Method and system for confirming on-off state of spray pipe

Abstract

The invention discloses a method and system for confirming the on-off state of a spray pipe. The method for confirming the on-off state of the spray pipe comprises the following steps that the states of pitching and yawing channel control torque instructions are confirmed; confirming the state of the rolling channel control torque instruction; a hybrid system switch state table is formed according to the states of the control moment instructions of the pitching control channel, the yawing control channel and the rolling control channel; after a hybrid system switch state table is formed, a nozzle switch state key value is calculated according to control instructions of a pitching control channel, a yawing control channel and a rolling control channel; and the on-off state of the spray pipe is inquired in the hybrid system on-off state table according to the nozzle on-off state key value. According to the method, the control requirements of the large rolling control torque and the small rolling control torque can be met at the same time by using one state table, and the number of used tables is smaller. And moreover, complicated state table switching logic is not needed, so that the logic is simpler, and the error occurrence probability is reduced.

Description

Technical Field

[0001] The present application relates to the field of rockets, and in particular, to a method and system for confirming the switch status of a nozzle. Background Art

[0002] The attitude control system with jet engines as actuators is widely used in spacecraft (launch rockets, satellites, and spacecraft). Its principle is to use multiple fixed nozzles with different installation directions to eject working fluid to generate thrust, thereby controlling the attitude of the spacecraft. Typical nozzle installation schemes are as follows: Figure 1 This figure shows the nozzle layout from the back to the front. Figure 1 The eight nozzles #1 to #8 are located on the same mounting surface, and the mounting surface is located behind the center of mass of the spacecraft. This nozzle installation method can provide control torque for the three control channels of pitch, yaw and roll. Among them, the pitch and yaw channels can only provide one control torque, while the roll direction can provide large and small control torques, that is, opening two nozzles at the same time and opening four nozzles at the same time. When using, two decoding tables need to be designed, corresponding to the large roll torque working mode and the small roll torque working mode, respectively, as shown in the following figure. Figure 2 and 3 As shown in the figure, the different control torques of the pitch, yaw and roll channels and the switching conditions of each nozzle are specified. Figure 2 、 3 In the flight, the control torque instructions of the three channels of pitch, yaw, and roll may all have three states: -1, 0, and +1. According to the control torque instruction states of the three channels, a 3-ary key value calculation algorithm is used to calculate the corresponding switch states of the eight nozzles. When the large roll torque working mode is adopted, the key value is used as an index to search the state of each nozzle in the large roll torque mode switch state table; when the small roll torque working mode is adopted, the key value is used as an index to search the state of each nozzle in the small roll torque mode switch state table. However, when adopting the above control scheme, since there are two large and small roll torque working modes, it is necessary to design corresponding working logic according to the flight stage and flight state to switch between the large and small roll torque working modes, and the control logic is relatively complex.

[0003] Therefore, how to provide a state table that can adapt to both large and small rolling torque working modes has become an urgent problem to be solved in this field. Summary of the Invention

[0004] The present application proposes a method for confirming the nozzle switch state, comprising the following steps: confirming the state of the control torque instructions of the pitch and yaw channels; confirming the state of the control torque instructions of the roll channel; forming a mixed-number switch state table according to the state of the control torque instructions of the three control channels of pitch, yaw and roll; after forming the mixed-number switch state table, calculating the nozzle switch state key value according to the control instructions of the three control channels of pitch, yaw and roll; and querying the nozzle switch state in the mixed-number switch state table according to the nozzle switch state key value.

[0005] The method for confirming the nozzle switch state as described above, wherein confirming the state of the pitch and yaw channel control torque instructions includes confirming the pitch channel control torque instruction and yaw control torque command There are three states: -1, 0 and +1.

[0006] The method for confirming the nozzle switch state as described above, wherein confirming the state of the roll channel control torque instruction includes: There are five states: -2, -1, 0, +1 and +2.

[0007] The method for confirming the nozzle switch state as described above, wherein the mixed-input switch state table includes the pitch channel control torque instruction Yaw control torque command And the roll channel control torque command The corresponding status value and nozzle switch status key value.

[0008] The method for confirming the nozzle switch status as described above, wherein the mixed-number switch status table also includes the switch status corresponding to nozzles #1 to #8, where "0" corresponding to nozzles #1 to #8 indicates that the nozzle is closed, and "1" indicates that the nozzle is open.

[0009] A system for confirming a nozzle switch state, specifically comprising: a pitch and yaw channel control torque instruction state confirmation unit, a roll channel control torque instruction state confirmation unit, a mixed-number switch state table forming unit, a nozzle switch state key value confirmation unit, and a nozzle switch state query unit; the pitch and yaw channel control torque instruction state confirmation unit is used to confirm the states of the pitch and yaw channel control torque instructions; the roll channel control torque instruction state confirmation unit is used to confirm the state of the roll channel control torque instruction; the mixed-number switch state table forming unit is used to form a mixed-number switch state table according to the states of the control torque instructions of the pitch, yaw and roll control channels; the nozzle switch state key value confirmation unit is used to calculate the nozzle switch state key value according to the control instructions of the pitch, yaw and roll control channels after forming the mixed-number switch state table; and the nozzle switch state query unit is used to query the nozzle switch state in the mixed-number switch state table according to the nozzle switch state key value.

[0010] The nozzle switch state confirmation system as described above, wherein the pitch and yaw channel control torque instruction state confirmation unit confirms the state of the pitch and yaw channel control torque instruction, including: confirming the pitch channel control torque instruction and yaw control torque command There are three states: -1, 0 and +1.

[0011] In the system for confirming the nozzle switch state as described above, the roll channel control torque instruction state confirmation unit confirms the state of the roll channel control torque instruction, including: There are five states: -2, -1, 0, +1 and +2.

[0012] The system for confirming the nozzle switch state as described above, wherein the mixed-number switch state table formed in the mixed-number switch state table forming unit includes the pitch channel control torque instruction Yaw control torque command And the roll channel control torque command The corresponding status value and nozzle switch status key value.

[0013] The system for confirming the nozzle switch status as described above, wherein the mixed-number switch status table also includes the switch status corresponding to nozzles #1 to #8, where "0" corresponding to nozzles #1 to #8 indicates that the nozzle is closed, and "1" indicates that the nozzle is open.

[0014] This application has the following beneficial effects:

[0015] This application can use a single state table to meet the control requirements of both large and small roll control torques, using fewer tables. It also eliminates the need for complex state table switching logic, resulting in simpler logic and reduced error probability. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments recorded in this application. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0017] Figure 1 This is a typical nozzle installation solution in the prior art;

[0018] Figure 2 This is a schematic diagram showing the switch state of the large rolling torque mode in the prior art;

[0019] Figure 3 This is a schematic representation of the switch state of the small rolling moment mode in the prior art;

[0020] Figure 4 is a flow chart of a method for confirming the nozzle switch status provided in an embodiment of the present application;

[0021] Figure 5 This is a schematic diagram of a mixed-base switch state representation provided according to an embodiment of the present application;

[0022] Figure 6 Schematic diagram of the internal structure of the nozzle switch status confirmation system provided according to an embodiment of the present application. DETAILED DESCRIPTION

[0023] The following is a clear and complete description of the technical solutions in the embodiments of the present application in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative efforts are within the scope of protection of this application.

[0024] The present application proposes a method for confirming the nozzle switch state, in which a newly designed state table is used. By using the state table, both large and small rolling torque working modes can be adapted simultaneously.

[0025] Example 1

[0026] like Figure 4 FIG. 1 is a flow chart of a method for confirming the nozzle switch status, which specifically includes the following steps:

[0027] Step S410: confirm the status of the pitch and yaw channel control torque commands.

[0028] The pitch channel controls the torque command and yaw control torque command There are three states: -1, 0 and +1.

[0029] Step S420: Confirm the status of the roll channel control torque command.

[0030] Roll channel control torque command There can be five states: -2, -1, 0, +1 and +2.

[0031] Step S430: forming a mixed-base switch state table according to the states of the control torque instructions of the three control channels of pitch, yaw and roll.

[0032] Among them Figure 5 As shown in the figure, the hybrid switch state table provided in this embodiment includes the pitch channel control torque instruction Yaw control torque command Roll channel control torque command The corresponding state value and the nozzle switch state key value key need to be controlled according to the pitch channel torque instruction Yaw control torque command Roll channel control torque command The calculation shows that the switch state of the nozzle can be obtained according to the key value key. Figure 5 In the figure, "0" corresponding to nozzle #1, nozzle #2, nozzle #3, nozzle #4, nozzle #5, nozzle #6, nozzle #7 and nozzle #8 indicates that the nozzle is closed, and "1" indicates that the nozzle is open.

[0033] Step S440: After forming the mixed-base switch state table, the nozzle switch state key value is calculated according to the control instructions of the three control channels of pitch, yaw and roll.

[0034] The nozzle switch state key value is calculated using a 3-5 mixed base key value calculation algorithm. The nozzle switch state key value key is specifically expressed as:

[0035]

[0036] in Indicates the state value corresponding to the pitch channel control torque instruction, Indicates the state value corresponding to the yaw control torque command, Indicates the state value corresponding to the roll channel control torque command.

[0037] For example, when the pitch channel control torque command The corresponding state value is -1, the yaw control torque command The corresponding state value is -1, and the roll channel controls the torque instruction. When the corresponding state value is -2, the calculated key value is 0.

[0038] Step S450: query the nozzle switch state in the mixed-base switch state table according to the nozzle switch state key value.

[0039] When the calculated nozzle switch state key value key is 0-44, you can Figure 5 The mixed-base switch state table searches for the switch state of each nozzle corresponding to the nozzle switch state key key.

[0040] Example 2

[0041] like Figure 6 As shown, this embodiment provides a system for confirming the nozzle switch status, specifically including: a pitch and yaw channel control torque command status confirmation unit 610, a roll channel control torque command status confirmation unit 620, a mixed-base switch status table forming unit 630, a nozzle switch status key value confirmation unit 640, and a nozzle switch status query unit 650.

[0042] The pitch and yaw channel control torque instruction state confirmation unit 610 is used to confirm the state of the pitch and yaw channel control torque instructions.

[0043] The pitch channel controls the torque command and yaw control torque command There are three states: -1, 0 and +1.

[0044] The roll channel control torque instruction state confirmation unit 620 is used to confirm the state of the roll channel control torque instruction.

[0045] Roll channel control torque command There are five states: -2, -1, 0, +1 and +2.

[0046] The mixed-number switch state table forming unit 630 is used to form a mixed-number switch state table according to the control torque command states of the three control channels of pitch, yaw and roll.

[0047] Among them Figure 5 As shown in the figure, the hybrid switch state table provided in this embodiment includes the pitch channel control torque instruction Yaw control torque command Roll channel control torque command And the nozzle switch state key key, the nozzle switch state key key needs to be based on the pitch channel control torque instruction Yaw control torque command Roll channel control torque command The calculation shows that the switch state of the nozzle can be obtained according to the key value key. Figure 5 In the figure, "0" corresponding to nozzle #1, nozzle #2, nozzle #3, nozzle #4, nozzle #5, nozzle #6, nozzle #7 and nozzle #8 indicates that the nozzle is closed, and "1" indicates that the nozzle is open.

[0048] The nozzle switch state key value confirmation unit 640 is used to confirm the nozzle switch state key value according to the control instructions of the three control channels of pitch, yaw and roll after forming the mixed-base switch state table.

[0049] The nozzle switch state key value is calculated using a 3-5 mixed base key value calculation algorithm. The nozzle switch state key value key is specifically expressed as:

[0050]

[0051] in Indicates the state value corresponding to the pitch channel control torque instruction, Indicates the state value corresponding to the yaw control torque command, Indicates the state value corresponding to the roll channel control torque command.

[0052] For example, when the pitch channel control torque command The corresponding state value is -1, the yaw control torque command The corresponding state value is -1, and the roll channel controls the torque instruction. When the corresponding state value is -2, the calculated key value is 0.

[0053] The nozzle switch state query unit 650 is used to query the nozzle switch state in the mixed-base switch state table according to the nozzle switch state key value.

[0054] When the calculated nozzle switch state key value key is 0-44, you can Figure 5 The mixed-base switch state table searches for the switch state of each nozzle corresponding to the nozzle switch state key key.

[0055] This application has the following beneficial effects:

[0056] This application can use a single state table to meet the control requirements of both large and small roll control torques, using fewer tables. It also eliminates the need for complex state table switching logic, resulting in simpler logic and reduced error probability.

[0057] Although the present application has been described with reference to examples, this is for illustrative purposes only and is not intended to limit the present application, and changes, additions and / or deletions to the embodiments may be made without departing from the scope of the present application.

[0058] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A method for confirming the nozzle switch status, characterized in that: The following steps are involved: Confirm the status of the pitch and yaw channel control torque commands; Confirm the status of the roll channel control torque command; A mixed-order switch state table is formed according to the states of the control torque commands of the three control channels of pitch, yaw and roll; After forming the mixed-base switch state table, the nozzle switch state key value is calculated according to the control instructions of the three control channels of pitch, yaw and roll; The switch status of the nozzle is queried in the mixed-base switch status table according to the nozzle switch status key value.

2. The method for confirming the nozzle switch status according to claim 1, characterized in that: Confirm the status of the pitch and yaw channel control torque instructions, including confirming the pitch channel control torque instruction and yaw control torque command There are three states: -1, 0 and +1.

3. The method for confirming the nozzle switch status according to claim 1, characterized in that: Confirm the status of the roll channel control torque command, including the roll channel control torque command There are five states: -2, -1, 0, +1 and +2.

4. The method for confirming the nozzle switch status according to claim 1, wherein: The mixed switch status table includes the pitch channel control torque command Yaw control torque command And the roll channel control torque command The corresponding status value and nozzle switch status key value.

5. The method for confirming the nozzle switch status according to claim 4, characterized in that: The mixed-order switch state table also includes the switch states corresponding to nozzles #1 to #8. "0" corresponding to nozzles #1 to #8 indicates that the nozzle is closed, and "1" indicates that the nozzle is open.

6. A system for confirming the nozzle switch status, characterized in that: Specifically include: Pitch and yaw channel control torque command state confirmation unit, roll channel control torque command state confirmation unit, mixed-base switch state table formation unit, nozzle switch state key value confirmation unit, and nozzle switch state query unit; A pitch and yaw channel control torque instruction state confirmation unit, used to confirm the state of the pitch and yaw channel control torque instructions; A roll channel control torque instruction state confirmation unit, used to confirm the state of the roll channel control torque instruction; A mixed-system switch state table forming unit is used to form a mixed-system switch state table according to the states of the control torque commands of the three control channels of pitch, yaw and roll; The nozzle switch state key value confirmation unit is used to calculate the nozzle switch state key value according to the control instructions of the three control channels of pitch, yaw and roll after forming the mixed-base switch state table; The nozzle switch state query unit is used to query the nozzle switch state in the mixed-base switch state table according to the nozzle switch state key value.

7. The system for confirming the nozzle switch status according to claim 6, wherein: The pitch and yaw channel control torque instruction state confirmation unit confirms the state of the pitch and yaw channel control torque instruction, including confirming the pitch channel control torque instruction and yaw control torque command There are three states: -1, 0 and +1.

8. The system for confirming the nozzle switch status according to claim 6, wherein: The roll channel control torque instruction state confirmation unit confirms the state of the roll channel control torque instruction, including: There are five states: -2, -1, 0, +1 and +2.

9. The system for confirming the nozzle switch status according to claim 6, wherein: The mixed-number switch state table formed in the mixed-number switch state table forming unit includes the pitch channel control torque instruction Yaw control torque command And the roll channel control torque command The corresponding status value and nozzle switch status key value.

10. The system for confirming the nozzle switch status according to claim 9, wherein: The mixed-order switch state table also includes the switch states corresponding to nozzles #1 to #8. "0" corresponding to nozzles #1 to #8 indicates that the nozzle is closed, and "1" indicates that the nozzle is open.

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