / off cycles N and the preset flight time period T, thereby obtaining the on / off frequency corresponding to different on / off cycles.

[0051] Specifically, during flight, the engine on / off frequency f = N / t is calculated in real time within the flight period T0 (0s+Tk~T0+Tk), where N is the number of engine on / off cycles within the flight period T0.

[0052] If T0 is 0.2s and the number of on / off cycles N is 10, then the on / off frequency of the attitude control engine is: The on / off frequencies of the attitude control engine are shown in Table 1 below:

[0053] Table 1

[0054] 1 5.00 2 10.00 3 15.00 4 20.00 5 25.00 6 30.00 7 35.00 8 40.00 9 45.00 10 50.00

[0055] When the power-on / off cycle is 1, the corresponding power-on / off frequency of the attitude control engine is 5Hz; when the cycle is 2, the power-on / off frequency is 10Hz, and so on.

[0056] In a specific embodiment, before obtaining the on / off frequency of the launch vehicle attitude control engine during the current flight period, the method further includes: obtaining the natural frequency of the propellant tank diaphragm. As an example, obtaining the natural frequency of the propellant tank diaphragm may include: obtaining the natural frequency of the propellant tank diaphragm through modal testing.

[0057] In a specific embodiment, obtaining the natural frequency of the tank diaphragm through modal testing may include: applying excitation to the tank diaphragm using an excitation device (such as a vibrator) and acquiring the diaphragm's vibration response signal; processing the acquired vibration signal using modal analysis software; and analyzing the vibration signal in the frequency domain using peak detection or a single-degree-of-freedom method to extract the natural frequency of the tank diaphragm. In actual testing, to ensure the reliability of the test results, multiple repeated tests can be performed.

[0058] In a specific embodiment, comparing the power-on / off frequency with the natural frequency of the diaphragm in the fluid power system tank may include: taking the difference between the power-on / off frequency and the natural frequency.

[0059] Step S103: Based on the comparison results, correct the on / off commands of the attitude control engine during the current flight period;

[0060] Step S104: Based on the revised power-on / off command, control the flight attitude of the rocket body.

[0061] In rocket attitude control, to prevent resonance, the on / off frequency of the attitude control engine and the frequency of the propellant tank diaphragm must be different and have a certain frequency interval to avoid being close to or multiples of each other. Based on the difference between the natural frequency and the on / off frequency, the on / off commands of the attitude control engine are modified so that the on / off frequency of the attitude control engine avoids the natural frequency of the propellant tank diaphragm and its integer multiples.

[0062] In a specific embodiment, the on / off command of the attitude control engine during the current flight period is corrected based on the comparison results. This may include: if the difference between the on / off frequency and the inherent frequency is less than a safety threshold, then the on / off command of the attitude control engine during the current flight period is corrected.

[0063] The safety threshold Δf can be determined based on the deviation and resonance margin. For example, the deviation is the diaphragm center frequency f. c Approximately 5% of the frequency is considered. Assuming the diaphragm frequency of the rocket body's propellant tank is 20Hz, the corresponding deviation is 1Hz. To prevent resonance, a certain frequency margin is required. This margin can be selected based on the magnitude of the resonance amplitude, for example, 1Hz to 3Hz, which can effectively avoid resonance. For example, the safety threshold Δf can be 2 to 5Hz.

[0064] As an example, if the difference between the power-on / off frequency and the inherent frequency is less than a safety threshold, the power-on / off command for the attitude control engine during the current flight period can be corrected. This correction may include: if the power-on / off frequency is greater than the inherent frequency and less than or equal to the sum of the inherent frequency and the safety threshold, then the power-on / off command for the attitude control engine during the current flight period is reset to zero before the attitude control engine is powered on; if the power-on / off frequency is less than or equal to the inherent frequency and greater than or equal to the difference between the inherent frequency and the safety threshold, then the power-on / off command for the attitude control engine during the current flight period is reset to zero. Resetting the power-on / off command to zero can be represented by controlling the attitude control engine to shut down, and then controlling the attitude control engine to power on in the same direction as the previous cycle.

[0065] This application modifies the on / off command of the attitude control engine when it is determined that the on / off frequency is close to the natural frequency, thereby ensuring that the on / off frequency avoids the natural frequency. This correction method ensures the positive and negative directions of the command while minimizing additional interference, preventing angular deviations from exceeding the on / off threshold due to interference caused by inconsistencies between the corrected attitude control engine start-up command and the actual required control command.

[0066] Specifically, the correction method may include: if the difference between the on / off frequency and the natural frequency of the attitude control engine is greater than the safety threshold Δf, i.e., f(i) > f c +Δf or f(i) < f c -Δf means that the power on / off commands will not be modified;

[0067] If the frequency f(i) is close to f c +Δf, that is, the opening frequency of the attitude control engine is relatively high, indicating that the angular deviation of the rocket is frequently greater than the switch threshold. The possible reason is that the external interference is relatively large. After setting the on / off command of the attitude control engine in the current flight period to zero, the engine is additionally turned on once to stagger the on / off frequency from the natural frequency of the diaphragm. It should be noted that the opening direction of the attitude control engine remains the same as that of the previous beat, and the on-time duration can be set to the control period of 10 ms;

[0068] If the real-time calculated frequency f(i) is close to f c -Δf, that is, the opening frequency of the attitude control engine is low, indicating that the rocket flight is relatively stable, the angular deviation is small, and the external interference is small. The on / off command can be set to zero to control the attitude control engine to turn off until the end of the current flight period.

[0069] Through the above method, while meeting the attitude control requirements, the resonance between the on / off frequency and the natural frequency of the diaphragm is avoided, that is, f = fc is avoided. By controlling the attitude control engine to turn on one less time, f < fc - △f is achieved, or by controlling the attitude control engine to turn on one more time, f > fc + △f is achieved. For example, if the avoidance rate of the on / off frequency is ±20%, and the natural vibration frequency of the diaphragm is f0, then the on / off frequency f should satisfy f < 0.8f0 or f > 1.2f0.

[0070] In an application scenario, during the current flight period (0 s to T0), the on / off times of the attitude control engine are 5 times, the on / off frequency is 25 Hz, the on / off frequency is greater than the natural frequency of 20 Hz, and the frequency f(i) is close to f c +Δf, then control the attitude control engine to turn off and then turn on the attitude control engine again. At this time, the on / off times are 6 times and the on / off frequency is 30 Hz. During the rocket flight, by real-time monitoring the on / off frequency (fi) of the attitude control engine and correcting the on / off command, it is ensured that the on / off frequency and the natural frequency of the diaphragm always maintain a safe interval.

[0071] Taking the natural frequency of the diaphragm of the rocket body storage tank as 20 Hz as an example, in order to avoid the resonance between the on / off frequency and the natural frequency, try to avoid the situation where the on / off times within 0.2 s are 4 times. Assuming Δf is 5 Hz, if the current on / off times is equal to 3 times and the on / off frequency is 15 Hz, the interference is small at this time, and the command is set to zero to turn off the attitude control engine; if the current on / off times is equal to 5 times and the on / off frequency is 25 Hz, the interference is large at this time. After setting the command to zero, the engine can be additionally turned on once, and the opening direction is the same as that of the previous beat. According to the corrected on / off command, control the flight attitude of the rocket body to ensure the stable operation of the rocket body.

[0072] In summary, the launch vehicle flight attitude control method provided by the embodiments of the present invention can correct the on / off commands of the attitude control engine during the current flight period. By adjusting the on / off frequency of the attitude control engine in reverse according to the natural frequency of the diaphragm, the on / off frequency is always different from the natural frequency of the propellant tank diaphragm during each flight period, preventing resonance, ensuring that the propellant tank diaphragm is not damaged, and improving the flight safety of the rocket body.

[0073] Secondly, based on the same inventive concept, this embodiment provides a control device for the flight attitude of a launch vehicle, such as... Figure 2 As shown, it includes:

[0074] The acquisition module 401 is used to acquire the on / off frequency of the launch vehicle attitude control engine during the current flight period;

[0075] The comparison module 402 is used to compare the power-on / off frequency with the natural frequency of the diaphragm in the hydrodynamic system tank.

[0076] The correction module 403 is used to correct the on / off commands of the attitude control engine during the current flight period based on the comparison results.

[0077] The control module 404 is used to control the flight attitude of the rocket body based on the modified power-on and power-off commands.

[0078] As an optional embodiment, the acquisition module 401 includes:

[0079] The first acquisition submodule is used to acquire the number of times the attitude control engine is turned on and off during the current flight period;

[0080] The second acquisition submodule is used to determine the on / off frequency of the launch vehicle's attitude control engine based on the number of on / off cycles and the preset flight time period.

[0081] As an optional embodiment, the first acquisition submodule is specifically used to: acquire the flight parameters of the launch vehicle; and determine the number of times the attitude control engine is switched on and off during the current flight period based on the flight parameters.

[0082] As an optional embodiment, the second acquisition submodule is specifically used to: determine the on / off frequency of the launch vehicle attitude control engine based on the ratio of the number of on / off cycles to a preset flight period.

[0083] As an optional embodiment, the correction module 403 includes:

[0084] The correction submodule is used to correct the attitude control engine's on / off commands during the current flight period if the difference between the on / off frequency and the inherent frequency is less than a safety threshold.

[0085] As an optional embodiment, the correction submodule is specifically used to: if the power-on / off frequency is greater than the inherent frequency and less than or equal to the sum of the inherent frequency and the safety threshold, then set the power-on / off command of the attitude control engine for the current flight period to zero and then control the attitude control engine to start; if the power-on / off frequency is less than the inherent frequency and greater than or equal to the difference between the inherent frequency and the safety threshold, then set the power-on / off command of the attitude control engine for the current flight period to zero.

[0086] As an optional embodiment, the device further includes: a natural frequency determination module for obtaining the natural frequency of the tank diaphragm using modal testing.

[0087] Each of the above modules can be implemented using software code, in which case they can be stored in the memory of the control device. Alternatively, each of the above modules can be implemented using hardware, such as integrated circuit chips.

[0088] The launch vehicle flight attitude control device provided in this embodiment of the invention has the same implementation principle and technical effect as the aforementioned method embodiment. For the sake of brevity, any parts not mentioned in the device embodiment can be referred to the corresponding content in the aforementioned method embodiment.

[0089] Thirdly, based on the same inventive concept, this embodiment provides an onboard computer 500, such as... Figure 3 As shown, it includes: a memory 501, a processor 502, and a computer program 503 stored in the memory and executable on the processor. When the processor 502 executes the program, it implements the steps of the flight attitude control method described in the first aspect above.

[0090] Since the onboard computer described in this embodiment is the onboard computer used to implement the flight attitude control method in the embodiments of this application, those skilled in the art can understand the specific implementation method and various variations of the onboard computer in this embodiment based on the flight attitude control method described in the embodiments of this application. Therefore, how the onboard computer implements the method in the embodiments of this application will not be described in detail here. As long as those skilled in the art implement the onboard computer used in the flight attitude control method in the embodiments of this application, it falls within the scope of protection of this application.

[0091] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0092] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A module that specifies the function in one or more boxes.

[0093] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction modules implemented in a process. Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0094] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0095] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including both the preferred embodiments and all changes and modifications falling within the scope of the invention.

[0096] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A method for controlling the flight attitude of a launch vehicle, characterized in that, include: Obtain the on / off frequency of the launch vehicle's attitude control engine during the current flight period; The switching frequency is compared with the natural frequency of the diaphragm in the hydrodynamic system tank; Based on the comparison results, the on / off commands of the attitude control engine during the current flight period are corrected. The flight attitude of the rocket body is controlled based on the revised power-on and power-off commands; The step of correcting the on / off commands of the attitude control engine during the current flight period based on the comparison results includes: If the power-on / off frequency is greater than the inherent frequency and less than or equal to the sum of the inherent frequency and the safety threshold, then the power-on / off command of the attitude control engine during the current flight period is set to zero, and then the attitude control engine is controlled to start up, with the direction of starting up being consistent with the previous step. If the power-on / off frequency is less than the inherent frequency and greater than or equal to the difference between the inherent frequency and the safety threshold, then the power-on / off command of the attitude control engine during the current flight period is set to zero.

2. The method as described in claim 1, characterized in that, The acquisition of the on / off frequency of the launch vehicle attitude control engine during the current flight period includes: Obtain the number of times the attitude control engine is switched on and off during the current flight period; The on / off frequency of the launch vehicle attitude control engine is determined based on the number of on / off cycles and the preset flight period.

3. The method as described in claim 2, characterized in that, The acquisition of the number of times the attitude control engine is switched on and off during the current flight period includes: Obtain the flight parameters of the launch vehicle; Based on the flight parameters, the number of times the attitude control engine is switched on and off during the current flight period is determined.

4. The method as described in claim 2, characterized in that, The step of determining the on / off frequency of the launch vehicle attitude control engine based on the number of on / off cycles and the preset flight period includes: The on / off frequency of the launch vehicle attitude control engine is determined based on the ratio of the number of on / off cycles to the preset flight time period.

5. The method as described in claim 1, characterized in that, Before obtaining the on / off frequency of the launch vehicle attitude control engine during the current flight period, the method further includes: The natural frequency of the tank diaphragm was obtained by modal testing.

6. A control device for the flight attitude of a launch vehicle, characterized in that, include: The acquisition module is used to acquire the on / off frequency of the launch vehicle's attitude control engine during the current flight period; The comparison module is used to compare the switching frequency with the natural frequency of the diaphragm in the hydrodynamic system tank. The correction module is used to correct the on / off commands of the attitude control engine during the current flight period based on the comparison results. The control module is used to control the flight attitude of the rocket body based on the revised power-on and power-off commands; The step of correcting the attitude control engine's on / off command during the current flight period based on the comparison results includes: if the on / off frequency is greater than the inherent frequency and less than or equal to the sum of the inherent frequency and the safety threshold, then the attitude control engine's on / off command during the current flight period is reset to zero, and then the attitude control engine is controlled to start, with the starting direction consistent with the previous step; if the on / off frequency is less than the inherent frequency and greater than or equal to the difference between the inherent frequency and the safety threshold, then the attitude control engine's on / off command during the current flight period is reset to zero.

7. A rocket-borne computer, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the program, implements the steps of the method according to any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a program that, when executed by a processor, implements the method as described in any one of claims 1-5.

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