A control method and device for inhibiting propellant sloshing during satellite-rocket separation

Abstract

The application provides a control method and device for inhibiting propellant swing in a star-rocket separation process. The method is characterized in that: the attitude and orbit control engine of the upper stage of a liquid carrier rocket is reasonably configured and controlled, and the engine with the bottom sinking function and the engine for attitude control are multiplexed. The method can inhibit the large-amplitude lateral swing of the propellant, create good conditions for the smooth ignition of the subsequent engine, improve the flight reliability and the success probability of launching, meet the requirements of the spin-throw star-rocket separation, and realize the redundant control function of the pitch or yaw channel.

Description

Technical Field

[0001] This invention relates to the field of aerospace launch vehicle technology, and in particular to a control method and device for suppressing propellant sloshing during the separation of a satellite and a rocket. Background Technology

[0002] To achieve multi-satellite launches, a satellite-rocket rotational separation technology is often employed, necessitating the installation of attitude control engines on the rocket. Typically, engines for bottoming out are arranged longitudinally along the upper stage of a liquid-fueled launch vehicle, while attitude control engines are arranged circumferentially along the upper stage to control the launch vehicle's pitch, yaw, and roll attitude.

[0003] In traditional liquid-fueled rocket development, the bottom-mounted engine and attitude control engine are typically controlled separately by different systems. Furthermore, the bottom-mounted engine is not activated during the spin-jet separation process, often resulting in significant lateral sloshing of the liquid propellant. This significant lateral sloshing affects both the stability of the rocket's attitude and the pressure distribution in the propellant tanks, potentially causing back pressure in the common-bottom tanks and leading to structural damage. Additionally, the rapid pressure drop caused by this significant lateral sloshing can result in engine re-ignition failure, ultimately leading to mission failure.

[0004] Therefore, there is an urgent need to provide a control method and device that can suppress large-scale lateral swaying of propellant during the separation process of liquid launch vehicles. Summary of the Invention

[0005] To address the aforementioned technical problems, this invention proposes a control method and device for suppressing propellant sloshing during the separation of a liquid-fueled launch vehicle from its satellite.

[0006] This invention provides a control method for suppressing propellant sloshing during spacecraft separation. The control method of this invention includes at least the following steps:

[0007] Step 1: Take the center of the cross-section of the upper stage of the liquid propellant rocket as the origin O, the straight line through the longitudinal axis of the upper stage of the liquid propellant rocket as the X-axis, the straight line through the yaw direction of the upper stage of the liquid propellant rocket as the Y-axis, and the straight line through the pitch direction of the upper stage of the liquid propellant rocket as the Z-axis.

[0008] Step 2: Establish a spatial rectangular coordinate system. The X-axis points towards the rocket's nose as positive, the Y-axis points from quadrant I of the upper stage to quadrant III as positive, and the Z-axis points from quadrant II of the upper stage to quadrant IV as positive.

[0009] Step 3: Install one first engine on each of the four quadrants of the OYZ plane in the Cartesian coordinate system, with the thrust line of the first engine pointing towards the head of the rocket.

[0010] Step 4: Set the second engine and the third engine on the four quadrants of the plane rectangular coordinate system OYZ respectively. Looking from the tail of the upper stage towards the head, the thrust line of the second engine is perpendicular to the quadrant line and points in the counterclockwise direction, while the thrust line of the third engine points in the opposite direction to the thrust line of the second engine.

[0011] Step 5: During the separation of the satellite and rocket, sequentially check the pitch attitude angular velocity deviation. Yaw attitude angular velocity deviation and rolling attitude angular velocity deviation The control commands are obtained by performing correction network calculations and nonlinear switch calculations. The control commands are then decoded, and the corresponding engines are controlled to start and stop based on the decoding results, thereby achieving rocket attitude control and liquid propellant sloshing control.

[0012] Furthermore, the second and third engines are positioned near the tail of the upper stage of the liquid-fueled rocket, or near the head of the upper stage.

[0013] Furthermore, when the second and third engines are positioned close to the tail of the upper stage of the liquid-fueled launch vehicle, during the spacecraft separation phase, the pitch attitude angular velocity deviation is sequentially adjusted. Yaw attitude angular velocity deviation and rolling attitude angular velocity deviation The specific process of obtaining control commands through correction network calculation and nonlinear switch calculation, decoding the control commands, and controlling the start and stop of the corresponding engine based on the decoding results is as follows:

[0014] Online real-time calculation of pitch attitude angular velocity deviation For pitch attitude angular velocity deviation The pitch channel control command is obtained by sequentially performing correction network calculations and nonlinear switch calculations. and ; sequentially control the pitch channel commands and Decode, when At this time, pitch control is not performed;

[0015] when At that time, control activates the first engine in the third quadrant; when At the same time, it simultaneously controls the activation of the first engine in quadrant III, the third engine in quadrant II, and the second engine in quadrant IV; when When, control activates the first engine in the first quadrant; when Simultaneously, the system controls the activation of the first engine in quadrant I, the second engine in quadrant II, and the third engine in quadrant IV; and calculates the yaw attitude angular velocity deviation of the liquid rocket online in real time. Rolling attitude angular velocity deviation yaw attitude angular velocity deviation and rolling attitude angular velocity deviation The yaw channel control command is obtained by sequentially performing correction network calculations and nonlinear switch calculations. and and rolling channel control commands ; respectively control commands for the yaw channel and and rolling channel control commands The code is decoded, and the corresponding engine is controlled to start and stop based on the decoding result.

[0016] Furthermore, the respective yaw channel control commands and and rolling channel control commands The method for decoding and controlling the opening and closing of the corresponding engine based on the decoding result is as follows:

[0017] when At this time, yaw and roll control are not performed;

[0018] when At the same time, control the activation of the second engine in quadrant I and the second engine in quadrant III;

[0019] when At the same time, control the activation of the third engine in the first quadrant and the third engine in the third quadrant.

[0020] when At that time, control to activate the first engine in the second quadrant;

[0021] when At the same time, the first engine in quadrant II, the second engine in quadrant I, and the second engine in quadrant III are simultaneously activated;

[0022] when At the same time, the first engine in quadrant II, the third engine in quadrant I, and the third engine in quadrant III are simultaneously activated.

[0023] when At the same time, the first engine in quadrant II, the third engine in quadrant I, and the second engine in quadrant III are simultaneously activated.

[0024] when At the same time, control the activation of the first engine in quadrant II and the second engine in quadrant III;

[0025] when At the same time, control the activation of the first engine in quadrant II and the third engine in quadrant I;

[0026] when At that time, the first engine in the fourth quadrant is activated;

[0027] when At the same time, the first engine in quadrant IV, the second engine in quadrant I, and the second engine in quadrant III are simultaneously activated;

[0028] when At the same time, the first engine in quadrant IV, the third engine in quadrant I, and the third engine in quadrant III are simultaneously activated.

[0029] when At the same time, the first engine in quadrant IV, the second engine in quadrant I, and the third engine in quadrant III are simultaneously activated.

[0030] when At the same time, control the activation of the first engine in quadrant IV and the second engine in quadrant I;

[0031] when At the same time, the first engine in quadrant IV and the third engine in quadrant III are activated simultaneously.

[0032] Furthermore, when the second and third engines are positioned close to the head of the upper stage of the liquid-fueled launch vehicle, during the spacecraft-rocket separation phase, the pitch attitude angular velocity deviation is sequentially adjusted. Yaw attitude angular velocity deviation and rolling attitude angular velocity deviation The specific process of obtaining control commands through correction network calculation and nonlinear switch calculation, decoding the control commands, and controlling the start and stop of the corresponding engine based on the decoding results is as follows:

[0033] Online real-time calculation of pitch attitude angular velocity deviation For pitch attitude angular velocity deviation The pitch channel control command is obtained by sequentially performing correction network calculations and nonlinear switch calculations. and ;

[0034] Sequentially control the pitch channel commands and Decode, when When pitch control is not performed; when At that time, control activates the first engine in the third quadrant; when At the same time, it simultaneously controls the activation of the first engine in quadrant III, the second engine in quadrant II, and the third engine in quadrant IV; when When, control activates the first engine in the first quadrant; when At the same time, the first engine in quadrant I, the third engine in quadrant II, and the second engine in quadrant IV are activated simultaneously.

[0035] Online real-time calculation of liquid rocket yaw attitude angular velocity deviation Rolling attitude angular velocity deviation The yaw attitude angular velocity deviation was respectively... and rolling attitude angular velocity deviation The yaw channel control command is obtained by sequentially performing correction network calculations and nonlinear switch calculations. and and rolling channel control commands ; respectively control commands for the yaw channel and and rolling channel control commands The code is decoded, and the corresponding engine is controlled to start and stop based on the decoding result.

[0036] Furthermore, the respective yaw channel control commands and and rolling channel control commands The method for decoding and controlling the opening and closing of the corresponding engine based on the decoding result is as follows:

[0037] when At this time, yaw and roll control are not performed;

[0038] when At the same time, control the activation of the second engine in quadrant I and the second engine in quadrant III;

[0039] when At the same time, control the activation of the third engine in the first quadrant and the third engine in the third quadrant.

[0040] when At that time, control to activate the first engine in the second quadrant;

[0041] when At the same time, the first engine in quadrant II, the second engine in quadrant I, and the second engine in quadrant III are simultaneously activated;

[0042] when At the same time, the first engine in quadrant II, the third engine in quadrant I, and the third engine in quadrant III are simultaneously activated.

[0043] when At the same time, the first engine in quadrant II, the second engine in quadrant I, and the third engine in quadrant III are simultaneously activated.

[0044] when At the same time, control the activation of the first engine in quadrant II and the second engine in quadrant I.

[0045] when At the same time, control the activation of the first engine in the second quadrant and the third engine in the third quadrant.

[0046] when At that time, the first engine in the fourth quadrant is activated;

[0047] when At the same time, the first engine in quadrant IV, the second engine in quadrant I, and the second engine in quadrant III are simultaneously activated;

[0048] when At the same time, control the activation of the first engine in quadrant IV, the third engine in quadrant I, and the third engine in quadrant III; when At the same time, the first engine in quadrant IV, the third engine in quadrant I, and the second engine in quadrant III are simultaneously activated.

[0049] when At the same time, control the first engine in quadrant IV and the second engine in quadrant III to be activated simultaneously;

[0050] when At the same time, the first engine in quadrant IV and the third engine in quadrant I are activated simultaneously.

[0051] In any of the above embodiments, the second and third engines located on the first quadrant line, and the second and third engines located on the third quadrant line, are used for rolling channel control.

[0052] Furthermore, the first engine, the second engine, and the third engine are all attitude control engines and have equal rated thrust.

[0053] Furthermore, the thrust line of the first engine is parallel to the longitudinal axis of the rocket.

[0054] In another aspect, the present invention provides a control device for suppressing propellant sloshing during the separation of a satellite and rocket. The control device of the present invention includes at least a memory, a processor, and a computer program stored in the memory and executable on the processor; the processor is configured to execute, based on the computer program stored in the memory, the control method for suppressing propellant sloshing during the separation of a liquid-fueled launch vehicle from the rocket as described in any of the above embodiments.

[0055] The control method and apparatus for suppressing propellant sloshing during the separation of a liquid-fueled launch vehicle from its satellite, as described in this invention, achieves at least one of the following beneficial effects by configuring and controlling the attitude and orbit control engine of the upper stage of the liquid-fueled launch vehicle and reusing the engine with bottom-diving function and the engine used for attitude control:

[0056] The control method and device for suppressing propellant sloshing during the separation of the launch vehicle and the satellite of the present invention can suppress large-scale propellant sloshing, create favorable conditions for the smooth ignition of the subsequent engine, and improve flight reliability and the probability of successful launch.

[0057] Second, this invention can meet the requirements of the spin-projectile star-rocket separation and realize redundant control functions for pitch or yaw channels.

[0058] Third, this invention reduces the number of attitude and orbit control engines, lowers costs, and at the same time reduces the weight of the rocket, thereby increasing its carrying capacity.

[0059] Upon reading the detailed embodiments and examining the accompanying drawings, those skilled in the art will recognize additional features and advantages. Attached Figure Description

[0060] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0061] Figure 1 This is a flowchart of a control method for suppressing propellant sloshing during the separation of a liquid-fueled launch vehicle from its satellite, according to an embodiment of the present invention.

[0062] Figure 2 This is a schematic diagram of the configuration of the attitude and orbit control engine in the control method for suppressing propellant sloshing during the separation of a liquid-fueled launch vehicle from the satellite in an embodiment of the present invention.

[0063] Figure 3 This is a schematic diagram of the attitude control calculation process in an embodiment of the present invention, where yaw and roll channels are jointly controlled.

[0064] Figure 4 This is a schematic diagram of the attitude control calculation process in an embodiment of the present invention, where pitch and roll channels are jointly controlled. Detailed Implementation

[0065] The features and exemplary embodiments of various aspects of the present invention will now be described in detail. To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only configured to explain the present invention and to exemplify the principles of the present invention, and are not configured to limit the present invention. In addition, the structural components in the drawings are not necessarily drawn to scale. For example, the dimensions of some structural components or regions in the drawings may be enlarged for other structural components or regions to aid in the understanding of the embodiments of the present invention.

[0066] The directional terms used in the following description refer to the directions shown in the figures and are not intended to limit the specific structure of the embodiments of the present invention. In the description of the present invention, it should be noted that, unless otherwise stated, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the present invention according to the specific circumstances.

[0067] Furthermore, the terms "comprising," "including," "having," or any other variations thereof are intended to cover non-exclusive inclusion, such that a structure or component that includes a list of elements includes not only those elements but also other structural elements that are not expressly listed or inherent to the structure or component. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of other identical elements in the article or apparatus that includes the element.

[0068] Spatial relation terms such as "below," "under," "under," "low," "above," "on," and "high" are used for descriptive convenience to explain the positioning of one element relative to a second element, indicating that these terms are intended to cover different orientations of the device, in addition to those different from those shown in the figure. Furthermore, phrases such as "one element on / below another element" can indicate that two elements are in direct contact, or that there are other elements between the two elements. In addition, terms such as "first" and "second" are also used to describe individual elements, areas, parts, etc., and should not be considered limiting. Similar terms are used throughout the description to refer to similar elements.

[0069] It will be apparent to those skilled in the art that the present invention can be practiced without requiring some of these specific details. The following description of embodiments is merely intended to provide a better understanding of the invention by illustrating examples of the invention.

[0070] See Figure 1 , Figure 2 , Figure 3 .

[0071] This invention provides a control method for suppressing propellant sloshing during satellite-rocket separation. By rationally configuring and controlling the attitude and orbit control engine of the upper stage of the liquid-fueled launch vehicle, and reusing the engine with bottom-diving function and the engine used for attitude control, it can suppress large-scale lateral sloshing of propellant, creating favorable conditions for the smooth ignition of subsequent engines, thereby improving flight reliability and the probability of successful launch. It can also meet the requirements of spin-jet satellite-rocket separation and realize redundant control functions for pitch or yaw channels.

[0072] The control method for suppressing propellant sloshing during the separation of a liquid-fueled launch vehicle from the satellite in this embodiment of the invention includes at least the following steps:

[0073] S1. Twelve identical attitude control engines are installed on the upper stage of the liquid rocket.

[0074] The 12 attitude control engines have the same rated thrust, but their thrust lines are different after they are installed on the upper stage of the rocket.

[0075] For example, see Figure 2 Looking from the tail of the upper stage towards the head, a spatial rectangular coordinate system is established on the cross-section of the upper stage of the rocket, with the center of the cross-section as the origin O, the straight line passing through the longitudinal axis of the liquid propellant rocket upper stage as the X-axis, the straight line passing through the yaw direction of the liquid propellant rocket upper stage as the Y-axis, and the straight line passing through the pitch direction of the liquid propellant rocket upper stage as the Z-axis. The X-axis pointing towards the rocket head is positive, the Y-axis pointing from quadrant I of the upper stage to quadrant III is positive, and the Z-axis pointing from quadrant II of the upper stage to quadrant IV is positive.

[0076] The 12 engines are divided into 4 first engines, 4 second engines, and 4 third engines. A Cartesian coordinate system OYZ is established. One first engine is positioned on each of the four quadrants of the OYZ plane, with its thrust line parallel to the rocket's longitudinal axis and pointing towards the rocket's nose. The first engines include engine P1 in quadrant I, engine P2 in quadrant II, engine P3 in quadrant III, and engine P4 in quadrant IV. The second and third engines are also positioned on the four quadrants of the OYZ plane. Viewed from the upper stage tail towards the nose, the thrust line of the second engine is perpendicular to its quadrant and points counterclockwise, while the thrust line of the third engine points in the opposite direction. The second engines include engine P6 in quadrant I, engine P8 in quadrant II, engine P10 in quadrant III, and engine P12 in quadrant IV. The third engine includes the third engine P5 located in the first quadrant, the third engine P7 located in the second quadrant, the third engine P9 located in the third quadrant, and the third engine P11 located in the fourth quadrant.

[0077] It should be noted that the second and third engines can be positioned either near the tail or the nose of the upper stage of the liquid-fueled rocket. When the engine positions differ, the control method can be adjusted accordingly based on the installation locations of the second and third engines.

[0078] S2. Calculate pitch, yaw, and roll channel control commands in real time according to the attitude control calculation flowchart, decode the pitch, yaw, and roll channel control commands, and send the decoding results to the corresponding attitude control engine. Control the start and stop of the corresponding engine according to the decoding results.

[0079] Specifically, according to the attitude control calculation flowchart ( Figure 3 During the separation phase of the satellite and rocket, the pitch attitude angular velocity deviation is checked sequentially. Yaw attitude angular velocity deviation and rolling attitude angular velocity deviation The control commands are obtained by performing correction network calculations and nonlinear switch calculations. The control commands are then decoded, and the corresponding engines are controlled to start and stop based on the decoding results.

[0080] S3. By controlling the switch of the corresponding attitude control engine, the attitude control of the rocket body and the sloshing control of the liquid propellant are realized.

[0081] It should be noted that the pitch attitude angular velocity deviation in this application Yaw attitude angular velocity deviation and rolling attitude angular velocity deviation The method of obtaining the data is common knowledge in the prior art, and it is usually obtained by using the onboard navigation computer of the launch vehicle for navigation calculations. Therefore, this application will not elaborate on its specific calculation method. In addition, the correction network calculation and nonlinear switch calculation in this application are conventional attitude control design methods in the field of rockets. For example, CN104898680A, CN119270894A, CN116643482B, CN114967432B, CN118442887A and the book "Spacecraft Attitude Dynamics and Control" (2nd edition) all mention related calculations. Therefore, this paper will not elaborate on them.

[0082] Furthermore, when the second and third engines are positioned close to the tail of the upper stage of the liquid-fueled launch vehicle (it should be noted that the first, second, and third engines are initially in the off state), the following control strategy can be adopted:

[0083] S2. Based on the attitude control calculation flowchart, calculate pitch, yaw, and roll channel control commands in real time. Decode the pitch, yaw, and roll channel control commands and send the decoding results to the corresponding attitude control engines. The specific process of controlling the start and stop of the corresponding engines based on the decoding results is as follows:

[0084] S21. Online real-time calculation of pitch attitude angular velocity deviation For pitch attitude angular velocity deviation The pitch channel control command is obtained by sequentially performing correction network calculations and nonlinear switch calculations. and ;

[0085] S22, sequentially issue control commands to the pitch channel. and Decode, when When pitch control is not performed, the pitch channel attitude control engine is not activated; when At that time, control activates the first engine P3 in the third quadrant; when At the same time, control the activation of the first engine P3 in quadrant III, the third engine P7 in quadrant II, and the second engine P12 in quadrant IV; when When, control activates the first engine P1 in quadrant I; when At the same time, the first engine P1 in quadrant I, the second engine P8 in quadrant II, and the third engine P11 in quadrant IV are activated simultaneously.

[0086] S23. Online real-time calculation of liquid rocket yaw attitude angular velocity deviation Rolling attitude angular velocity deviation yaw attitude angular velocity deviation and rolling attitude angular velocity deviation The yaw channel control command is obtained by sequentially performing correction network calculations and nonlinear switch calculations. and and rolling channel control commands ;

[0087] S24, respectively, control commands for the yaw channel. and and rolling channel control commands The code is decoded, and the corresponding engine is controlled to start and stop based on the decoding result. The specific process is as follows:

[0088] S241, when At this time, yaw and roll control are not performed, therefore the yaw and roll channel attitude control engines are not activated;

[0089] S242, when At the same time, control the activation of the second engine P6 in quadrant I and the second engine P10 in quadrant III;

[0090] S243, when At the same time, control the activation of the third engine P5 in the first quadrant and the third engine P9 in the third quadrant.

[0091] S244, when At that time, control to activate the first engine P2 in the second quadrant;

[0092] S245, when At the same time, the first engine P2 on the second quadrant, the second engine P6 on the first quadrant, and the second engine P10 on the third quadrant are simultaneously activated.

[0093] S246, when At the same time, the first engine P2 in quadrant II, the third engine P5 in quadrant I, and the third engine P9 in quadrant III are simultaneously activated.

[0094] S247, when At the same time, the first engine P2 in quadrant II, the third engine P5 in quadrant I, and the second engine P10 in quadrant III are activated simultaneously.

[0095] S248, when At the same time, the first engine P2 in the second quadrant and the second engine P10 in the third quadrant are activated simultaneously.

[0096] S249, when At the same time, control the activation of the first engine P2 in the second quadrant and the third engine P5 in the first quadrant.

[0097] S2410, when At that time, control to activate the first engine P4 in quadrant IV;

[0098] S2411, when At the same time, the first engine P4 in quadrant IV, the second engine P6 in quadrant I, and the second engine P10 in quadrant III are simultaneously activated.

[0099] S2412, when At the same time, the first engine P4 in quadrant IV, the third engine P5 in quadrant I, and the third engine P9 in quadrant III are simultaneously activated.

[0100] S2413, when At the same time, the first engine P4 in quadrant IV, the second engine P6 in quadrant I, and the third engine P9 in quadrant III are simultaneously activated.

[0101] S2414, when At the same time, the first engine P4 in quadrant IV and the second engine P6 in quadrant I are activated simultaneously.

[0102] S2415, when At the same time, the first engine P4 in quadrant IV and the third engine P9 in quadrant III are activated simultaneously.

[0103] It should be noted that if any one of the attitude control engines corresponding to the pitch channel fails, the pitch channel will still have attitude control capability.

[0104] Furthermore, when the second and third engines are positioned close to the head of the upper stage of the liquid propellant rocket (it should be noted that the first, second, and third engines are initially in the off state), the first, second, and third engines of this embodiment can be used together to achieve anti-sloshing of the liquid propellant and attitude control of the pitch, yaw, and roll channels. The following control strategies can be adopted:

[0105] During the separation phase of the satellite and rocket, the pitch attitude angular velocity deviation is checked sequentially. Yaw attitude angular velocity deviation and rolling attitude angular velocity deviation The specific process of obtaining control commands through correction network calculation and nonlinear switch calculation, decoding the control commands, and controlling the start and stop of the corresponding engine based on the decoding results is as follows:

[0106] Sp21, Online real-time calculation of pitch attitude angular velocity deviation For pitch attitude angular velocity deviation The pitch channel control command is obtained by sequentially performing correction network calculations and nonlinear switch calculations. and ;

[0107] Sp22, sequentially control the pitch channel commands. and Decode, when When pitch control is not performed, the pitch channel attitude control engine is not activated; when At that time, control activates the first engine P3 in the third quadrant; when At the same time, control the activation of the first engine P3 in quadrant III, the second engine P8 in quadrant II, and the third engine P11 in quadrant IV; when When, control activates the first engine in the first quadrant; when At the same time, the first engine in quadrant I, the third engine P7 in quadrant II, and the second engine P12 in quadrant IV are activated simultaneously.

[0108] Sp23, Online Real-Time Calculation of Liquid Rocket Yaw Attitude Angular Velocity Deviation Rolling attitude angular velocity deviation The yaw attitude angular velocity deviation was respectively... and rolling attitude angular velocity deviation The yaw channel control command is obtained by sequentially performing correction network calculations and nonlinear switch calculations. and and rolling channel control commands ;

[0109] Sp24, respectively, control commands for the yaw channel. and and rolling channel control commands Decode the code and control the corresponding engine's on / off state based on the decoding result. The specific method is as follows:

[0110] Sp241, when At this time, yaw and roll control are not performed, therefore the yaw and roll channel attitude control engines are not activated;

[0111] Sp242, when At the same time, control the activation of the second engine P6 in quadrant I and the second engine P10 in quadrant III;

[0112] Sp243, when At the same time, control the activation of the third engine P5 in the first quadrant and the third engine P9 in the third quadrant.

[0113] Sp244, when At that time, control to activate the first engine P2 in the second quadrant;

[0114] Sp245, when At the same time, the first engine P2 on the second quadrant, the second engine P6 on the first quadrant, and the second engine P10 on the third quadrant are simultaneously activated.

[0115] Sp246, when At the same time, the first engine P2 in quadrant II, the third engine P5 in quadrant I, and the third engine P9 in quadrant III are simultaneously activated.

[0116] Sp247, when At the same time, the first engine P2 in quadrant II, the second engine P6 in quadrant I, and the third engine P9 in quadrant III are simultaneously activated.

[0117] Sp248, when At the same time, the first engine P2 on the second quadrant and the second engine P6 on the first quadrant are activated simultaneously.

[0118] Sp249, when At the same time, control the activation of the first engine P2 in the second quadrant and the third engine P9 in the third quadrant.

[0119] Sp2410, when At that time, control to activate the first engine P4 in quadrant IV;

[0120] Sp2411, when At the same time, the first engine P4 in quadrant IV, the second engine P6 in quadrant I, and the second engine P10 in quadrant III are simultaneously activated.

[0121] Sp2412, when At the same time, the first engine P4 in quadrant IV, the third engine P5 in quadrant I, and the third engine P9 in quadrant III are simultaneously activated.

[0122] Sp2413, when At the same time, the first engine P4 in quadrant IV, the third engine P5 in quadrant I, and the second engine P10 in quadrant III are simultaneously activated.

[0123] Sp2414, when At the same time, the first engine P4 in quadrant IV and the second engine P10 in quadrant III are activated simultaneously.

[0124] Sp2415, when At the same time, the first engine P4 in quadrant IV and the third engine P5 in quadrant I are activated simultaneously.

[0125] The control method for suppressing propellant sloshing during the separation of the liquid-fueled launch vehicle from the satellite in this embodiment sends the results of decoding the pitch, yaw, and roll channel control commands to the corresponding attitude control engines, thereby controlling the opening and closing of the corresponding attitude control engines and achieving both rocket attitude control and liquid propellant sloshing control.

[0126] Furthermore, the attitude control engines used for rolling path control in quadrants I and III can be modified to those in quadrants II and IV, achieving the same control effect. It should be noted that the first, second, and third engines are initially in the off state.

[0127] When the second and third engines are positioned close to the rear of the upper stage.

[0128] During the separation phase of the rocket and spacecraft, the pitch attitude angular velocity deviation of the liquid rocket is calculated online in real time. and rolling attitude angular velocity deviation The pitch channel control command is obtained through correction network calculation and nonlinear switch calculation. and and rolling channel control commands The pitch channel control commands were executed sequentially. and and rolling channel control commands The method for decoding and controlling the corresponding attitude and orbit control engine switch based on the decoding result is as follows:

[0129] when At this time, pitch and roll control are not performed, therefore the pitch and roll channel attitude control engine is not activated;

[0130] when At the same time, control the activation of the second engine P8 in quadrant II and the second engine P12 in quadrant IV.

[0131] when At the same time, control the activation of the third engine P7 in the second quadrant and the third engine P11 in the fourth quadrant.

[0132] when At that time, control to activate the first engine P3 in the third quadrant;

[0133] when At the same time, the first engine P3 on the third quadrant, the second engine P8 on the second quadrant, and the second engine P12 on the fourth quadrant are simultaneously activated.

[0134] when At the same time, the first engine P3 in quadrant III, the third engine P7 in quadrant II, and the third engine P11 in quadrant IV are activated simultaneously.

[0135] when At the same time, the first engine P3 in quadrant III, the third engine P7 in quadrant II, and the second engine P12 in quadrant IV are simultaneously activated.

[0136] when At the same time, the first engine P3 in quadrant III and the second engine P12 in quadrant IV are activated simultaneously.

[0137] when At the same time, control the activation of the first engine P3 in the third quadrant and the third engine P7 in the second quadrant.

[0138] when At that time, the first engine P1 in the first quadrant is activated;

[0139] when At the same time, the first engine P1 on the first quadrant, the second engine P8 on the second quadrant, and the second engine P12 on the fourth quadrant are simultaneously activated.

[0140] when At the same time, the first engine P1 in quadrant I, the third engine P7 in quadrant II, and the third engine P11 in quadrant IV are activated simultaneously.

[0141] when At the same time, the first engine P1 in quadrant I, the second engine P8 in quadrant II, and the third engine P11 in quadrant IV are activated simultaneously.

[0142] when At the same time, the first engine P1 in the first quadrant and the second engine P8 in the second quadrant are activated simultaneously.

[0143] when At the same time, the first engine P1 in quadrant I and the third engine P11 in quadrant IV are activated simultaneously.

[0144] Furthermore, during the spacecraft separation phase, the yaw attitude angular velocity deviation of the liquid rocket is calculated online in real time. Based on the yaw channel control command calculated by the corrected network and nonlinear switch, and The method for decoding and controlling the opening and closing of the corresponding engine based on the decoding result is as follows:

[0145] when At this time, yaw control is not performed, therefore the yaw channel attitude control engine is not activated;

[0146] when At that time, control to activate the first engine P2 in the second quadrant;

[0147] when At the same time, the first engine P2 in quadrant II, the third engine P5 in quadrant I, and the second engine P10 in quadrant III are activated simultaneously.

[0148] when At that time, control to activate the first engine P4 in quadrant IV;

[0149] when At the same time, the first engine P4 in quadrant IV, the second engine P6 in quadrant I, and the third engine P9 in quadrant III are simultaneously activated.

[0150] It should be noted that if any one of the attitude control engines corresponding to the yaw channel fails, the yaw channel will still have attitude control capability.

[0151] Furthermore, when the second and third engines are positioned close to the head of the upper stage.

[0152] During the separation phase of the rocket and spacecraft, the pitch attitude angular velocity deviation of the liquid rocket is calculated online in real time. and rolling attitude angular velocity deviation The pitch channel control command is obtained after correction network calculation and nonlinear switch calculation. and scroll channel control commands To control the pitch channel commands respectively and scroll channel control commands The method for decoding and controlling the opening and closing of the corresponding engine based on the decoding result is as follows:

[0153] when At this time, pitch and roll control are not performed, therefore the pitch and roll channel attitude control engine is not activated;

[0154] when At the same time, control the activation of the second engine P8 in quadrant II and the second engine P12 in quadrant IV.

[0155] when At the same time, control the activation of the third engine P7 in the second quadrant and the third engine P11 in the fourth quadrant.

[0156] when At that time, control to activate the first engine P3 in the third quadrant;

[0157] when At the same time, the first engine P3 on the third quadrant, the second engine P8 on the second quadrant, and the second engine P12 on the fourth quadrant are simultaneously activated.

[0158] when At the same time, the first engine P3 in quadrant III, the third engine P7 in quadrant II, and the third engine P11 in quadrant IV are activated simultaneously.

[0159] when At the same time, the first engine P3 in quadrant III, the second engine P8 in quadrant II, and the third engine P11 in quadrant IV are simultaneously activated.

[0160] when At the same time, the first engine P3 in the third quadrant and the second engine P8 in the second quadrant are activated simultaneously.

[0161] when At the same time, control the activation of the first engine P3 in the third quadrant and the third engine P11 in the fourth quadrant.

[0162] when At that time, the first engine P1 in the first quadrant is activated;

[0163] when At the same time, the first engine P1 on the first quadrant, the second engine P8 on the second quadrant, and the second engine P12 on the fourth quadrant are simultaneously activated.

[0164] when At the same time, the first engine P1 in quadrant I, the third engine P7 in quadrant II, and the third engine P11 in quadrant IV are activated simultaneously.

[0165] when At the same time, the first engine P1 in the first quadrant, the third engine P7 in the second quadrant, and the second engine P12 in the fourth quadrant are activated simultaneously.

[0166] when At the same time, the first engine P1 in the first quadrant and the second engine P12 in the fourth quadrant are activated simultaneously.

[0167] when At the same time, the first engine P1 in the first quadrant and the third engine P7 in the second quadrant are activated simultaneously.

[0168] Furthermore, during the spacecraft separation phase, the yaw attitude angular velocity deviation of the liquid rocket is calculated online in real time. Based on the yaw channel control command calculated by the corrected network and nonlinear switch, and The decoding method is as follows:

[0169] when At this time, yaw control is not performed and the yaw channel attitude control engine is not activated;

[0170] when At that time, control to activate the first engine P2 in the second quadrant;

[0171] when At the same time, the first engine P2 in quadrant II, the second engine P6 in quadrant I, and the third engine P9 in quadrant III are simultaneously activated.

[0172] when At that time, control to activate the first engine P4 in quadrant IV;

[0173] when At the same time, the first engine P4 in quadrant IV, the third engine P5 in quadrant I, and the second engine P10 in quadrant III are simultaneously activated.

[0174] It should be noted that if any one of the attitude control engines corresponding to the yaw channel fails, the yaw channel will still have attitude control capability.

[0175] During the flight of a liquid-fueled launch vehicle, if it is necessary to control both the rocket's attitude and the liquid propellant's sloshing during the flight phase other than the rocket-satellite separation phase, the technical solution disclosed herein can also be used.

[0176] The above embodiments can be combined with each other and have corresponding technical effects.

[0177] Another aspect of the present invention provides a control device for suppressing propellant sloshing during the separation of a liquid-propellant launch vehicle from its satellite, comprising at least a memory, a processor, and a computer program stored in the memory and executable on the processor; the processor is configured to execute, based on the computer program stored in the memory, the control method for suppressing propellant sloshing during the separation of a liquid-propellant launch vehicle from its satellite as described in any of the above embodiments.

[0178] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A control method for suppressing propellant sloshing during spacecraft-rocket separation, characterized in that, At least the following steps are included: The origin of the coordinate system is O, with the center of the cross-section of the upper stage of the liquid-fueled rocket as the origin, the straight line through the longitudinal axis of the rocket as the X-axis, the straight line through the yaw direction as the Y-axis, and the straight line through the pitch direction as the Z-axis. Establish a spatial rectangular coordinate system, with the X-axis pointing towards the rocket's nose as positive, the Y-axis pointing from quadrant I of the upper stage to quadrant III as positive, and the Z-axis pointing from quadrant II of the upper stage to quadrant IV as positive; One first engine is set on each of the four quadrants of the plane OYZ in the Cartesian coordinate system, with the thrust line of the first engine pointing towards the head of the rocket. The second and third engines are respectively set on the four quadrants of the plane of the Cartesian coordinate system OYZ. When viewed from the tail of the upper stage towards the head, the thrust line of the second engine is perpendicular to the quadrant line and points in the counterclockwise direction, while the thrust line of the third engine points in the opposite direction to the thrust line of the second engine. During the separation phase of the satellite and rocket, the pitch attitude angular velocity deviation is checked sequentially. Yaw attitude angular velocity deviation and rolling attitude angular velocity deviation The control commands are obtained by performing correction network calculations and nonlinear switch calculations. The control commands are then decoded, and the corresponding engines are controlled to start and stop based on the decoding results, thereby achieving rocket attitude control and liquid propellant sloshing control.

2. The control method for suppressing propellant sloshing during the separation of the satellite and rocket according to claim 1, characterized in that, The second and third engines are located near the tail of the upper stage of the liquid-fueled rocket, or near the head of the upper stage.

3. The control method for suppressing propellant sloshing during the star-rocket separation process according to claim 2, characterized in that, When the second and third engines are positioned close to the tail of the upper stage of the liquid-fueled launch vehicle, during the spacecraft separation phase, the pitch attitude angular velocity deviation is sequentially adjusted. Yaw attitude angular velocity deviation and rolling attitude angular velocity deviation The specific process of obtaining control commands through correction network calculations and nonlinear switch calculations, decoding the control commands, and controlling the corresponding engine's on / off state based on the decoding results is as follows: Online real-time calculation of pitch attitude angular velocity deviation For pitch attitude angular velocity deviation The pitch channel control command is obtained by sequentially performing correction network calculations and nonlinear switch calculations. and ; Sequentially control the pitch channel commands and Decode, when When pitch control is not performed; when At that time, control activates the first engine in the third quadrant; when At the same time, it simultaneously controls the activation of the first engine in quadrant III, the third engine in quadrant II, and the second engine in quadrant IV; when When, control activates the first engine in the first quadrant; when At the same time, the first engine in quadrant I, the second engine in quadrant II, and the third engine in quadrant IV are activated simultaneously. Online real-time calculation of liquid rocket yaw attitude angular velocity deviation Rolling attitude angular velocity deviation yaw attitude angular velocity deviation and rolling attitude angular velocity deviation The yaw channel control command is obtained by sequentially performing correction network calculations and nonlinear switch calculations. and and rolling channel control commands ; Control commands for yaw channels respectively and and rolling channel control commands The code is decoded, and the corresponding engine is controlled to start and stop based on the decoding result.

4. The control method for suppressing propellant sloshing during the star-rocket separation process according to claim 3, characterized in that, The respective yaw channel control commands and and rolling channel control commands The method for decoding and controlling the opening and closing of the corresponding engine based on the decoding result is as follows: when At this time, the yaw and roll path attitude control engines are not activated; when At the same time, control the activation of the second engine in quadrant I and the second engine in quadrant III; when At the same time, control the activation of the third engine in the first quadrant and the third engine in the third quadrant. when At that time, control to activate the first engine in the second quadrant; when At the same time, the first engine in quadrant II, the second engine in quadrant I, and the second engine in quadrant III are simultaneously activated; when At the same time, the first engine in quadrant II, the third engine in quadrant I, and the third engine in quadrant III are simultaneously activated. when At the same time, the first engine in quadrant II, the third engine in quadrant I, and the second engine in quadrant III are simultaneously activated. when At the same time, control the activation of the first engine in quadrant II and the second engine in quadrant III; when At the same time, control the activation of the first engine in quadrant II and the third engine in quadrant I; when At that time, the first engine in the fourth quadrant is activated; when At the same time, the first engine in quadrant IV, the second engine in quadrant I, and the second engine in quadrant III are simultaneously activated; when At the same time, the first engine in quadrant IV, the third engine in quadrant I, and the third engine in quadrant III are simultaneously activated. when At the same time, the first engine in quadrant IV, the second engine in quadrant I, and the third engine in quadrant III are simultaneously activated. when At the same time, control the activation of the first engine in quadrant IV and the second engine in quadrant I; when At the same time, the first engine in quadrant IV and the third engine in quadrant III are activated simultaneously.

5. The control method for suppressing propellant sloshing during the separation of the satellite and rocket according to claim 2, characterized in that, When the second and third engines are positioned close to the head of the upper stage of the liquid-fueled launch vehicle, during the separation phase, the pitch attitude angular velocity deviation is sequentially adjusted. Yaw attitude angular velocity deviation and rolling attitude angular velocity deviation The specific process of obtaining control commands through correction network calculations and nonlinear switch calculations, decoding the control commands, and controlling the corresponding engine's on / off state based on the decoding results is as follows: Online real-time calculation of pitch attitude angular velocity deviation For pitch attitude angular velocity deviation The pitch channel control command is obtained by sequentially performing correction network calculations and nonlinear switch calculations. and ; Sequentially control the pitch channel commands and Decode, when When pitch control is not performed; when At that time, control activates the first engine in the third quadrant; when At the same time, it simultaneously controls the activation of the first engine in quadrant III, the second engine in quadrant II, and the third engine in quadrant IV; when When, control activates the first engine in the first quadrant; when At the same time, the first engine in quadrant I, the third engine in quadrant II, and the second engine in quadrant IV are activated simultaneously. Online real-time calculation of liquid rocket yaw attitude angular velocity deviation Rolling attitude angular velocity deviation The yaw attitude angular velocity deviation was respectively... and rolling attitude angular velocity deviation The yaw channel control command is obtained by sequentially performing correction network calculations and nonlinear switch calculations. and and rolling channel control commands ; Control commands for yaw channels respectively and and rolling channel control commands The code is decoded, and the corresponding engine is controlled to start and stop based on the decoding result.

6. The control method for suppressing propellant sloshing during the separation of the satellite and rocket according to claim 5, characterized in that, The respective yaw channel control commands and and rolling channel control commands The method for decoding and controlling the opening and closing of the corresponding engine based on the decoding result is as follows: when At this time, yaw and roll control are not performed; when At the same time, control the activation of the second engine in quadrant I and the second engine in quadrant III; when At the same time, control the activation of the third engine in the first quadrant and the third engine in the third quadrant. when At that time, control to activate the first engine in the second quadrant; when At the same time, the first engine in quadrant II, the second engine in quadrant I, and the second engine in quadrant III are simultaneously activated; when At the same time, the first engine in quadrant II, the third engine in quadrant I, and the third engine in quadrant III are simultaneously activated. when At the same time, the first engine in quadrant II, the second engine in quadrant I, and the third engine in quadrant III are simultaneously activated. when At the same time, control the activation of the first engine in quadrant II and the second engine in quadrant I. when At the same time, control the activation of the first engine in the second quadrant and the third engine in the third quadrant. when At that time, the first engine in the fourth quadrant is activated; when At the same time, the first engine in quadrant IV, the second engine in quadrant I, and the second engine in quadrant III are simultaneously activated; when At the same time, the first engine in quadrant IV, the third engine in quadrant I, and the third engine in quadrant III are simultaneously activated. when At the same time, the first engine in quadrant IV, the third engine in quadrant I, and the second engine in quadrant III are simultaneously activated. when At the same time, control the first engine in quadrant IV and the second engine in quadrant III to be activated simultaneously; when At the same time, the first engine in quadrant IV and the third engine in quadrant I are activated simultaneously.

7. The control method for suppressing propellant sloshing during the separation of the satellite and rocket according to any one of claims 1 to 6, characterized in that, The second and third engines located on the first quadrant and the second and third engines located on the third quadrant are used for rolling channel control.

8. The control method for suppressing propellant sloshing during the separation of the satellite and rocket according to claim 7, characterized in that, The first engine, the second engine, and the third engine are all attitude control engines and have the same rated thrust.

9. The control method for suppressing propellant sloshing during the separation of the satellite and rocket according to claim 1, characterized in that, The thrust line of the first engine is parallel to the longitudinal axis of the rocket.

10. A control device for suppressing propellant sloshing during spacecraft separation, characterized in that, It includes at least a memory, a processor, and a computer program stored in the memory and executable on the processor; the processor is configured to perform, based on the computer program stored in the memory, a control method for suppressing propellant sloshing during the separation of a liquid-fueled launch vehicle from its satellite as described in any one of claims 1 to 9.

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