Synthetic attack angle control method during aircraft-rocket separation
By controlling the rocket's pitch program angle to follow the trajectory tilt angle change and combining it with normal overload compensation, the problem of controlling the combined angle of attack during suborbital rocket separation was solved, achieving stable and reliable separation under complex wind field conditions.
Patent Information
- Application Number
- CN202511869878.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-11
- Publication Date
- 2026-02-03
AI Technical Summary
Existing technologies fail to effectively control the combined angle of attack during suborbital rocket separation, leading to interference from high-altitude wind fields, which affects separation reliability and stability. Furthermore, existing solutions are costly or prone to altering flight trajectories.
By controlling the pitch program angle to follow the trajectory tilt angle change, and combining the normal overload compensation to correct the pitch program angle, and using acceleration variation data to judge the influence of shear wind, a full-process rocket-vehicle separation control logic is constructed to achieve precise control of the composite angle of attack.
The safe and reliable separation of the spacecraft and rocket in high-altitude wind fields significantly improves the safety and reliability of the separation process, avoids safety hazards caused by a single factor, and ensures the stability of the separation process.
Smart Images
Figure CN121452879A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the field of aerospace technology, in particular to a synthetic attack angle control method during spacecraft separation. BACKGROUND
[0002] Suborbital rockets often fly in dense atmosphere and complete spacecraft separation operation, while there is a large high-altitude wind field in high-altitude atmosphere, which will interfere with the spacecraft separation motion and may even lead to spacecraft separation failure. Therefore, the synthetic attack angle during spacecraft separation needs to be controlled near zero to reduce the interference of high-altitude wind field on spacecraft separation motion and improve the reliability of spacecraft separation.
[0003] The synthetic attack angle of the rocket is formed by the ballistic attack angle and the wind attack angle, and the smaller the synthetic attack angle, the smaller the normal interference force on the rocket, and the more stable the spacecraft separation trajectory of the rocket.
[0004] However, the existing control scheme has the following problems:
[0005] (1) Some suborbital rockets only lock the swing angle of the aerodynamic rudder and the vector nozzle, and do not deliberately control the synthetic attack angle during spacecraft separation. This scheme essentially relies on hardware performance to resist the influence of high-altitude wind field on spacecraft separation, so the design and implementation cost is relatively high.
[0006] (2) Some schemes control the pitch angle of the rocket to follow the change of ballistic inclination to reduce the synthetic attack angle, but this scheme only considers reducing the ballistic attack angle and does not consider the wind attack angle, and in fact does not eliminate the influence of high-altitude wind field on spacecraft separation.
[0007] (3) Some schemes choose to control the normal overload of the rocket to approach zero, which considers the influence of high-altitude wind field, but in the shear wind environment, it is easy to lead to the change of flight trajectory of the rocket, and in the rarefied atmosphere, the wind load is small, which is easy to cause attack angle control failure. SUMMARY
[0008] The purpose of the present application is to provide a synthetic attack angle control method during spacecraft separation, which takes into account the combined influence of smooth wind field and shear wind field, controls the pitch program angle to follow the change of ballistic inclination to eliminate the ballistic attack angle, uses the normal overload compensation to correct the pitch program angle, and uses acceleration anomaly data (i.e. transverse normal acceleration data exceeding the preset change threshold) to judge the shielding of shear wind influence; this method does not need to increase the implementation cost of spacecraft separation design scheme, and can safely and reliably complete the spacecraft separation motion in the high-altitude wind field environment.
[0009] To achieve the above objectives, this application provides a method for controlling the composite angle of attack during rocket-vehicle separation, comprising the following steps: S1: Reading nominal ballistic data and obtaining the normal overload at the current altitude based on the nominal ballistic data; S2: Reading the current velocity of the rocket and calculating the trajectory tilt angle of the rocket based on the current velocity; S3: Reading the rocket acceleration data and obtaining the actual normal overload at the current moment based on the rocket acceleration data; S4: Controlling the deviation between the pitch program angle output by the rocket flight control system and the trajectory tilt angle to be less than a preset deviation threshold, and adjusting the pitch program angle in real time according to the trajectory tilt angle, thereby reducing the trajectory angle of attack;
[0010] S5: When the trajectory angle of attack is within the preset trajectory angle of attack threshold, calculate the overload difference between the actual normal overload at the current moment and the normal overload at the corresponding current altitude, and calculate the correction amount of the pitch program angle based on the overload difference; compensate the pitch program angle with the correction amount, converge the rocket's composite angle of attack, and thus reduce the wind angle of attack; S6: After completing overload control, continuously collect the rocket's lateral normal acceleration data, and analyze the rocket's lateral normal acceleration data using a preset change threshold. If the lateral normal acceleration data... If the change exceeds the preset threshold, it indicates that the rocket has encountered a momentary shear wind, and S7 is executed; if the lateral normal acceleration data does not exceed the preset threshold, the rocket-vehicle separation is executed directly; S7: Real-time monitoring of momentary overload caused by shear wind is performed to obtain momentary shear wind overload. The momentary shear wind overload is analyzed using a preset overload judgment threshold. If the momentary shear wind overload is greater than the overload judgment threshold, the rocket-vehicle separation is not executed; if the momentary shear wind overload is less than or equal to the overload judgment threshold, the rocket-vehicle separation is executed normally.
[0011] As shown above, the expression for the rocket's trajectory inclination angle is: θ = arctan(v x / v y ); where θ is the trajectory inclination angle of the rocket; v x It is the rocket's horizontal velocity within its current velocity; v y It is the rocket's vertical velocity in the rocket's current velocity; arctan(v) x / v y ) for The arctangent function operation.
[0012] As shown above, the expression for the ballistic angle of attack is: Where α is the angle of attack; θ is the trajectory inclination angle of the rocket; This refers to the pitch program angle output by the rocket flight control system.
[0013] As mentioned above, the process of adjusting the pitch program angle in real time according to the trajectory tilt angle includes two control stages: the first control stage is progressive following; the second control stage is direct following.
[0014] As above, wherein the expression of the pitch program angle output by the rocket flight control system corresponding to the first control stage is: Wherein, t-t s ≤Δt; wherein, is the pitch program angle output by the rocket flight control system; is the initial pitch program angle at the time when the control of the resultant attack angle is started; θ t is the trajectory inclination angle at the current flight time; is the pitch program angle at the current flight time; t is the time at the current flight time; t s is the time at the time when the control of the resultant attack angle is started; Δt is the progressive following time period.
[0015] As above, wherein the expression of the pitch program angle output by the rocket flight control system corresponding to the second control stage is: Wherein, t-t s >Δt; wherein, is the pitch program angle output by the rocket flight control system; t is the trajectory inclination angle at the current flight time; t is the time at the current flight time; t s is the time at the time when the control of the resultant attack angle is started; Δt is the progressive following time period.
[0016] As above, wherein the expression of the overload difference between the actual normal overload at the current time and the normal overload at the corresponding current altitude is: Wherein, δa y is the overload difference; is the normal overload at the current altitude; is the actual normal overload at the current time.
[0017] As above, wherein the expression of the modified pitch program angle obtained after the correction amount of the pitch program angle is compensated to the pitch program angle is: Wherein, is the modified pitch program angle; is the pitch program angle output by the rocket flight control system; is the compensation coefficient of the attack angle; δa y is the overload difference; is the correction amount of the pitch program angle.
[0018] As above, wherein the absolute value of the difference between the normal overload at the current altitude in the actual flight of the rocket and the normal overload at the corresponding current altitude of the nominal trajectory is used as the instantaneous shear wind overload, and the expression is: Wherein, Δa y is the absolute value of the difference between the normal overload at the current altitude in the actual flight of the rocket and the normal overload at the corresponding current altitude of the nominal trajectory. For the current altitude, there is a normal overload; This represents the actual normal overload at the current moment.
[0019] As shown above, the preset overload judgment threshold 'a' is used. h For instantaneous shear wind overload Δa y The analysis is performed to determine the separation flag bit sep, and the corresponding operation is executed based on the separation flag bit sep: when Δa y >a h When Δa = 0, sep = 0, and the glide continues without executing arrow separation; y ≤a h When this happens, sep = 1, and the executor arrow separates.
[0020] The beneficial effects achieved by this application are as follows:
[0021] (1) The composite angle of attack control method for separation of the missile and rocket in this application comprehensively considers key influencing factors such as trajectory tilt angle following, wind field effect and shear wind interference, and constructs a full-process missile and rocket separation control logic, effectively avoiding safety hazards caused by single factor consideration, and significantly improving the safety and reliability of the separation process.
[0022] (2) The method for controlling the combined angle of attack during separation of the launch vehicle and the rocket in this application innovatively uses the normal overload difference (i.e., the overload difference between the actual normal overload at the current moment and the normal overload at the current altitude of the nominal trajectory) to correct the pitch program angle, thereby accurately controlling the combined angle of attack. This correction method has a clear principle, a simple implementation process, and can quickly offset the attitude deviation caused by wind field and other interferences, with significant effect.
[0023] (3) The combined angle of attack control method for separation of the rocket and the vehicle in this application effectively avoids dangerous separation operations by overload monitoring and threshold judgment in the case of shear wind interference, ensuring the stability of separation of the rocket and the vehicle in complex wind field environment, and further strengthening the safety redundancy of the separation process. Attached Figure Description
[0024] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this application. For those skilled in the art, other drawings can be obtained based on these drawings.
[0025] Figure 1 This is a flowchart illustrating one embodiment of a method for controlling the angle of attack during missile-rocket separation. Detailed Implementation
[0026] With reference to the accompanying drawings, the technical solutions in the embodiments of the present application will be described clearly and completely. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments. Based on the embodiments of the present application, all the other embodiments obtained by those skilled in the art without creative efforts belong to the scope of the present application.
[0027] As shown in Figure 1 , the present application provides a synthetic attack angle control method when a missile and a rocket are separated, comprising the following steps:
[0028] S1: reading nominal trajectory data, and obtaining normal overload at the current height based on the nominal trajectory data.
[0029] Further, the nominal trajectory data is pre-stored in a storage module of a rocket flight control system.
[0030] Specifically, according to the current flight height of the rocket, one-dimensional linear interpolation is used to interpolate the nominal trajectory data, so as to obtain the nominal trajectory flight parameters corresponding to the current flight height, and then the required normal overload parameter is extracted from the nominal trajectory flight parameters as the normal overload at the current height.
[0031] S2: reading the current speed of the rocket, and calculating the trajectory inclination angle of the rocket based on the current speed of the rocket.
[0032] Further, the expression of the trajectory inclination angle of the rocket is:
[0033] θ=arctan(v x / v y );
[0034] wherein θ is the trajectory inclination angle of the rocket; v x is the horizontal speed of the rocket in the current speed of the rocket; v y is the vertical speed of the rocket in the current speed of the rocket; and arctan(v x / v y ) is the inverse tangent function operation.
[0035] Specifically, the trajectory inclination angle of the rocket is a dynamic changing parameter calculated according to the speed data of the rocket.
[0036] S3: reading the acceleration data of the rocket, and obtaining the actual normal overload at the current time based on the acceleration data of the rocket.
[0037] Specifically, the acceleration data of the rocket is read, the y-axis acceleration component of the rocket is extracted from the acceleration data of the rocket, and the y-axis acceleration component of the rocket is divided by 9.80665, so as to obtain the actual normal overload at the current time.
[0038] S4: controlling a deviation value between the pitch program angle output by the rocket flight control system and the trajectory inclination angle to be less than a preset deviation threshold value, and following the trajectory inclination angle to adjust the pitch program angle in real time, so as to reduce the trajectory attack angle.
[0039] Specifically, the specific value of the preset deviation threshold value is set according to actual experience or experimental data, and the application preferably: the value range of the preset deviation threshold value is 0.3°-0.5°.
[0040] Further, the expression of the trajectory attack angle is:
[0041]
[0042] Wherein, α is the trajectory attack angle; θ is the trajectory inclination angle of the rocket; is the pitch program angle output by the rocket flight control system.
[0043] Further, the process of following the trajectory inclination angle to adjust the pitch program angle in real time includes two control stages, the first control stage is progressive following, and the second control stage is direct following.
[0044] Further, the expression of the pitch program angle output by the rocket flight control system corresponding to the first control stage is:
[0045] Wherein, t-t s ≤Δt;
[0046] Wherein, the expression of the pitch program angle output by the rocket flight control system corresponding to the second control stage is:
[0047] Wherein, t-t s >Δt;
[0048] Wherein, is the pitch program angle output by the rocket flight control system; is the initial pitch program angle at the initial time of controlling the resultant attack angle; θ t is the trajectory inclination angle at the current flight time; is the pitch program angle at the current flight time; t is the time at the current flight time; t s is the time at the initial time of controlling the resultant attack angle; Δt is the progressive following time period.
[0049] Specifically, the pitch program angle of the rocket is controlled to follow the trajectory inclination angle to change, so as to reduce the trajectory attack angle, after step S4, the trajectory attack angle is close to zero, and then the wind attack angle needs to be controlled, so that the resultant attack angle of the trajectory attack angle and the wind attack angle tends to zero.
[0050] The specific value of Δt is determined according to the difference between the trajectory inclination angle at the attack angle control time and the pitch program angle, and the value formula of Δt is as follows: Wherein, is the actual trajectory inclination angle at the time when the synthetic attack angle is controlled; the upper limit value of Δt needs to be controlled to be not greater than 5s (i.e. Δt≤5).
[0051] S5: When the trajectory attack angle is within the preset trajectory attack angle threshold, the overload difference between the actual normal overload at the current time and the normal overload corresponding to the current height is calculated, the correction amount of the pitch program angle is calculated based on the overload difference, the correction amount of the pitch program angle is compensated into the pitch program angle, the synthetic attack angle of the rocket is converged, so as to reduce the wind attack angle.
[0052] Specifically, when the trajectory attack angle is within the preset trajectory attack angle threshold (i.e. the synthetic attack angle is close to zero), the normal overload of the rocket at this time should be similar to the normal overload of the nominal trajectory.
[0053] Wherein, the specific value of the preset trajectory attack angle threshold is set according to actual experience or experimental data, and the preset trajectory attack angle threshold is preferably: the value range of the preset trajectory attack angle threshold is 0.3°-0.5°.
[0054] Further, the expression of the overload difference between the actual normal overload at the current time and the normal overload corresponding to the current height is as follows:
[0055]
[0056] Wherein, δa y is the overload difference; is the normal overload at the current height; is the actual normal overload at the current time.
[0057] Further, after the correction amount of the pitch program angle is compensated into the pitch program angle, the expression of the corrected pitch program angle obtained is as follows:
[0058]
[0059] Wherein, is the corrected pitch program angle (i.e. the final output pitch program angle of the rocket flight control system); is the pitch program angle output by the rocket flight control system; is the compensation coefficient of the attack angle; δa y is the overload difference; is the correction amount of the pitch program angle.
[0060] Specifically, According to the attack angle control accuracy requirement of the rocket, the debugging is set, and the The absolute value of the difference between the normal overload of the current height in the actual flight of the rocket and the normal overload of the current height corresponding to the nominal trajectory is less than a preset error threshold, that is, the normal overload of the current height in the actual flight of the rocket is close to the normal overload of the current height corresponding to the nominal trajectory.
[0061] Further, the preset error threshold is preferably 5% of the normal overload of the height point corresponding to the nominal trajectory.
[0062] S6: After completing the overload control, the lateral normal acceleration data of the rocket is continuously collected, and the lateral normal acceleration data of the rocket is analyzed using a preset change threshold. If the lateral normal acceleration data is greater than the preset change threshold, it indicates that the rocket encounters a transient shear wind, and S7 is executed. If the lateral normal acceleration data is less than or equal to the preset change threshold, the rocket is directly separated.
[0063] Specifically, before the rocket is separated, the lateral normal acceleration data of the rocket is continuously collected. If the lateral normal acceleration data exceeds the preset change threshold, it indicates that the rocket encounters a transient shear wind, and the rocket is separated after the lateral normal acceleration data returns to normal, thereby avoiding the influence of the transient shear wind.
[0064] The specific value of the preset change threshold is set according to actual experience or experimental data. If the lateral normal overload noise under the steady wind is taken as the basis, the application preferably takes 5 times the mean value (about 0.1 m / s 2 ) of the lateral normal overload noise as the preset change threshold (i.e., 0.5 m / s 2 ), or is set based on the normal overload of the height point corresponding to the nominal trajectory. The application preferably sets the preset change threshold to 0.05g.
[0065] Further, the lateral normal acceleration data of the rocket is collected by the acceleration sensor of the rocket.
[0066] S7: The transient overload caused by the shear wind is monitored in real time to obtain the transient shear wind overload. The transient shear wind overload is analyzed using a preset overload judgment threshold. If the transient shear wind overload is greater than the overload judgment threshold, the rocket is selected to continue sliding and is not separated. If the transient shear wind overload is less than or equal to the overload judgment threshold, the rocket is normally separated.
[0067] Specifically, if the transient shear wind overload is greater than the overload judgment threshold, the rocket is separated, which may cause the risk of two-rocket collision when the rocket is separated.
[0068] Further, the absolute value of the difference between the normal overload of the current height in the actual flight of the rocket and the normal overload of the current height corresponding to the nominal trajectory is taken as the transient shear wind overload, and the expression is:
[0069]
[0070] wherein, Δa y is the absolute value of the difference between the normal overload of the current height in the actual flight process of the rocket and the normal overload of the current height corresponding to the nominal trajectory; is the normal overload of the current height; is the actual normal overload at the current time.
[0071] Further, a preset overload judgment threshold a h is used to analyze the instantaneous shear wind overload Δa y , determine the rocket separation flag sep, and perform corresponding operations according to the rocket separation flag sep: when Δa y > a h , then sep=0, and the selection of continuing to glide is performed without performing rocket separation; when Δa y ≤ a h , then sep=1, and rocket separation is performed.
[0072] Specifically, the specific value of the preset overload judgment threshold a h is set according to actual experience or experimental data, and if the lateral normal overload noise under the steady wind is used as the basis, the application preferably takes 5 times of the mean value (about 0.1 m / s 2 ) of the lateral normal overload noise as the preset overload judgment threshold a h (i.e., 0.5 m / s 2 ), or is set based on the normal overload of the height point corresponding to the nominal trajectory, and the application preferably takes 0.05 g as the preset overload judgment threshold a h .
[0073] The beneficial effects achieved by the application are as follows:
[0074] (1) The synthetic attack angle control method during the rocket separation of the application comprehensively considers key influencing factors such as trajectory inclination angle following, wind field action, and shear wind interference, constructs a full-process rocket separation control logic, effectively avoids safety hazards caused by single-factor consideration, and significantly improves the safety and reliability of the separation process.
[0075] (2) The synthetic attack angle control method during the rocket separation of the application innovatively uses the normal overload difference (i.e., the overload difference between the actual normal overload at the current time and the normal overload of the corresponding current height) to correct the pitch program angle, and then accurately control the synthetic attack angle. This correction method has clear principles, simple implementation process, and can quickly offset the attitude deviation caused by wind field interference, and has significant effects.
[0076] (3) The synthetic attack angle control method of the application at the time of vehicle-rocket separation is aimed at the shear wind interference scene, and effectively avoids dangerous separation operation through overload monitoring and threshold judgment, ensuring the stability of vehicle-rocket separation in complex wind field environment, and further strengthening the safety redundancy of the separation process.
[0077] While the preferred embodiments of the application have been described, additional variations and modifications can be made to the embodiments by those skilled in the art once they learn of the basic inventive concepts. Therefore, the scope of the application is intended to include all such changes and modifications as fall within the scope of the application. It will be apparent to those skilled in the art that various modifications and variations can be made to the present application without departing from the spirit or scope of the application. Thus, it is intended that the present application cover modifications and variations of this application provided they come within the scope of the appended claims and their equivalents.
Claims
1. A method for controlling the angle of attack during missile separation, characterized in that The method comprises the following steps: S1: reading nominal trajectory data, and obtaining normal overload at the current height based on the nominal trajectory data; S2: reading the current speed of the rocket, and calculating the trajectory inclination angle of the rocket based on the current speed of the rocket; S3: reading rocket acceleration data, and obtaining actual normal overload at the current time based on the rocket acceleration data; S4: controlling the deviation value between the output pitch program angle of the rocket flight control system and the trajectory inclination angle to be less than a preset deviation threshold value, and adjusting the pitch program angle in real time to follow the trajectory inclination angle, so as to reduce the trajectory attack angle; S5: when the trajectory attack angle is within a preset trajectory attack angle threshold value, calculating the overload difference value between the actual normal overload at the current time and the normal overload at the corresponding current height, calculating the correction amount of the pitch program angle based on the overload difference value, and compensating the correction amount of the pitch program angle to the pitch program angle, so as to converge the combined attack angle of the rocket and reduce the wind attack angle; S6: after the overload control is completed, continuously collecting the lateral normal acceleration data of the rocket, and analyzing the lateral normal acceleration data of the rocket by using a preset change threshold value, if the lateral normal acceleration data is greater than the preset change threshold value, it indicates that the rocket encounters instantaneous shear wind, and S7 is executed; if the lateral normal acceleration data is less than or equal to the preset change threshold value, the rocket is directly separated; S7: real-time monitoring of the instantaneous overload caused by the shear wind, obtaining the instantaneous shear wind overload, analyzing the instantaneous shear wind overload by using a preset overload judgment threshold value, if the instantaneous shear wind overload is greater than the overload judgment threshold value, the rocket is selected to continue sliding, and the rocket is not separated; if the instantaneous shear wind overload is less than or equal to the overload judgment threshold value, the rocket is normally separated.
2. The method of controlling the angle of attack at vehicle separation according to claim 1, characterized in that The expression of the trajectory inclination angle of the rocket is: θ = arctan(v x / v y ); where θ is the ballistic angle of the rocket; v x is the horizontal velocity of the rocket in the current velocity of the rocket; v y is the vertical velocity of the rocket in the current velocity of the rocket; arctan(v x / v y ) is the inverse tangent function operation on .
3. The method of controlling the angle of attack at vehicle separation according to claim 1, wherein The expression of the trajectory attack angle is: Where, a is the ballistic angle of attack; θ is the ballistic inclination angle of the rocket; is the pitch program angle output by the rocket flight control system.
4. The method of controlling the angle of attack at vehicle separation according to claim 1, wherein The process of adjusting the pitch program angle in real time to follow the trajectory inclination angle comprises two control stages, the first control stage is progressive following, and the second control stage is direct following.
5. The method for controlling the angle of attack at the time of separation of the missile and the aircraft according to claim 4, characterized by The expression of the pitch program angle output by the rocket flight control system corresponding to the first control stage is: where t - t s ≤ Δt; in, The pitch program angle output by the rocket flight control system; It is the initial pitch program angle at which the combined angle of attack is controlled; θ t It is the trajectory inclination at the current moment of flight; t is the pitch program angle at the current flight moment; t is the time at the current flight moment; t s It is the time when the control of the composite angle of attack begins; Δt is the progressive follow-up time period.
6. The method of controlling the angle of attack at vehicle separation according to claim 4, wherein The expression of the pitch program angle output by the rocket flight control system corresponding to the second control stage is: where t - t s > At; wherein, is the pitch program angle output by the rocket flight control system; θ t is the current flight time; t is the current flight time; t s is the time at which the control of the resultant angle of attack is initiated; Δt is the progressive following time period.
7. The method of synthesizing attack angle control at vehicle launch separation according to claim 1, wherein, The expression of the overload difference value between the actual normal overload at the current time and the normal overload at the corresponding current height is: wherein δa y is the overload difference; is the normal overload of the current altitude; is the actual normal overload at the current time.
8. The method for controlling the angle of attack at the time of separation of the missile and the aircraft according to Claim 1, characterized by The expression of the modified pitch program angle obtained after the correction amount of the pitch program angle is compensated to the pitch program angle is: wherein, is the corrected pitch program angle; is the pitch program angle output by the rocket flight control system; is the compensation factor for the angle of attack; δa y is the difference in g-loads; is the correction amount for the pitch program angle.
9. The method of synthesizing attack angle control at missile separation according to claim 1, wherein The absolute value of the difference between the normal overload at the current height in the rocket actual flight process and the normal overload at the corresponding current height of the nominal trajectory is used as the instantaneous shear wind overload, and the expression is: Wherein, Δa y is the absolute value of the difference between the normal overload of the current height in the actual flight of the rocket and the normal overload of the current height corresponding to the nominal trajectory; is the normal overload of the current height; is the actual normal overload at the current time.
10. The method for controlling the angle of attack at the time of separation of the missile and the aircraft according to claim 9, characterized by Utilize a preset overload judgment threshold a h To the instantaneous shear wind overload Δa y Analysis, determine the spacecraft separation flag sep, and according to the spacecraft separation flag sep Perform corresponding operation: when Δa y >a h Then sep=0, choose to continue sliding, do not perform spacecraft separation; when Δa y ≤a h Then sep=1, perform spacecraft separation.