Method, device and equipment for controlling attitude of carrier rocket and medium

Abstract

The application discloses a launch vehicle attitude control method, device, equipment and medium. The method comprises the following steps: when the launch vehicle is in the sliding section and receives an angle deviation adjustment instruction, the state of the nozzle is acquired; if the state of the third nozzle is a normal state, and the state of one of the first nozzle and the second nozzle is a fault state, and the state of the other nozzle is a normal state, the thrust direction unit vector of the target nozzle in the navigation coordinate system is acquired, and the current rolling angle of the launch vehicle, the current X-axis unit vector of the rocket body and the preset target X-axis unit vector of the rocket body are acquired; the attitude adjustment rolling angle of the launch vehicle is determined according to the thrust direction unit vector, the current rolling angle, the current X-axis unit vector of the rocket body and the target X-axis unit vector of the rocket body; and after the rolling angle of the launch vehicle is adjusted to the attitude adjustment rolling angle, the angle deviation of the channel corresponding to the fault nozzle is adjusted through the target nozzle. The method adjusts the angle deviation by adjusting the rolling angle and using the normal nozzle.

Description

Technical Field

[0001] This application relates to the field of aerospace technology, and in particular to a method, device, equipment and medium for controlling the attitude of a launch vehicle. Background Technology

[0002] Launch vehicles that use liquid attitude control engines for attitude control have high reliability requirements for their liquid attitude control systems. If the attitude control nozzle in any of the launch vehicle's pitch, yaw, or roll channels malfunctions, the nozzle will be unable to generate the torque required for attitude control, which may cause attitude divergence, preventing the vehicle from flying along the predetermined trajectory and ultimately leading to mission failure.

[0003] In the existing technology, each channel of pitch, yaw and roll is equipped with two sets of attitude control nozzles. When one set of attitude control nozzles fails, the other set of attitude control nozzles will be activated to control the attitude and ensure the smooth progress of the flight mission.

[0004] However, if both attitude control nozzles in a certain channel of the launch vehicle malfunction, or if only one attitude control nozzle is configured in each channel of the launch vehicle and it malfunctions, the launch vehicle's attitude will be out of control. Therefore, how to control attitude when all attitude control nozzles in a certain channel malfunction is a technical problem that urgently needs to be solved. Summary of the Invention

[0005] In view of the above problems, this application is made to provide a method, device, equipment and medium for controlling the attitude of a launch vehicle to solve the above problems. When the launch vehicle is flying in the coasting phase, if the nozzle corresponding to the roll channel is working normally, and the nozzle corresponding to one of the pitch channel and yaw channel fails, the roll angle of the running rocket can be adjusted so that the nozzle corresponding to the channel without failure can adjust the angular deviation of the faulty nozzle.

[0006] In a first aspect, this application provides a method for controlling the attitude of a launch vehicle, wherein the nozzle of the launch vehicle's attitude control engine includes a first nozzle corresponding to a pitch channel, a second nozzle corresponding to a yaw channel, and a third nozzle corresponding to a roll channel, and the method includes: When the launch vehicle is flying in the coasting phase and receives an angular deviation adjustment command, the status of the nozzle is acquired, including a fault status and a normal status. If the third nozzle is in the normal state, and one of the first and second nozzles is in the fault state, while the other nozzle is in the normal state, then the thrust direction unit vector of the target nozzle in the navigation coordinate system, as well as the current roll angle of the launch vehicle, the current X-axis unit vector of the rocket body, and the preset target X-axis unit vector of the rocket body are obtained. The target nozzle is the nozzle in the first and second nozzles that is in the normal state. The attitude adjustment roll angle of the launch vehicle is determined based on the thrust direction unit vector, the current roll angle, the current rocket body X-axis unit vector, and the target rocket body X-axis unit vector. After adjusting the roll angle of the launch vehicle to the attitude adjustment roll angle, the angular deviation of the channel corresponding to the faulty nozzle is adjusted through the target nozzle. The faulty nozzle is the nozzle in the state of the first nozzle and the second nozzle that is in the faulty state.

[0007] Optionally, determining the attitude adjustment roll angle of the launch vehicle based on the thrust direction unit vector, the current roll angle, the current rocket body X-axis unit vector, and the target rocket body X-axis unit vector includes: Determine the normal vector of the plane formed by the current arrow body's X-axis unit vector and the target arrow body's X-axis unit vector; Determine the angle between the unit vector of the thrust direction and the normal vector; The attitude adjustment roll angle of the launch vehicle is determined based on the included angle and the current roll angle.

[0008] Optionally, determining the attitude adjustment roll angle of the launch vehicle based on the included angle and the current roll angle includes: Calculate the difference between the preset constant and the included angle; The attitude adjustment roll angle of the launch vehicle is determined based on the difference between the current roll angle and the difference.

[0009] Optionally, determining the attitude adjustment roll angle of the launch vehicle based on the difference between the current roll angle and the difference includes: Based on the current roll angle and the difference, as well as the current pitch angle and the current yaw angle, determine whether to use the first candidate roll angle or the second candidate roll angle as the attitude adjustment roll angle of the launch vehicle; Wherein, the first candidate roll angle is the sum of the current roll angle and the difference, and the second candidate roll angle is the difference between the current roll angle and the difference.

[0010] Optionally, obtaining the state of the nozzle includes: Obtain the actual angular acceleration, theoretical angular acceleration, and angular deviation of the channel corresponding to the nozzle; The state of the nozzle corresponding to each channel is determined based on the actual angular acceleration, theoretical angular acceleration, and angular deviation for each channel.

[0011] Optionally, determining the nozzle state corresponding to each channel based on the actual angular acceleration, theoretical angular acceleration, and angular deviation for each channel includes: Calculate the product of the absolute value of the theoretical angular acceleration corresponding to each channel and a set coefficient to obtain the acceleration threshold corresponding to each channel, wherein the set coefficient is greater than zero and less than 1; The state of the nozzle corresponding to the channel whose absolute value of the actual angular acceleration is less than the corresponding acceleration threshold and whose angular deviation is greater than the preset angle threshold within a set time period is determined as the fault state.

[0012] Optionally, adjusting the angular deviation of the channel corresponding to the faulty nozzle through the target nozzle includes: The target torque of the target nozzle is determined based on the angular deviation of the channel corresponding to the faulty nozzle. The torque of the target nozzle is adjusted to the target torque so that the angular deviation is less than a preset angle threshold.

[0013] Secondly, this application provides a launch vehicle attitude control device, wherein the nozzle of the launch vehicle's attitude control engine includes a first nozzle corresponding to a pitch channel, a second nozzle corresponding to a yaw channel, and a third nozzle corresponding to a roll channel, and the device includes: The first acquisition module is used to acquire the status of the nozzle when the launch vehicle is flying in the coasting phase and receives an angular deviation adjustment command. The status includes a fault status and a normal status. The second acquisition module is used to acquire, in the navigation coordinate system, the thrust direction unit vector of the target nozzle, the current roll angle of the launch vehicle, the current X-axis unit vector of the rocket body, and the preset X-axis unit vector of the target rocket body if the state of the third nozzle is the normal state, and the state of one of the first nozzle and the second nozzle is the fault state, and the state of the other nozzle is the normal state. The determination module is used to determine the attitude adjustment roll angle of the launch vehicle based on the thrust direction unit vector, the current roll angle, the current rocket body X-axis unit vector, and the target rocket body X-axis unit vector. The adjustment module is used to adjust the roll angle of the launch vehicle to the attitude adjustment roll angle, and then adjust the angular deviation of the channel corresponding to the faulty nozzle through the target nozzle, wherein the faulty nozzle is the nozzle in the faulty state between the first nozzle and the second nozzle.

[0014] Thirdly, this application provides an electronic device, including: a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, and the processor executing the computer instructions to perform the method as described in the first aspect.

[0015] Fourthly, this application provides a computer-readable storage medium storing computer instructions for causing the computer to perform the method described in the first aspect.

[0016] The technical solutions provided in this application embodiment have at least the following technical effects or advantages: This application provides a method, apparatus, device, and medium for controlling the attitude of a launch vehicle. When the launch vehicle is flying in the coasting phase and receives an angular deviation adjustment command, the state of the nozzle is acquired, including a fault state and a normal state. If the state of the third nozzle is normal, and the state of one of the first and second nozzles is faulty, while the other nozzle is normal, then the thrust direction unit vector of the target nozzle in the navigation coordinate system, as well as the current roll angle of the launch vehicle, the current X-axis unit vector of the rocket body, and the preset target X-axis unit vector of the rocket body are acquired. That is, when the third nozzle is normal, if the state of the second and first nozzles is normal, the thrust direction unit vector of the target nozzle is acquired. If there is only one fault, then the current attitude of the launch vehicle and the target attitude are investigated. The target nozzle is the one in the first and second nozzles that is in a normal state. Based on the thrust direction unit vector, the current roll angle, the current rocket body X-axis unit vector, and the target rocket body X-axis unit vector, the attitude adjustment roll angle of the launch vehicle is determined. Based on the current attitude of the launch vehicle and the target attitude, the required roll angle adjustment is determined to the extent that the target nozzle can be used to adjust the angular deviation caused by the faulty nozzle. After adjusting the roll angle of the launch vehicle to the attitude adjustment roll angle, the angular deviation of the channel corresponding to the faulty nozzle is adjusted through the target nozzle to ensure that the attitude of the launch vehicle meets the requirements. The faulty nozzle is the one in the first and second nozzles that is in a faulty state. This method adjusts the roll angle of the operating rocket so that the nozzle corresponding to the channel without faults can adjust the angular deviation caused by the faulty nozzle. The method is simple and easy to implement.

[0017] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0018] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings: Figure 1 This is a schematic diagram of a side-jet nozzle layout for a launch vehicle provided in an embodiment of this application; Figure 2 This is a flowchart of a method for controlling the attitude of a launch vehicle provided in an embodiment of this application; Figure 3 This is a simulation result provided in an embodiment of this application where the nozzle corresponding to the pitch channel malfunctions after 200 seconds and has not been adjusted. Figure 4 This is a simulation result of a nozzle corresponding to a pitch channel malfunctioning after 200 seconds, and the adjustment being performed using the method described in this application. Figure 5 This is a structural block diagram of a launch vehicle attitude control device provided in an embodiment of this application. Detailed Implementation To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings. It should be understood that the embodiments of this disclosure and the specific features in the embodiments are detailed descriptions of the technical solutions of this application, rather than limitations on the technical solutions of this application. Unless otherwise specified, the embodiments of this application and the technical features in the embodiments can be combined with each other.

[0019] Before providing a detailed description of the launch vehicle attitude control method provided in the embodiments of this application, a brief introduction to the relevant implementation environment will be given first.

[0020] Figure 1 This is a schematic diagram of a side-jet nozzle layout for a launch vehicle provided in an embodiment of this application, as shown below. Figure 1 As shown, the attitude control engine nozzles of the launch vehicle include a first nozzle 1 corresponding to the pitch channel, a second nozzle 2 corresponding to the yaw channel, and a third nozzle 3 corresponding to the roll channel. There are two first nozzles used to adjust the pitch angle; the thrust direction of the first nozzle is parallel to the longitudinal symmetry plane of the rocket body (the Y-axis). There are two second nozzles used to adjust the yaw angle; the thrust direction of the second nozzle is perpendicular to the longitudinal symmetry plane of the rocket body and parallel to the Z-axis. There are four third nozzles used to adjust the roll angle. The X-axis of the rocket body is along the longitudinal axis of the rocket structure and points towards the arrowhead; the Y-axis of the rocket body is located in the longitudinal symmetry plane and is perpendicular to the X-axis; the Z-axis is perpendicular to both the X-axis and Y-axis.

[0021] Figure 2 This is a flowchart of a launch vehicle attitude control method provided in an embodiment of this application, such as... Figure 2 As shown, the method includes: Step S210: When the launch vehicle is flying in the coasting phase and receives the angular deviation adjustment command, obtain the nozzle status.

[0022] The status includes fault status and normal status.

[0023] In this embodiment, the coasting phase refers to the launch vehicle gliding outside the atmosphere. During the coasting phase, the orbital control engine is off, resulting in less interference, a smoother flight, longer flight time, and ample time for attitude adjustment. There is no need for drastic attitude adjustments; only stable rocket attitude is required. The nozzles are used less frequently. Therefore, the method described in this embodiment can be used to control the launch vehicle's attitude. When an angular deviation adjustment command is received, it indicates that the angular deviation of the channel corresponding to the faulty nozzle needs to be adjusted.

[0024] In a faulty state, the nozzle malfunctions and fails to generate the necessary control torque, causing the corresponding channel attitude angle to diverge to one side with increasing deviation. If not adjusted promptly, this could ultimately lead to attitude divergence and mission failure. In a normal state, the nozzle is functioning correctly and generates the necessary control torque, ensuring stable channel attitude angles.

[0025] Step S220: If the third nozzle is in a normal state, and one of the first and second nozzles is in a fault state while the other nozzle is in a normal state, then obtain the thrust direction unit vector of the target nozzle in the navigation coordinate system, as well as the current roll angle of the launch vehicle, the current X-axis unit vector of the rocket body, and the preset target X-axis unit vector of the rocket body.

[0026] The target nozzle is the nozzle in the first nozzle and the second nozzle that is in a normal state.

[0027] In this embodiment of the application, if the third nozzle is normal and only one of the first and second nozzles is faulty, then the nozzle in the normal state of the first and second nozzles is recorded as the target nozzle and the nozzle in the faulty state is recorded as the faulty nozzle. The thrust direction unit vector of the target nozzle in the navigation coordinate system, as well as the current roll angle of the launch vehicle, the current X-axis unit vector of the rocket body, and the preset target X-axis unit vector of the rocket body are obtained.

[0028] Among them, the thrust direction unit vector of the target nozzle can represent the orientation of the thrust of the target nozzle in the navigation coordinate system, the current X-axis unit vector of the launch vehicle can represent the orientation of the current X-axis of the launch vehicle in the navigation coordinate system, and the target X-axis unit vector of the launch vehicle can represent the orientation of the target X-axis of the launch vehicle in the navigation coordinate system.

[0029] In this embodiment, the current attitude angle of the rocket body in the navigation coordinate system is first obtained: the current pitch angle. Current yaw angle Current scroll angle Target attitude angles of the rocket body in the navigation coordinate system: target pitch angle Target yaw angle Target roll angle (If the target roll angle is unknown, the current roll angle is used first). The first transformation matrix from the navigation coordinate system to the current rocket body coordinate system is: The second transformation matrix from the navigation coordinate system to the target rocket body coordinate system is: ,matrix , , The calculation method is as follows: ; ; ; Then, set the current pitch angle Current yaw angle Current scroll angle The matrix to be substituted into the first transformation matrix , , From this, the first transformation matrix can be obtained; the target pitch angle can be... Target yaw angle Target roll angle The matrix to be substituted into the second transformation matrix , , From this, we can obtain the second transformation matrix.

[0030] Therefore, the current X-axis unit vector of the launch vehicle in the navigation coordinate system is represented as: .

[0031] The target X-axis unit vector of the launch vehicle is represented in the navigation coordinate system as: .

[0032] Let the unit vector of the thrust direction of the target nozzle be represented in the current rocket body coordinate system as: Then, the unit vector of the thrust direction of the target nozzle in the navigation system coordinates is represented as: .

[0033] Step S230: Determine the attitude adjustment roll angle of the launch vehicle based on the thrust direction unit vector, the current roll angle, the current rocket body X-axis unit vector, and the target rocket body X-axis unit vector.

[0034] In this embodiment, different roll angles of the rocket body will affect the distribution of pitch and yaw angular deviations in the pitch and yaw channels. By adjusting the attitude using roll, the angular deviation of the channel corresponding to the faulty nozzle is distributed to the channel corresponding to the undamaged nozzle. However, the degree to which the roll angle needs to be adjusted so that the angular deviation is completely distributed to the channel corresponding to the undamaged nozzle needs to be determined based on the target nozzle thrust direction unit vector, the current roll angle, the current rocket body X-axis unit vector, and the target rocket body X-axis unit vector, i.e., determining the attitude adjustment roll angle.

[0035] Step S240: After adjusting the roll angle of the launch vehicle to the attitude adjustment roll angle, adjust the angular deviation of the channel corresponding to the faulty nozzle through the target nozzle.

[0036] Among them, the faulty nozzle is the nozzle in the first nozzle and the second nozzle that is in a faulty state.

[0037] In this embodiment, after adjusting the roll angle of the launch vehicle to the attitude adjustment roll angle, the angular deviation of the channel corresponding to the faulty nozzle is allocated to the channel corresponding to the target nozzle. Therefore, the angular deviation of the channel corresponding to the faulty nozzle can be adjusted through the target nozzle. This method allows for adjustment of the angular deviation of the channel corresponding to the faulty nozzle by adjusting the roll angle of the launch vehicle when it is in the coasting phase of flight, provided that the nozzle corresponding to the roll channel is functioning normally. If the nozzle corresponding to one of the pitch or yaw channels fails, the method ensures that the angular deviation of the faulty nozzle channel can be adjusted by the nozzle corresponding to the unfaulty channel.

[0038] In this embodiment, if the third nozzle is in a fault state, or if both the first and second nozzles are in a fault state, an alarm is triggered because the angular deviation cannot be redistributed by adjusting the roll attitude. If the first, second, and third nozzles are all in a normal state, the angular deviation of the pitch channel is adjusted through the first nozzle, the angular deviation of the yaw channel is adjusted through the second nozzle, and the angular deviation of the roll channel is adjusted through the third nozzle.

[0039] Optionally, step S210 includes: Step S2101: Obtain the actual angular acceleration, theoretical angular acceleration, and angular deviation of the channel corresponding to the nozzle.

[0040] In this embodiment, the actual angular acceleration of the rocket body in each channel is calculated using formula (1) based on the real-time angular velocity of the rocket body in each channel output by the inertial navigation system. Formula (1) is as follows: ; in: In order to be in The increment of angular velocity over time, The time interval is given. Based on the real-time angular velocity of each channel, the angular velocity increment of each channel can be calculated. Substituting the angular velocity increments of different channels into formula (1), the actual angular acceleration of different channels can be calculated.

[0041] Calculate the theoretical angular acceleration generated by the theoretical thrust of the nozzle corresponding to each channel according to formula (2). Formula (2) is as follows:

[0042] Where: F is the theoretical thrust. To control the lever arm, For rotational inertia, and The mass of the arrow body can be obtained by interpolation based on the mass of the arrow body, which can be obtained in real time from the onboard computer. By substituting the theoretical thrust of different channels into formula (2), the theoretical angular acceleration of different channels can be calculated.

[0043] In this embodiment of the application, the angular deviation includes pitch angle deviation, yaw angle deviation, and roll angle deviation, and the pitch angle deviation is the current pitch angle. pitch angle with target The difference, the yaw angle deviation is the current yaw angle pitch angle with target The difference, the roll angle deviation is the current roll angle With the target roll angle The difference.

[0044] Step S2102: Determine the state of the nozzle corresponding to each channel based on the actual angular acceleration, theoretical angular acceleration, and angular deviation for each channel.

[0045] In this embodiment of the application, the actual angular acceleration can be determined based on the theoretical angular acceleration, and the attitude angle of the rocket body can be determined based on the angular deviation. Therefore, by combining the two determination results, it can be determined whether the nozzle is in a fault state or a normal state.

[0046] Optionally, step S2102 includes: Calculate the product of the absolute value of the theoretical angular acceleration corresponding to each channel and the set coefficient to obtain the acceleration threshold corresponding to each channel; determine the state of the nozzle corresponding to the channel whose absolute value of the actual angular acceleration is less than the corresponding acceleration threshold and whose angular deviation is greater than the preset angle threshold within a set time period as a fault state.

[0047] The set coefficient is greater than zero and less than 1.

[0048] In this embodiment of the application, if the absolute value of the actual angular acceleration is less than the corresponding acceleration threshold, it indicates that the actual angular acceleration deviation is large. At the same time, if the angular deviation is greater than the preset angle threshold within a set time period, it indicates that the attitude is unstable. When both of these conditions are met, it indicates that the nozzle corresponding to this channel is faulty. Therefore, the state of the nozzle corresponding to this channel is determined as a faulty state.

[0049] In this embodiment of the application, the state of the nozzle corresponding to the channel whose absolute value of actual angular acceleration is greater than or equal to the corresponding acceleration threshold, or whose angular deviation is less than or equal to the angle threshold, is determined to be the normal state.

[0050] Optionally, step S230 includes: Step S2301: Determine the normal vector of the plane formed by the current arrow body's X-axis unit vector and the target arrow body's X-axis unit vector.

[0051] In this embodiment, adjusting the orientation of the target nozzle to lie within the plane formed by the current X-axis unit vector of the rocket body and the target rocket body's X-axis unit vector allows the angular deviation of the channel corresponding to the faulty nozzle to be distributed to the channel corresponding to the target nozzle, thus achieving adjustment of the angular deviation of the channel corresponding to the faulty nozzle. Therefore, the plane formed by the current X-axis unit vector of the rocket body and the target rocket body's X-axis unit vector can be determined first, and then the vector perpendicular to this plane can be determined. That is, normal vector , .

[0052] Step S2302: Determine the angle between the unit vector of the thrust direction and the normal vector.

[0053] In this embodiment, the angle between the unit vector of the thrust direction of the target nozzle and the normal vector is calculated according to formula (3). Formula (3) is as follows: .

[0054] Step S2303: Determine the attitude adjustment roll angle of the launch vehicle based on the included angle and the current roll angle.

[0055] Optionally, step S2303 includes: The first step is to calculate the difference between the preset constant and the included angle.

[0056] In this embodiment of the application, the constant is 90°, so the difference is 90-α.

[0057] The second step is to determine the attitude adjustment roll angle of the launch vehicle based on the current roll angle and the difference.

[0058] In this embodiment of the application, two candidate roll angles can be calculated based on the included angle α, namely the first candidate roll angle. Second candidate roll angle One of these two candidate roll angles is the desired attitude adjustment roll angle. The first candidate roll angle can be calculated using formula (4). Formula (4) is as follows: ; The second candidate roll angle is calculated according to formula (5). Formula (5) is as follows: .

[0059] in, This is the current scroll angle.

[0060] Next, from the first candidate rolling angle Second candidate roll angle The required attitude adjustment roll angle is selected during the screening process.

[0061] Optional, the second step includes: Based on the current roll angle and difference, as well as the current pitch angle and current yaw angle, determine whether to use the first candidate roll angle or the second candidate roll angle as the attitude adjustment roll angle of the launch vehicle.

[0062] The first candidate roll angle is the sum of the current roll angle and the difference, and the second candidate roll angle is the difference between the current roll angle and the difference.

[0063] Specifically, first calculate the first candidate roll angle. When used as the attitude adjustment roll angle, the rocket body axis (Y-axis for example) corresponding to the channel where the target nozzle is located is represented as C1 in the navigation coordinate system: ; Then calculate the second candidate roll angle. When used as the attitude adjustment roll angle, the rocket body axis (Y-axis for example) corresponding to the channel where the target nozzle is located is represented as C2 in the navigation coordinate system: ; Next, if < ,but The first candidate roll angle is used as the attitude adjustment roll angle; if ≥ ,but The second candidate roll angle will be used as the attitude adjustment roll angle.

[0064] in, This can reflect the degree to which C1 deviates from the plane formed by the current unit vector of the rocket's X-axis and the unit vector of the target rocket's X-axis. It can reflect the degree to which C2 deviates from the plane formed by the current arrow body's X-axis unit vector and the target arrow body's X-axis unit vector.

[0065] In this embodiment of the application, adjusting the roll angle of the launch vehicle to the attitude adjustment roll angle includes: Obtain the start and end times of the launch vehicle's roll angle adjustment; determine the program roll angle of the launch vehicle at each time between the start and end times based on the current roll angle and the attitude adjustment roll angle; adjust the launch vehicle from the current roll angle to the attitude adjustment roll angle according to the program roll angle corresponding to each time.

[0066] The program roll angle of the launch vehicle at each time point between the start and end times can be calculated using formula (6). Formula (6) is as follows: ; in: At the starting time, This is the attitude adjustment duration (the difference between the start and end times). This refers to each moment between the start and end times, i.e., the current flight time.

[0067] By gradually adjusting the roll angle of the launch vehicle to the attitude adjustment roll angle through the program roll angle.

[0068] Optionally, step S2303 includes: Based on the angular deviation of the channel corresponding to the faulty nozzle, determine the target torque of the target nozzle; adjust the torque of the target nozzle to the target torque so that the angular deviation is less than the preset angle threshold.

[0069] In this embodiment of the application, based on the angular deviation of the channel corresponding to the faulty nozzle, it is determined how much torque the target nozzle needs to provide to eliminate the angular deviation, i.e., the target torque is determined. Then, the torque of the target nozzle is adjusted to the target torque so that the angular deviation is reduced to below the angle threshold.

[0070] For example, Figure 3 This is a simulation result provided in an embodiment of this application where the nozzle corresponding to the pitch channel malfunctions after 200 seconds and has not been adjusted. Figure 3 As shown, the actual pitch angle is represented by a solid line, while the target pitch angle is represented by a dashed line. After the nozzle malfunctions, the actual pitch angle deviates further and further from the target pitch angle. Figure 4 This is a simulation result of a nozzle corresponding to a pitch channel malfunctioning after 200 seconds, and being adjusted using the method described in this application, as provided in the embodiments of this application. Figure 4 As shown, in the event of a nozzle malfunction, after adjustment using the method described in this application, the actual pitch angle gradually approaches the target pitch angle.

[0071] Based on the same concept, embodiments of the present invention also provide a control device for the attitude of a launch vehicle. Figure 5 This is a structural block diagram of a launch vehicle attitude control device provided in an embodiment of this application, as shown below. Figure 5 As shown, the device 500 includes The first acquisition module 501 is used to acquire the status of the nozzle when the launch vehicle is flying in the coasting phase and receives the angular deviation adjustment command. The status includes fault status and normal status. The second acquisition module 502 is used to acquire the thrust direction unit vector of the target nozzle in the navigation coordinate system, the current roll angle of the launch vehicle, the current X-axis unit vector of the rocket body and the preset target X-axis unit vector of the launch vehicle, if the state of the third nozzle is normal and the state of one of the first nozzle and the second nozzle is faulty and the state of the other nozzle is normal. The determination module 503 is used to determine the attitude adjustment roll angle of the launch vehicle based on the thrust direction unit vector, the current roll angle, the current rocket body X-axis unit vector, and the target rocket body X-axis unit vector. The adjustment module 504 is used to adjust the roll angle of the launch vehicle to the attitude adjustment roll angle, and then adjust the angular deviation of the channel corresponding to the faulty nozzle through the target nozzle. The faulty nozzle is the nozzle in the first nozzle and the second nozzle that is in the faulty state.

[0072] Optionally, the determining module 503 includes: The first determining unit is used to determine the normal vector of the plane formed by the current X-axis unit vector of the rocket body and the X-axis unit vector of the target rocket body; The second determining unit is used to determine the angle between the thrust direction unit vector and the normal vector; The third determining unit is used to determine the attitude adjustment roll angle of the launch vehicle based on the included angle and the current roll angle.

[0073] Optionally, the third determining unit includes: The calculation subunit is used to calculate the difference between a preset constant and the included angle; The determination sub-unit is used to determine the attitude adjustment roll angle of the launch vehicle based on the current roll angle and the difference.

[0074] Optionally, determining the sub-unit is also used for: Based on the current roll angle and the difference, as well as the current pitch angle and the current yaw angle, determine whether to use the first candidate roll angle or the second candidate roll angle as the attitude adjustment roll angle of the launch vehicle; The first candidate roll angle is the sum of the current roll angle and the difference, and the second candidate roll angle is the difference between the current roll angle and the difference.

[0075] Optionally, the first acquisition module 501 includes: The acquisition unit is used to acquire the actual angular acceleration, theoretical angular acceleration, and angular deviation of the channel corresponding to the nozzle. The fourth determining unit is used to determine the state of the nozzle corresponding to each channel based on the actual angular acceleration, theoretical angular acceleration, and angular deviation of each channel.

[0076] Optionally, the fourth determining unit is also used for: Calculate the product of the absolute value of the theoretical angular acceleration corresponding to each channel and the set coefficient to obtain the acceleration threshold corresponding to each channel. The set coefficient is greater than zero and less than 1. The nozzle state corresponding to a channel whose absolute value of actual angular acceleration is less than the corresponding acceleration threshold and whose angular deviation is greater than the preset angle threshold within a set time period is determined to be a fault state.

[0077] Optionally, the adjustment module 504 is also used for: The target torque of the target nozzle is determined based on the angular deviation of the channel corresponding to the faulty nozzle. Adjust the torque of the target nozzle to the target torque so that the angular deviation is less than the preset angle threshold.

[0078] It is understood that the device provided in the above embodiments is only illustrated by the division of the above functional modules. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0079] This invention also provides an electronic device that may include a processor and a memory, wherein the processor and the memory may be interconnected via a bus or other means.

[0080] The processor can be a central processing unit (CPU), or an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application, or it can be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or other chips, or combinations of the above types of chips.

[0081] Memory may include mass storage for data or instructions. For example, and not limitingly, memory may include hard disk drives (HDDs), floppy disk drives, flash memory, optical disks, magneto-optical disks, magnetic tape, or Universal Serial Bus (USB) drives, or combinations of two or more of these. Where appropriate, memory may include removable or non-removable (or fixed) media. Where appropriate, memory may be internal or external to an electronic device. In a particular embodiment, memory may be non-volatile solid-state memory.

[0082] In one instance, the memory may be read-only memory (ROM). In one instance, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), an electrically rewritable ROM (EAROM), or flash memory, or a combination of two or more of these.

[0083] The processor reads and executes computer program instructions stored in memory to implement any of the launch vehicle attitude control methods in the above embodiments.

[0084] In one example, the electronic device may further include a communication interface and a bus. The processor, memory, and communication interface are connected via the bus to communicate with each other. The communication interface is primarily used to enable communication between the various modules, devices, units, and / or equipment in the embodiments of this application. Where appropriate, the bus may include one or more buses.

[0085] Furthermore, in conjunction with the launch vehicle attitude control method in the above embodiments, this invention can be implemented using a computer-readable storage medium. This computer-readable storage medium stores computer program instructions; when these computer program instructions are executed by a processor, they implement any of the launch vehicle attitude control methods in the above embodiments.

[0086] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the methods described above. The storage medium can be read-only memory (ROM), random access memory (RAM), flash memory, hard disk drive (HDD), or solid-state drive (SSD), etc.; the storage medium can also include combinations of the above types of memory.

[0087] The technical solutions described in the embodiments of this application have at least the following technical effects or advantages: This application provides a method, apparatus, device, and medium for controlling the attitude of a launch vehicle. When the launch vehicle is flying in the coasting phase and receives an angular deviation adjustment command, the state of the nozzle is acquired, including a fault state and a normal state. If the state of the third nozzle is normal, and the state of one of the first and second nozzles is faulty, while the other nozzle is normal, then the thrust direction unit vector of the target nozzle in the navigation coordinate system, as well as the current roll angle of the launch vehicle, the current X-axis unit vector of the rocket body, and the preset target X-axis unit vector of the rocket body are acquired. That is, when the third nozzle is normal, if the state of the second and first nozzles is normal, the thrust direction unit vector of the target nozzle is acquired. If there is only one fault, then the current attitude of the launch vehicle and the target attitude are investigated. The target nozzle is the one in the first and second nozzles that is in a normal state. Based on the thrust direction unit vector, the current roll angle, the current rocket body X-axis unit vector, and the target rocket body X-axis unit vector, the attitude adjustment roll angle of the launch vehicle is determined. Based on the current attitude of the launch vehicle and the target attitude, the required roll angle adjustment is determined to the extent that the target nozzle can be used to adjust the angular deviation caused by the faulty nozzle. After adjusting the roll angle of the launch vehicle to the attitude adjustment roll angle, the angular deviation of the channel corresponding to the faulty nozzle is adjusted through the target nozzle to ensure that the attitude of the launch vehicle meets the requirements. The faulty nozzle is the one in the first and second nozzles that is in a faulty state. This method adjusts the roll angle of the operating rocket so that the nozzle corresponding to the channel without faults can adjust the angular deviation caused by the faulty nozzle. The method is simple and easy to implement.

[0088] Numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this specification.

[0089] Similarly, it should be understood that, in order to simplify this disclosure and aid in understanding one or more of the various aspects of the invention, in the above description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof. However, this method of disclosure should not be construed as reflecting an intention that the claimed invention requires more features than are expressly recited in each claim. Rather, as reflected in the following claims, inventive aspects lie in fewer than all features of a single foregoing disclosed embodiment. Therefore, the claims following the detailed description are hereby expressly incorporated into this detailed description, wherein each claim itself is a separate embodiment of the invention.

[0090] It should be noted that the above embodiments are illustrative of the invention and not restrictive, and that those skilled in the art can devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses should not be construed as limiting the claims. The word "comprising" does not exclude the presence of components or steps not listed in the claims. The word "a" or "an" preceding a component does not exclude the presence of a plurality of such components. The invention can be implemented by means of hardware comprising several different components and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third, etc., does not indicate any order. These words can be interpreted as names.

Claims

1. A method for controlling the attitude of a launch vehicle, characterized in that, The nozzles of the launch vehicle's attitude control engine include a first nozzle corresponding to the pitch channel, a second nozzle corresponding to the yaw channel, and a third nozzle corresponding to the roll channel. The method includes: When the launch vehicle is flying in the coasting phase and receives an angular deviation adjustment command, the status of the nozzle is acquired, including a fault status and a normal status. If the third nozzle is in the normal state, and one of the first and second nozzles is in the fault state, while the other nozzle is in the normal state, then the thrust direction unit vector of the target nozzle in the navigation coordinate system, as well as the current roll angle of the launch vehicle, the current X-axis unit vector of the rocket body, and the preset target X-axis unit vector of the rocket body are obtained. The target nozzle is the nozzle in the first and second nozzles that is in the normal state. The attitude adjustment roll angle of the launch vehicle is determined based on the thrust direction unit vector, the current roll angle, the current rocket body X-axis unit vector, and the target rocket body X-axis unit vector. After adjusting the roll angle of the launch vehicle to the attitude adjustment roll angle, the angular deviation of the channel corresponding to the faulty nozzle is adjusted through the target nozzle. The faulty nozzle is the nozzle in the state of the first nozzle and the second nozzle that is in the faulty state.

2. The method for controlling the attitude of a launch vehicle according to claim 1, characterized in that, The step of determining the attitude adjustment roll angle of the launch vehicle based on the thrust direction unit vector, the current roll angle, the current rocket body X-axis unit vector, and the target rocket body X-axis unit vector includes: Determine the normal vector of the plane formed by the current arrow body's X-axis unit vector and the target arrow body's X-axis unit vector; Determine the angle between the unit vector of the thrust direction and the normal vector; The attitude adjustment roll angle of the launch vehicle is determined based on the included angle and the current roll angle.

3. The method for controlling the attitude of a launch vehicle according to claim 2, characterized in that, Determining the attitude adjustment roll angle of the launch vehicle based on the included angle and the current roll angle includes: Calculate the difference between the preset constant and the included angle; The attitude adjustment roll angle of the launch vehicle is determined based on the difference between the current roll angle and the difference.

4. The method for controlling the attitude of a launch vehicle according to claim 3, characterized in that, Determining the attitude adjustment roll angle of the launch vehicle based on the difference between the current roll angle and the difference includes: Based on the current roll angle and the difference, as well as the current pitch angle and the current yaw angle, determine whether to use the first candidate roll angle or the second candidate roll angle as the attitude adjustment roll angle of the launch vehicle; Wherein, the first candidate roll angle is the sum of the current roll angle and the difference, and the second candidate roll angle is the difference between the current roll angle and the difference.

5. The method for controlling the attitude of a launch vehicle according to claim 1, characterized in that, The process of obtaining the state of the nozzle includes: Obtain the actual angular acceleration, theoretical angular acceleration, and angular deviation of the channel corresponding to the nozzle; The state of the nozzle corresponding to each channel is determined based on the actual angular acceleration, theoretical angular acceleration, and angular deviation for each channel.

6. The method for controlling the attitude of a launch vehicle according to claim 5, characterized in that, The process of determining the nozzle state corresponding to each channel based on the actual angular acceleration, theoretical angular acceleration, and angular deviation for each channel includes: Calculate the product of the absolute value of the theoretical angular acceleration corresponding to each channel and a set coefficient to obtain the acceleration threshold corresponding to each channel, wherein the set coefficient is greater than zero and less than 1; The state of the nozzle corresponding to the channel whose absolute value of the actual angular acceleration is less than the corresponding acceleration threshold and whose angular deviation is greater than the preset angle threshold within a set time period is determined as the fault state.

7. The method for controlling the attitude of a launch vehicle according to claim 1, characterized in that, The adjustment of the angular deviation of the channel corresponding to the faulty nozzle through the target nozzle includes: The target torque of the target nozzle is determined based on the angular deviation of the channel corresponding to the faulty nozzle. The torque of the target nozzle is adjusted to the target torque so that the angular deviation is less than a preset angle threshold.

8. A control device for the attitude of a launch vehicle, characterized in that, The nozzle of the launch vehicle's attitude control engine includes a first nozzle corresponding to the pitch channel, a second nozzle corresponding to the yaw channel, and a third nozzle corresponding to the roll channel. The device includes: The first acquisition module is used to acquire the status of the nozzle when the launch vehicle is flying in the coasting phase and receives an angular deviation adjustment command. The status includes a fault status and a normal status. The second acquisition module is used to acquire, in the navigation coordinate system, the thrust direction unit vector of the target nozzle, the current roll angle of the launch vehicle, the current X-axis unit vector of the rocket body, and the preset X-axis unit vector of the target rocket body if the state of the third nozzle is the normal state, and the state of one of the first nozzle and the second nozzle is the fault state, and the state of the other nozzle is the normal state. The determination module is used to determine the attitude adjustment roll angle of the launch vehicle based on the thrust direction unit vector, the current roll angle, the current rocket body X-axis unit vector, and the target rocket body X-axis unit vector. The adjustment module is used to adjust the roll angle of the launch vehicle to the attitude adjustment roll angle, and then adjust the angular deviation of the channel corresponding to the faulty nozzle through the target nozzle, wherein the faulty nozzle is the nozzle in the faulty state between the first nozzle and the second nozzle.

9. An electronic device, characterized in that, include: A memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, the processor executing the computer instructions to perform the method of any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing the computer to perform the method of any one of claims 1-7.

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