Double-loop pseudo-rate modulation method and device adaptive to multi-nozzle configuration

Abstract

The invention discloses a double-loop pseudo-rate modulation method and device suitable for multi-nozzle configuration. The method comprises the steps that S1, a main loop control comprehensive signal and an auxiliary loop control comprehensive signal are calculated respectively; s2, the control comprehensive signals of the main loop and the auxiliary loop are processed through a correction network, and main loop control duty ratio instructions and auxiliary loop control duty ratio instructions are generated; s3, feedback path signals of the pseudo-rate modulators of the main loop and the auxiliary loop are calculated; s4, converting the on-off state of the attitude control spray pipe into an on-off control instruction, identifying a disturbance torque coefficient on line, and respectively generating a main loop disturbance compensation duty ratio instruction and an auxiliary loop disturbance compensation duty ratio instruction; s5, integrating the control duty ratio instruction, the interference compensation duty ratio instruction and a pseudo-rate modulator feedback path signal to generate a main loop switch control instruction and an auxiliary loop switch control instruction; and S6, according to the distribution of the spray pipes, converting the main loop switch control instruction and the auxiliary loop switch control instruction into a spray pipe switch instruction and a multiplex spray pipe switch instruction respectively, and outputting the instructions to attitude control spray pipes for execution.

Description

Technical Field

[0001] This invention relates to the field of spacecraft control technology, and in particular to a dual-loop pseudo-rate modulation method and apparatus adapted to multi-nozzle configurations. Background Technology

[0002] During takeoff and ascent, the Mars ascender faces interference from atmospheric conditions and structural deviations, which are highly uncertain. Therefore, the ascender employs a PID control scheme with pseudo-rate control, pulse width modulation, and interference compensation for attitude control. The ascender is equipped with multiple nozzles, and the three-channel attitude control system allows for nozzle reuse. Nozzle reuse provides stronger control capabilities, but it increases propellant consumption and can lead to over-control and frequent switching of opposing nozzles, further increasing propellant consumption. Therefore, due to limited propellant resources and attitude control accuracy requirements, the nozzles in each channel are not reused. However, the non-reuse nozzle design presents a problem: nozzle fault diagnosis is extremely difficult, relying solely on nozzle control capabilities for fault absorption, and it cannot handle nozzle fault conditions or similar high-interference situations. Summary of the Invention

[0003] The technical problem solved by this invention is to overcome the shortcomings of the prior art and provide a dual-loop pseudo-rate modulation method and device that is adapted to multi-nozzle configuration, thereby improving the spacecraft's ability to absorb nozzle failures and resist large interference, while ensuring low propellant consumption and high control accuracy.

[0004] The technical solution of this invention is: a dual-loop pseudo-rate modulation method adapted to multi-nozzle configurations, comprising: S1. Calculate the main loop control integrated signal based on the quaternion deviation and attitude angular rate deviation. Integrated control signal of secondary loop ; S2. The control signals of the main circuit and the sub-circuit are processed by a correction network to generate the main circuit control duty cycle command. and secondary circuit control duty cycle command ; S3. According to the main circuit switch control command The feedback path signal of the main circuit pseudo-rate modulator at the previous moment The feedback path signal of the pseudo-rate modulator in the main loop was calculated. According to the secondary circuit switch control command The feedback path signal of the pseudo-rate modulator in the secondary loop at the previous moment The feedback path signal of the pseudo-rate modulator in the secondary loop was calculated. ; S4. Convert the attitude control nozzle switch state to a switch control command. According to inertial measurement angular rate and the switch control command Online identification of interference torque coefficient Generate main circuit interference compensation duty cycle commands respectively. and secondary circuit interference compensation duty cycle command ; S5. Combine the main circuit control duty cycle command. Main circuit interference compensation duty cycle command and the feedback path signal of the main circuit pseudo-rate modulator The main circuit duty cycle composite signal is obtained. The main circuit switch control command is generated via the main circuit Schmitt trigger. Combined with the aforementioned secondary loop control duty cycle command Secondary circuit interference compensation duty cycle command and the feedback path signal of the pseudo-rate modulator in the secondary loop The combined duty cycle signal of the secondary circuit is obtained. The secondary circuit switch control command is generated via a Schmitt trigger in the secondary circuit. ; S6. Based on the nozzle distribution, send the main circuit switch control commands respectively. and secondary circuit switch control commands Convert to nozzle switch command and reuse nozzle switch command The output is sent to the attitude control nozzle for execution. Furthermore, in step S4, the disturbance torque coefficient is identified online. The specific method is as follows:

[0005]

[0006]

[0007]

[0008] In the formula, , for Channel interference compensation and low-pass filter parameters. The calculation cycle for interference compensation control is [number]. , , for Intermediate values ​​for channel interference compensation calculation. for Channel angular rate signal, for Channel control torque coefficient, for Channel switch control commands; , respectively representing pitch, yaw, and roll channels.

[0009] Furthermore, in step S4, the main circuit interference compensation duty cycle command... and secondary circuit interference compensation duty cycle command The calculation method is as follows:

[0010]

[0011]

[0012] In the formula, For the amplitude limiting function, for Channel interference compensation duty cycle command, for Channel interference compensation control gain coefficient for Interference compensation limit value for main circuit of the channel. for Channel secondary loop interference compensation control gain coefficient.

[0013] Furthermore, in step 1, the main circuit control integrated signal Integrated control signal of secondary loop It can be calculated using the following formula:

[0014]

[0015] In the formula, , Main circuit, secondary circuit Channel quaternion bias gain coefficient , Main circuit, secondary circuit Channel angular rate deviation gain coefficient for Channel quaternion bias, for Channel attitude angular rate deviation, , for The value of the quaternion deviation integral after limiting in the kth frame of the channel; , respectively representing pitch, yaw, and roll channels.

[0016] Furthermore, in step S2, the main circuit controls the duty cycle command. and secondary circuit control duty cycle command It can be calculated using the following formula:

[0017]

[0018] In the formula, , Main circuit Channel correction network coefficients, , For secondary circuit Channel correction network coefficients, , Main circuit, secondary circuit Channel calibration network input, , , , Main circuit, secondary circuit Channel calibration network output; These represent the pitch, yaw, and roll channels, respectively. , where n is the difference order of the correction network.

[0019] Furthermore, in step S3, the feedback path signal of the main circuit pseudo-rate modulator and the feedback path signal of the pseudo-rate modulator in the secondary loop It can be calculated using the following formula:

[0020]

[0021] In the formula, , for Parameters of the pseudo-rate modulator feedback loop in the main channel circuit. , for Channel sub-loop pseudo-rate modulator feedback loop parameters, The modulation period of the pseudo-rate modulator. , for Main circuit and auxiliary circuit switch control commands for the channel. , For the k-th main circuit and secondary circuit The feedback path signal of the channel pseudo-rate modulator, , For the (k-1)th beat Feedback path signals of the pseudo-rate modulator in the main and secondary circuits of the channel; , respectively representing pitch, yaw, and roll channels.

[0022] Furthermore, in step S5, the main circuit duty cycle integrated signal Combined signal with secondary circuit duty cycle The calculation formula is:

[0023]

[0025] The present invention also relates to a dual-loop pseudo-rate modulation device adapted to a multi-nozzle configuration, comprising: The integrated signal generation module is used to calculate the integrated main loop control signal based on the quaternion deviation and attitude angular rate deviation, respectively. Integrated control signal of secondary loop ; The duty cycle command generation module is used to process the control signals of the main circuit and the sub-circuit through a correction network to generate the main circuit control duty cycle command. and secondary circuit control duty cycle command ; The feedback signal generation module is used to generate signals based on the main circuit switch control commands. The feedback path signal of the main circuit pseudo-rate modulator at the previous moment The feedback path signal of the pseudo-rate modulator in the main loop was calculated. According to the secondary circuit switch control command The feedback path signal of the pseudo-rate modulator in the secondary loop at the previous moment The feedback path signal of the pseudo-rate modulator in the secondary loop was calculated. ; The interference compensation module is used to convert the attitude control nozzle switch state into a switch control command. According to inertial measurement angular rate and the switch control command Online identification of interference torque coefficient Generate main circuit interference compensation duty cycle commands respectively. and secondary circuit interference compensation duty cycle command ; The switch control command generation module is used to synthesize the main circuit control duty cycle command. Main circuit interference compensation duty cycle command and the feedback path signal of the main circuit pseudo-rate modulator The main circuit duty cycle composite signal is obtained. The main circuit switch control command is generated via the main circuit Schmitt trigger. Combined with the aforementioned secondary loop control duty cycle command Secondary circuit interference compensation duty cycle command and the feedback path signal of the pseudo-rate modulator in the secondary loop The combined duty cycle signal of the secondary circuit is obtained. The secondary circuit switch control command is generated via a Schmitt trigger in the secondary circuit. ; The nozzle drive module is used to transmit the main circuit switch control commands according to the nozzle distribution. and secondary circuit switch control commands Convert to nozzle switch command and reuse nozzle switch command The output is sent to the attitude control nozzle for execution. Furthermore, the interference compensation module identifies the interference torque coefficient online. The specific method is as follows:

[0024]

[0025]

[0026]

[0027] In the formula, , for Channel interference compensation and low-pass filter parameters. The calculation cycle for interference compensation control is [number]. , , for Intermediate values ​​for channel interference compensation calculation. for Channel angular rate signal, for Channel control torque coefficient, for Channel switch control commands; , respectively representing pitch, yaw, and roll channels.

[0028] Furthermore, in the interference compensation module, the main circuit interference compensation duty cycle command... and secondary circuit interference compensation duty cycle command The calculation method is as follows:

[0029]

[0030]

[0031] In the formula, For the amplitude limiting function, for Channel interference compensation duty cycle command, for Channel interference compensation control gain coefficient for Interference compensation limit value for main circuit of the channel. for Channel secondary loop interference compensation control gain coefficient.

[0032] The advantages of this invention compared to the prior art are: This invention proposes a dual-loop design. By combining the main and secondary loops for control, it exhibits stronger adaptability to high-disturbance conditions and can absorb nozzle normally closed faults, ensuring attitude stability. The secondary loop is configured to drive the reused nozzle, providing additional control torque in the event of nozzle faults or high disturbances. Under low-disturbance conditions, the secondary loop does not participate in control, and the reused nozzle does not activate its reuse function, conserving propellant while maintaining high control accuracy. Furthermore, an online disturbance identification and compensation mechanism effectively addresses uncertain disturbances, and pseudo-rate modulation and Schmitt triggers ensure the stability of the switching control. Attached Figure Description

[0033] Figure 1 This is a flowchart of the method of the present invention; Figure 2 This is a diagram illustrating an embodiment of the modulation device of the present invention; Figure 3 This is a diagram illustrating the attitude control effect of the method of the present invention under conditions of high disturbance. Figure 4 This is a comparison chart of the attitude control effects of the method of this invention and existing methods under conditions of high disturbance. Figure 5 This is a diagram illustrating the attitude control effect of the method of the present invention under a normally closed nozzle fault. Figure 6 This is a comparison chart of the attitude control effects of the method of the present invention and existing methods under nozzle normally closed faults. Detailed Implementation

[0034] To better understand the technical solution of the present invention, specific embodiments are described below. Elements not shown in the accompanying drawings or not described in writing are those known to those skilled in the art. The following description of preferred embodiments involves combinations of features, which may exist independently or in combination; the present invention is not particularly limited to the preferred embodiments.

[0035] like Figure 1 As shown, the dual-loop pseudo-rate modulation method adapted to multi-nozzle configuration proposed in this invention includes the following steps: S1. Calculate the main loop control integrated signal based on the quaternion deviation and attitude angular rate deviation. Integrated control signal of secondary loop .

[0036] In this implementation, the combined control signals for the main circuit and the auxiliary circuit are calculated according to the following formula:

[0037]

[0038]

[0039]

[0040]

[0041]

[0042] in, for Channel quaternion bias, for Channel attitude angular rate deviation, for The k-th control signal of the main circuit / sub-circuit of the channel (the subscript of the main circuit parameter is 0, and the subscript of the sub-circuit parameter is 1, which will not be described in detail later). for Channel quaternion bias gain coefficient for Channel quaternion bias integral gain coefficient for Channel angular rate deviation gain coefficient for The value of the quaternion deviation after integral limiting in the k-th frame of the channel. for The value of the quaternion deviation integral before limiting in the k-th frame of the channel. for Channel integral limit, This is a general-purpose limiting function. The period is the integral period of the quaternion deviation. , , These represent the pitch, yaw, and roll channels, respectively.

[0043] S2. The control signals of the main circuit and the auxiliary circuit are processed by the correction network to generate the main circuit control duty cycle command. and secondary circuit control duty cycle command .

[0044] In this implementation, the control duty cycle commands for the main circuit and the secondary circuit are calculated according to the following formula:

[0045]

[0046]

[0047]

[0048]

[0049]

[0050] in, for Channel main / secondary loop correction network input, for Channel calibration network output, for Channel correction network coefficients, where n is the difference order of the correction network. for Channel control duty cycle command.

[0051] S3. According to the main circuit switch control command The feedback path signal of the main circuit pseudo-rate modulator at the previous moment The feedback path signal of the pseudo-rate modulator in the main loop was calculated. According to the secondary circuit switch control command The feedback path signal of the pseudo-rate modulator in the secondary loop at the previous moment The feedback path signal of the pseudo-rate modulator in the secondary loop was calculated. .

[0052] In this implementation, the pseudo-rate attitude adjustment feedback path signals of the main loop and the secondary loop are calculated according to the following formula:

[0053]

[0054] in, , for Channel main / secondary pseudo-rate modulator feedback loop parameters, The modulation period of the pseudo-rate modulator. for Channel main circuit / secondary circuit switch control commands, For the kth beat The feedback path signal of the channel pseudo-rate modulator, For the (k-1)th beat Feedback path signal of pseudo-rate modulator in main / secondary circuit of channel.

[0055] S4. Convert the attitude control nozzle switch state to a switch control command. According to inertial measurement angular rate and switch control commands Online identification of interference torque coefficient Generate main circuit interference compensation duty cycle commands respectively. and secondary circuit interference compensation duty cycle command .

[0056] In this implementation, the disturbance torque coefficient is identified online. Generate main circuit interference compensation duty cycle commands respectively. and secondary circuit interference compensation duty cycle command Calculate according to the following formula:

[0057]

[0058]

[0059]

[0060]

[0061]

[0062]

[0063]

[0064] in, for Channel interference compensation duty cycle command, for Channel main circuit / secondary circuit interference compensation duty cycle command for Interference compensation limit value for main circuit of the channel. for Channel secondary loop interference compensation control gain coefficient, for Channel interference torque coefficient identification value, for Channel interference compensation control gain coefficient for Channel control torque coefficient, for Channel switch control commands, for Channel instruction synthesis matrix, To control The nozzle switch command for the channel. , , for Intermediate values ​​for channel interference compensation calculation. The calculation cycle for interference compensation control is [number]. for Channel angular rate signal, , for Channel interference compensation and low-pass filter parameters.

[0065] S5, Integrated Main Circuit Control Duty Cycle Command Main circuit interference compensation duty cycle command and the feedback path signal of the main circuit pseudo-rate modulator The main circuit duty cycle composite signal is obtained. The main circuit switch control command is generated via the main circuit Schmitt trigger. Integrated secondary loop control duty cycle command Secondary circuit interference compensation duty cycle command and the feedback path signal of the pseudo-rate modulator in the secondary loop The combined duty cycle signal of the secondary circuit is obtained. The secondary circuit switch control command is generated via a Schmitt trigger in the secondary circuit. .

[0066] In this implementation, the switching control commands for the main circuit and the auxiliary circuit are calculated according to the following formula:

[0067]

[0068]

[0069]

[0070] in, for The Schmitt trigger switching threshold of the main / secondary circuit of the channel. for Channel Schmitt trigger switching closure factor, for The channel duty cycle combined signal is input to the Schmitt trigger. for Main / secondary circuit switch control commands for the channel.

[0071] S6. Based on the nozzle distribution, send the main circuit switch control commands respectively. and secondary circuit switch control commands Convert to nozzle switch command and reuse nozzle switch command The output is sent to the attitude control nozzle for execution. In this implementation, the nozzle switch command and the reused nozzle switch command are calculated according to the following formula:

[0072]

[0073]

[0074]

[0075] in, For nozzle / reused nozzle switch command, Intermediate variables for calculating the main loop / secondary loop. Determine the threshold value for the nozzle switch. To control the efficiency matrix, Main circuit / secondary circuit switch control commands.

[0076] Using a spacecraft under conditions of high disturbance and nozzle normally closed failure as the simulation object, the dual-loop pseudo-rate modulator adapted to multi-nozzle configuration of the present invention is simulated. The structure of the modulator is shown in [reference needed]. Figure 2 Under conditions of high disturbance (where the control capability is 100% relative to the non-reusable nozzle scheme), the attitude control performance of the controller of this invention is shown in [the figure]. Figure 3 A comparison of the control effects of the present invention and existing methods is shown in the figure. Figure 4 Under the condition of a normally closed nozzle failure, the attitude control effect of the controller of this invention is shown in the figure. Figure 5 A comparison of the control effects of the present invention and existing methods is shown in the figure. Figure 6 As shown in the figure, compared with existing methods, the controller of the present invention has a stronger control capability against large disturbances, can adapt to nozzle normally closed faults, and ensure attitude control accuracy.

[0077] It is understood that this invention has been described through embodiments, and those skilled in the art will recognize that various changes or equivalent substitutions can be made to these features and embodiments without departing from the spirit and scope of this invention. Furthermore, under the teachings of this invention, these features and embodiments can be modified to adapt to specific circumstances without departing from the spirit and scope of this invention. Therefore, this invention is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are protected by this invention.

[0078] The contents not described in detail in this specification are common knowledge to those skilled in the art.

Claims

1. A dual-loop pseudo-rate modulation method adapted to multi-nozzle configurations, characterized in that, include: S1. Calculate the main loop control integrated signal based on the quaternion deviation and attitude angular rate deviation. Integrated control signal of secondary loop ; S2. The control signals of the main circuit and the sub-circuit are processed by a correction network to generate the main circuit control duty cycle command. and secondary circuit control duty cycle command ; S3. According to the main circuit switch control command The feedback path signal of the main circuit pseudo-rate modulator at the previous moment The feedback path signal of the pseudo-rate modulator in the main loop was calculated. According to the secondary circuit switch control command The feedback path signal of the pseudo-rate modulator in the secondary loop at the previous moment The feedback path signal of the pseudo-rate modulator in the secondary loop was calculated. ; S4. Convert the attitude control nozzle switch state to a switch control command. According to inertial measurement angular rate and the switch control command Online identification of interference torque coefficient Generate main circuit interference compensation duty cycle commands respectively. and secondary circuit interference compensation duty cycle command ; S5. Combine the main circuit control duty cycle command. Main circuit interference compensation duty cycle command and the feedback path signal of the main circuit pseudo-rate modulator The main circuit duty cycle composite signal is obtained. The main circuit switch control command is generated via the main circuit Schmitt trigger. ; Combined with the aforementioned secondary loop control duty cycle command Secondary circuit interference compensation duty cycle command and the feedback path signal of the pseudo-rate modulator in the secondary loop The combined duty cycle signal of the secondary circuit is obtained. The secondary circuit switch control command is generated via a Schmitt trigger in the secondary circuit. ; S6. Based on the nozzle distribution, send the main circuit switch control commands respectively. and secondary circuit switch control commands Convert to nozzle switch command and reuse nozzle switch command The output is sent to the attitude control nozzle for execution.

2. The dual-loop pseudo-rate modulation method adapted to multi-nozzle configuration according to claim 1, characterized in that: In step S4, the disturbance torque coefficient is identified online. The specific method is as follows: In the formula, , for Channel interference compensation and low-pass filter parameters. The calculation cycle for interference compensation control is [number]. , , for Intermediate values ​​for channel interference compensation calculation. for Channel angular rate signal, for Channel control torque coefficient, for Channel switch control commands; , respectively representing pitch, yaw, and roll channels.

3. The dual-loop pseudo-rate modulation method adapted to multi-nozzle configuration according to claim 2, characterized in that: In step S4, the main circuit interference compensation duty cycle command is given. and secondary circuit interference compensation duty cycle command The calculation method is as follows: In the formula, For the amplitude limiting function, for Channel interference compensation duty cycle command, for Channel interference compensation control gain coefficient for Interference compensation limit value for main circuit of the channel. for Channel secondary loop interference compensation control gain coefficient.

4. The dual-loop pseudo-rate modulation method adapted to multi-nozzle configuration according to claim 1, characterized in that: In step 1, the main circuit control integrated signal Integrated control signal of secondary loop It can be calculated using the following formula: In the formula, , Main circuit, secondary circuit Channel quaternion bias gain coefficient , Main circuit, secondary circuit Channel angular rate deviation gain coefficient for Channel quaternion bias, for Channel attitude angular rate deviation, , for The value of the quaternion deviation integral after limiting in the kth frame of the channel; , respectively representing pitch, yaw, and roll channels.

5. The dual-loop pseudo-rate modulation method adapted to multi-nozzle configuration according to claim 1, characterized in that: In step S2, the main circuit controls the duty cycle command. and secondary circuit control duty cycle command It can be calculated using the following formula: In the formula, , Main circuit Channel correction network coefficients, , For secondary circuit Channel correction network coefficients, , Main circuit, secondary circuit Channel calibration network input, , , , Main circuit, secondary circuit Channel calibration network output; These represent the pitch, yaw, and roll channels, respectively. , where n is the difference order of the correction network.

6. The dual-loop pseudo-rate modulation method adapted to multi-nozzle configuration according to claim 1, characterized in that: In step S3, the feedback path signal of the main circuit pseudo-rate modulator and the feedback path signal of the pseudo-rate modulator in the secondary loop It can be calculated using the following formula: In the formula, , for Parameters of the pseudo-rate modulator feedback loop in the main channel circuit. , for Channel sub-loop pseudo-rate modulator feedback loop parameters, The modulation period of the pseudo-rate modulator. , for Main circuit and auxiliary circuit switch control commands for the channel. , For the k-th main circuit and secondary circuit The feedback path signal of the channel pseudo-rate modulator, , For the (k-1)th beat Feedback path signals of the pseudo-rate modulator in the main and secondary circuits of the channel; , respectively representing pitch, yaw, and roll channels.

7. The dual-loop pseudo-rate modulation method adapted to multi-nozzle configuration according to claim 1, characterized in that: In step S5, the main circuit duty cycle combined signal Combined signal with secondary circuit duty cycle The calculation formula is:

8. A dual-loop pseudo-rate modulation device adapted to multi-nozzle configuration, characterized in that, include: The integrated signal generation module is used to calculate the integrated main loop control signal based on the quaternion deviation and attitude angular rate deviation, respectively. Integrated control signal of secondary loop ; The duty cycle command generation module is used to process the control signals of the main circuit and the sub-circuit through a correction network to generate the main circuit control duty cycle command. and secondary circuit control duty cycle command ; The feedback signal generation module is used to generate signals based on the main circuit switch control commands. The feedback path signal of the main circuit pseudo-rate modulator at the previous moment The feedback path signal of the pseudo-rate modulator in the main loop was calculated. According to the secondary circuit switch control command The feedback path signal of the pseudo-rate modulator in the secondary loop at the previous moment The feedback path signal of the pseudo-rate modulator in the secondary loop was calculated. ; The interference compensation module is used to convert the attitude control nozzle switch state into a switch control command. According to inertial measurement angular rate and the switch control command Online identification of interference torque coefficient Generate main circuit interference compensation duty cycle commands respectively. and secondary circuit interference compensation duty cycle command ; The switch control command generation module is used to synthesize the main circuit control duty cycle command. Main circuit interference compensation duty cycle command and the feedback path signal of the main circuit pseudo-rate modulator The main circuit duty cycle composite signal is obtained. The main circuit switch control command is generated via the main circuit Schmitt trigger. ; Combined with the aforementioned secondary loop control duty cycle command Secondary circuit interference compensation duty cycle command and the feedback path signal of the pseudo-rate modulator in the secondary loop The combined duty cycle signal of the secondary circuit is obtained. The secondary circuit switch control command is generated via a Schmitt trigger in the secondary circuit. ; The nozzle drive module is used to transmit the main circuit switch control commands according to the nozzle distribution. and secondary circuit switch control commands Convert to nozzle switch command and reuse nozzle switch command The output is sent to the attitude control nozzle for execution.

9. The dual-loop pseudo-rate modulation device adapted to multi-nozzle configuration according to claim 8, characterized in that: In the interference compensation module, the interference torque coefficient is identified online. The specific method is as follows: In the formula, , for Channel interference compensation and low-pass filter parameters. The calculation cycle for interference compensation control is [number]. , , for Intermediate values ​​for channel interference compensation calculation. for Channel angular rate signal, for Channel control torque coefficient, for Channel switch control commands; , respectively representing pitch, yaw, and roll channels.

10. The dual-loop pseudo-rate modulation device adapted to multi-nozzle configuration according to claim 8, characterized in that: In the interference compensation module, the main circuit interference compensation duty cycle command and secondary circuit interference compensation duty cycle command The calculation method is as follows: In the formula, For the amplitude limiting function, for Channel interference compensation duty cycle command, for Channel interference compensation control gain coefficient for Interference compensation limit value for main circuit of the channel. for Channel secondary loop interference compensation control gain coefficient.

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