Recyclable rocket system and control method

Abstract

This invention belongs to the field of aerospace technology and relates to a reusable rocket system and control method. The first-stage rocket sequentially comprises a first-stage ducted fan compartment, a first-stage air chamber, a first-stage electronic control compartment, a first-stage battery compartment, and a first-stage engine assembly. The first-stage rocket also contains a first-stage stabilizing fin assembly, a first-stage ducted fan, a first-stage battery, and a control module; the control module is connected to the first-stage stabilizing fin assembly. The second-stage rocket sequentially comprises a fairing, a second-stage battery compartment, a second-stage electronic control compartment, and a second-stage propulsion compartment. The second-stage rocket also contains a second-stage battery, a second-stage electronic speed controller (ESC), a second-stage receiver, a second-stage flight controller, a second-stage ducted fan, and a second-stage engine assembly. The ESC is connected to the second-stage ducted fan, and the flight controller is connected to the second-stage propulsion assembly. The above system and control method achieve automatic separation and recovery of the rocket system.

Description

Technical Field

[0001] This invention belongs to the field of aerospace technology, and in particular relates to a reusable rocket system and control method. Background Technology

[0002] In recent years, with the rapid development of aerospace technology, small rockets have been increasingly widely used in meteorological observation, space science research, Earth observation, and commercial payload launches. Their low cost, rapid response, and flexible deployment make them an important tool for filling gaps in satellite and traditional airborne platforms. However, existing small rockets, especially sounding rockets, face several significant technical bottlenecks: First, most rockets are designed for single-use, and the rocket body crashes after the mission, making recovery impossible, resulting in high costs and resource waste per mission; second, rocket response times are long, typically taking several hours or even days from mission order to launch preparation, making it difficult to meet the real-time monitoring needs of sudden space weather events; third, existing rockets have limited coverage, especially when conducting intensive exploration of remote areas or specific airspaces, often failing to achieve efficient coverage due to fixed orbits or lack of maneuverability.

[0003] For reusable rockets, some design attempts have been made in existing technologies, such as parachute landing or wing-mounted gliding recovery. However, these solutions often suffer from problems such as complex structure, heavy weight, and low control precision. For example, parachute landing results in a large dispersion of landing points, with recovery areas reaching several square kilometers, making search difficult and susceptible to terrain and weather conditions; wing-mounted gliding recovery requires more complex aerodynamic surfaces and control mechanisms, significantly increasing the weight and manufacturing cost of the rocket while reducing reliability. In addition, these rockets typically lack the ability for precise powered recovery and cannot achieve a soft landing, limiting their application in complex terrain or densely populated areas. Another prominent issue is that existing reusable rockets mostly focus on first-stage recovery, with insufficient attention paid to the recovery and reuse of second-stage or upper-stage rockets, resulting in a still unsatisfactory mission cost-effectiveness ratio. Furthermore, the rocket's electronic systems, propulsion systems, and payload systems are often custom-designed, with low modularity, inconvenient maintenance and upgrades, and difficulty in adapting to the needs of rapid switching between multiple missions.

[0004] Therefore, there is an urgent need for a lightweight, fully recoverable, easy-to-operate, and high-precision pinpoint landing small rocket system. Summary of the Invention

[0005] To address the aforementioned technical problems, this invention provides a reusable rocket system and its control method.

[0006] In a first aspect, the present invention provides a reusable rocket system, including a first-stage rocket and a second-stage rocket, wherein the second-stage rocket is detachably connected to the first-stage rocket, and the top of the first-stage rocket is provided with an elastic separation device, wherein the lifting end of the elastic separation device abuts against the bottom end of the second-stage rocket; The first-stage rocket is sequentially equipped with a first-stage rocket ducted fan compartment, a first-stage rocket gas chamber, a first-stage rocket electrical control compartment, a first-stage rocket battery compartment, and a first-stage rocket engine assembly. The first-stage rocket is equipped with a first-stage rocket stabilizing wing assembly on top, a first-stage rocket ducted fan is located inside the first-stage rocket ducted fan nacelle, and a control module is located inside the first-stage rocket electrical control nacelle; the control module is connected to the first-stage rocket stabilizing wing assembly; and a first-stage rocket battery is located inside the first-stage rocket battery nacelle. The second-stage rocket is sequentially equipped with a fairing, a battery compartment, an electronic control compartment, and a power compartment. The second-stage rocket battery compartment houses the second-stage rocket battery, the second-stage rocket electronic speed controller (ESC), the second-stage rocket receiver, and the second-stage rocket flight control system. The second-stage rocket power compartment houses the second-stage rocket ducted fan and the second-stage rocket engine assembly. The second-stage rocket ESC is connected to the second-stage rocket ducted fan, and the second-stage rocket flight control system is connected to the second-stage rocket power assembly.

[0007] Compared with the prior art, the present invention has the following technical effects: The lightweight reusable rocket in this application adopts a multi-stage modular design. The first stage provides takeoff and recovery power, while the second stage undertakes the exploration mission. A flexible separation device enables the separation and phase switching between the first and second stages. Based on sensor data, the control module can switch modes during takeoff, flight, and recovery to achieve powered return and soft landing of the first stage. This rocket system provides a complete solution for small sounding rockets, achieving reusability and low-cost operation.

[0008] Secondly, the present invention also provides a control method for a reusable rocket system, comprising the following steps: During the takeoff phase, the control module activates the first-stage rocket engine assembly to control the reusable rocket system to climb vertically and adjust the climbing attitude of the reusable rocket system. Flight phase: Based on flight phase data, the control module adjusts the heading and flight trajectory of the reusable rocket system by adjusting the first-stage rocket stabilizer assembly and the first-stage rocket engine assembly; Separation Phase: When the fuel in the first-stage rocket engine assembly is exhausted, the control module adjusts the first-stage rocket stabilizer assembly and the first-stage rocket engine assembly to allow the reusable rocket system to enter the unpowered gliding phase. When the reusable rocket system enters the ballistic apex region, it controls the second-stage rocket to separate from the first-stage rocket. The second-stage rocket's electronic speed controller starts the second-stage rocket's ducted fan and enters cruise mode. The second-stage rocket's flight control system tracks the second-stage rocket's trajectory and adjusts the second-stage rocket's attitude. Recovery phase: The control module starts the ducted fan of the first-stage rocket, switches the power recovery mode, and plans the landing trajectory based on the altitude, speed and position information of the first-stage rocket.

[0009] The technical effects of the control methods for reusable rocket systems are the same as those of reusable rocket systems, and will not be discussed again here. Attached Figure Description

[0010] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this invention, illustrate exemplary embodiments of the invention and are used to explain the invention, but do not constitute an undue limitation of the invention. In the drawings: Figure 1 This is a schematic diagram of the structure of a lightweight reusable rocket according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of the first-stage rocket according to an embodiment of the present invention; Figure 3 This is a structural schematic diagram of the cross-section of the first-stage rocket according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of the second-stage rocket according to an embodiment of the present invention; Figure 5 This is a structural schematic diagram of the cross-section of the second-stage rocket according to an embodiment of the present invention; Figure 6 This is a schematic diagram of the structure of the first and second stage elastic separation device according to an embodiment of the present invention; Figure 7 This is a schematic diagram of the rocket's working process according to an embodiment of the present invention; Figure 8 This is an integrated framework diagram of a rocket system according to an embodiment of the present invention; Figure 9 This is a block diagram of a rocket recovery propulsion system based on a ducted fan, according to an embodiment of the present invention.

[0011] Figure label: First-stage rocket 1, Second-stage rocket 2, First-stage rocket stabilizer assembly 101, First-stage rocket ducted fan nacelle 102, First-stage rocket electrical control compartment 103, First-stage rocket battery compartment 104, First-stage rocket engine assembly 105, Second-stage rocket outer shell assembly 201, Second-stage rocket battery compartment 202, Second-stage rocket electrical control compartment 203, Second-stage rocket power compartment 204, First-stage rocket servo motor 301, First-stage rocket carbon fiber rod 302, First-stage rocket stabilizer 303, First-stage rocket stabilizer wing electrical control 304, First-stage rocket ducted fan 305, First-stage rocket stabilizer wing battery 306, First-stage rocket air chamber 307, First-stage rocket electrical control 308. First-stage rocket battery compartment shell 309. First-stage rocket solid rocket motor 310. First-stage rocket tail fin 311. Second-stage rocket fairing 401. Second-stage rocket shell 402. Second-stage rocket battery 403. Second-stage rocket battery mounting plate 404. Second-stage rocket electronic speed controller 405. Second-stage rocket receiver 406. Second-stage rocket flight control 407. Second-stage rocket ducted fan 408. Second-stage rocket carbon fiber rod 409. Second-stage rocket servo 410. Second-stage rocket stabilizing fin 411. Separation top plate 501. Separation pin 502. Separation spring 503. Separation mounting plate 504. Separation servo 505. Detailed Implementation

[0012] To make the technical problems to be solved, the technical solutions, and the beneficial effects of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0013] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0014] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified. "Several" means one or more, unless otherwise explicitly specified.

[0015] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0016] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0017] Firstly, see [the following] Figures 1 to 9 The reusable rocket system provided by this invention includes a first-stage rocket 1 and a second-stage rocket 2, which are detachably connected to the first-stage rocket 1. The first-stage rocket 1 has an elastic separation device at its top, with the lifting end of the elastic separation device abutting against the bottom end of the second-stage rocket 2. The first-stage rocket 1 sequentially includes a first-stage rocket ducted fan nacelle 102, a first-stage rocket air chamber 307, a first-stage rocket electrical control nacelle 103, a first-stage rocket battery nacelle 104, and a first-stage rocket engine assembly 105. The first-stage rocket 1 has a first-stage rocket stabilizing fin assembly 101 at its top. The first-stage rocket ducted fan 305 is housed within the first-stage rocket ducted fan nacelle 102, and a control module is housed within the first-stage rocket electrical control nacelle 103. It is connected to the first-stage rocket stabilizing wing assembly 101; the first-stage rocket battery compartment 104 contains the first-stage rocket stabilizing wing battery 306; the second-stage rocket 2 is sequentially provided with a fairing, a second-stage rocket battery compartment 202, a second-stage rocket electronic control compartment 203, and a second-stage rocket power compartment 204; the second-stage rocket battery compartment 202 contains the second-stage rocket battery 403, the second-stage rocket electronic speed controller 405, the second-stage rocket 2 receiver, and the second-stage rocket flight controller 407; the second-stage rocket power compartment 204 contains the second-stage rocket ducted fan 408 and the second-stage rocket 2 engine assembly; the second-stage rocket electronic speed controller 405 is connected to the second-stage rocket ducted fan 408; and the second-stage rocket flight controller 407 is connected to the second-stage rocket 2 power assembly.

[0018] In practice: The lightweight, reusable rocket system in this application employs a modular architecture design to enable multi-stage exploration missions and safe, reliable recovery. For example... Figure 1As shown, the reusable rocket system includes a first-stage rocket 1 and a second-stage rocket 2, with a total weight controlled within 3.5 kg. The main structure of the first-stage rocket 1 and the second-stage rocket 2 adopts a carbon fiber frame and a 3D-printed shell, ensuring an extremely high strength-to-weight ratio and rapid manufacturing and deployment capabilities. The second-stage rocket 2 is mounted on top of the first-stage rocket 1. The first-stage rocket 1 and the second-stage rocket 2 are coaxially aligned and fitted together by a concave-convex structure to withstand the launch load. The elastic separation device is embedded or integrated on top of the first-stage rocket 1. Before separation, the second-stage rocket 2 is in a compressed and locked state; when separation is required, the elastic separation device releases the lock, and the elastic force of the device lifts the second-stage rocket 2 to separate it from the first-stage rocket 1.

[0019] The first-stage rocket 1 serves as the propulsion and control base of the entire system. Its core is the control module located in the middle. This control module integrates the flight control unit, sensor unit (including IMU and GPS), and real-time decision unit. It can acquire and process attitude data with low latency and calculate control commands through a Kalman filter-based algorithm to achieve stable and precise flight attitude adjustments. Above the control module is a ducted fan, and below it is the first-stage rocket solid rocket motor 310. During takeoff, the first-stage rocket solid rocket motor 310 provides the main thrust, rapidly propelling the rocket system to the predetermined altitude. During recovery, the first-stage rocket 1 switches to the first-stage rocket ducted fan 305, which is equipped with a deflectable rudder. By adjusting the thrust and controlling the first-stage rocket stabilizing fins 303 (canards) of the first-stage rocket stabilizing fin assembly 101, it achieves powered deceleration and precise landing. The first-stage rocket 1's first-stage stabilizing wing battery 306 and the control module within the first-stage rocket's electronic control cabin 103 provide stable power and signal scheduling for the entire system. Four sets of first-stage rocket stabilizing wing assemblies 101 are symmetrically mounted on the outer shell of the first-stage rocket 1. Each set includes a carbon fiber first-stage rocket stabilizing wing 303 and a first-stage rocket servo motor 301, providing additional aerodynamic stability and control torque during atmospheric flight. The second-stage rocket 2, serving as the mission payload platform, is structurally decoupled from the first-stage rocket 1 but with coordinated control logic. An independent second-stage rocket 2 power assembly is fixed at its bottom. It uses the second-stage rocket servo motor 410 and the second-stage rocket stabilizing wing 411 to regulate airflow for attitude and heading control during the cruise phase. Internally, it houses the second-stage rocket flight controller 407, the second-stage rocket electronic speed controller 405, and sensing and communication submodules. The fairing can flexibly accommodate various meteorological sensors (such as pressure, temperature, and humidity probes) or scientific research equipment, completing data acquisition during flight. The elastic separation device connecting the first-stage rocket 1 and the second-stage rocket 2 is the key mechanical device for achieving stage transition. When the rocket system reaches the preset separation altitude, the main control command of the control module will trigger the separation action of the elastic separation device, smoothly and reliably pushing the second-stage rocket 2 away from the first-stage rocket 1 platform. After that, the two rockets will independently perform their respective tasks: the second-stage rocket 2 will start autonomous cruise exploration, while the first-stage rocket 1 will immediately start its recovery sequence.

[0020] The entire rocket's operation is governed by intelligent control methods: During the liftoff phase, the solid rocket motor 310 of the first-stage rocket engine assembly 105 ignites, and the control module dynamically adjusts the deflection angle of the first-stage rocket tail fin 311 and the first-stage rocket stabilizing fin 303 based on filtered sensor data to maintain vertical climb stability; after the solid fuel is exhausted, the rocket system enters the unpowered gliding phase and issues a separation command in the trajectory apex region. After separation, the ducted fan 408 of the second-stage rocket 2 starts, entering cruise mode, and its flight control system performs trajectory tracking and attitude fine-tuning based on mission waypoints and real-time environmental data (such as wind speed). Meanwhile, after separation, the first-stage rocket 1 quickly reorients itself, activates the first-stage rocket ducted fan 305, and enters the power recovery mode. The control module continuously calculates altitude, velocity, and position information to plan the optimal landing trajectory. This implementation method achieves full automation of the rocket from launch and mission execution to safe recovery through the timing switching of the dual propulsion system (solid rocket / ducted fan), real-time closed-loop control based on advanced filtering algorithms, and modular and replaceable payload design. The reusable design significantly reduces the cost per mission, thanks to its lightweight carbon fiber structure, 3D printing technology, and dual propulsion system.

[0021] During the recovery phase of the first-stage rocket, the ducted fan 305 of the first-stage rocket is fixed, and the landing point is controlled by the four first-stage rocket stabilizing fins 303 on the outer shell. The differential deflection of the first-stage rocket stabilizing fins 303 generates a control torque, thereby achieving precise adjustment of the attitude and trajectory of the first-stage rocket.

[0022] The thrust of the ducted fan 305 of the first-stage rocket With motor speed Related, can be simplified to: The thrust of the ducted fan 305 of the first-stage rocket With motor speed Related, can be simplified to: in, It is the fan characteristic coefficient (related to impeller design). It is the rotational speed (rad / s).

[0023] Rudder deflection Used to adjust the thrust direction, it is decomposed into horizontal and vertical components: in, Used for horizontal trajectory correction. Used for vertical deceleration. The control module calculates based on real-time position error. For example, using PID control: in, It is the deviation between the current position and the target landing point.

[0024] The motion of the first-stage rocket during the recovery phase obeys Newton's second law, taking gravity into account. and aerodynamic drag : in, , It is air density. It is the drag coefficient. This is the reference area. Lightweight design (carbon fiber material) reduces... In order to improve control efficiency.

[0025] The first-stage rocket stabilizing fin 303 serves as the primary control surface, and its aerodynamic characteristics determine the control efficiency. The first-stage rocket stabilizing fin 303 adopts an X-shaped symmetrical layout, and each first-stage rocket stabilizing fin 303 is independently controlled, driven by the first-stage rocket servo motor 301.

[0026] in, The lift generated by the canard air density, The relative airspeed of the rocket, For reference area of ​​the canard, For the angle of attack, For the deflection angle of the canard, The lift coefficient is the angle of attack. and deflection angle The function.

[0027] Formula for the torque generated by the canard: in, The control torque generated by the canard The mean aerodynamic chord of the canard. This is the torque coefficient.

[0028] For the four canards in the X-shaped configuration, the control moment can be decomposed into three components: pitch moment, roll moment, and yaw moment.

[0029] Pitch moment: in, For the first The deflection angle of the canard wing, This is the distance from the canard to the rocket's center of mass.

[0030] Rolling torque: in To increase the span of the canards, differential deflection (wings 1 and 3 in the same direction, wings 2 and 4 in opposite directions) generates a rolling moment.

[0031] Yaw moment: The core of the canard control system is a control algorithm based on error feedback, which enables precise trajectory tracking.

[0032] Attitude controller design PID control law: in, For attitude angle error, To control the gain.

[0033] The control module uses a Kalman filter algorithm to process sensor data, improving attitude estimation accuracy. During the recovery phase, this algorithm is used to reduce noise and ensure stable control. The Kalman filter includes prediction and update steps. (State vector) This may include position and velocity: in, It is the state transition matrix. and It is the noise covariance. It is the sensor measurement value.

[0034] Trajectory planning is based on optimal control theory to find the landing trajectory with the least energy. A robust optimization method is employed to account for uncertainties such as wind disturbance.

[0035] in, This is the weight matrix. This is a state of anticipation for landing. The pseudospectral method is used to discretize and solve the continuous problem.

[0036] During the recovery phase of the second-stage rocket, a scheme is employed to control the landing point by deflecting the airflow from the ducted fan 408 at the bottom of the second-stage rocket and the stabilizing fin 411 (canard). Unlike traditional canard aerodynamic control, this scheme utilizes the high-speed airflow generated by the ducted fan to directly change the thrust vector direction through deflection of the bottom canard, achieving more precise landing point control.

[0037] When the canard deflects, it changes the direction of airflow at the duct outlet, generating lateral thrust.

[0038] in, For quality flow, Let V be the inlet airflow velocity vector. The outlet airflow velocity vector. It is the airflow deflection angle. This is the yaw angle.

[0039] Unlike traditional aerodynamic control, this solution utilizes high-speed airflow (jet) through a duct to enhance control efficiency.

[0040] in, This is the jet amplification factor. For jet velocity, For the incoming flow velocity, For jet density, For ambient air density, This is the formula for controlling torque amplification.

[0041] Enhancing airflow deflection efficiency using the Coanda effect: Where is the deflection enhancement coefficient, is the Coanda coefficient, is the duct curvature radius, and is the air kinematic viscosity.

[0042] To address the characteristics of thrust vector control, a decoupled control strategy and a position-thrust mapping algorithm are adopted: Where K is the gain matrix, which is inverted by singular value decomposition.

[0043] The second stage rocket has a unique control strategy that differs from traditional solutions. It achieves a recovery scheme that is different from the traditional one through jet-flow coupling compensation and intelligent control based on fluid-structure interaction.

[0044] in, For equivalent control derivative correction, This represents the aerodynamic drag component.

[0045] Where m_eff is the equivalent mass, c_eff is the damping coefficient, and k_eff is the stiffness coefficient.

[0046] This solution achieves high-precision landing point control for the second stage of the rocket's recovery phase by controlling the airflow deflection of the canard at the bottom of the ducted fan.

[0047] like Figure 2 As shown, the first-stage rocket 1 includes a first-stage rocket stabilizing wing assembly 101, a first-stage rocket ducted fan nacelle 102, a first-stage rocket electrical control nacelle 103, a first-stage rocket battery nacelle 104, and a first-stage rocket engine assembly 105. The first-stage rocket stabilizing wing assembly 101 is symmetrically mounted on the outside of the rocket, composed of carbon fiber stabilizing surfaces and control mechanisms, and is used for flight attitude control. The first-stage rocket ducted fan nacelle 102 houses the ducted fan, providing controllable thrust during the recovery phase. The control module of the first-stage rocket electrical control nacelle 103 integrates flight control units and sensor units, such as IMU and GPS, processing data in real time and achieving attitude stabilization through a Kalman filter algorithm. The first-stage rocket battery nacelle 104 uses high-energy-density batteries to power the entire system. The first-stage rocket engine assembly 105 houses the solid rocket motor, providing the main thrust during takeoff. All components are connected by mounting plates, emphasizing lightweight materials and a modular architecture to ensure the reliability of the rocket during takeoff and recovery.

[0048] like Figure 3The diagram shows the structure of the first-stage rocket 1, including a first-stage rocket servo motor 301, a first-stage rocket carbon fiber rod 302, a first-stage rocket stabilizing fin 303, a first-stage rocket stabilizing fin electronic control 304, a first-stage rocket ducted fan 305, a first-stage rocket stabilizing fin battery 306, a first-stage rocket air chamber 307, a first-stage rocket electronic control compartment shell 308, a first-stage rocket battery compartment shell 309, a first-stage rocket solid rocket motor 310, and a first-stage rocket tail fin 311. The first-stage rocket servo motor 301 drives the first-stage rocket stabilizing fin 303 to deflect, achieving real-time adjustment of flight attitude; the first-stage rocket carbon fiber rod 302 serves as the core. The supporting structure ensures lightweight and high strength; the first-stage rocket stabilizer fin electronic control unit 304 connects to the flight control module (unit) to process sensor data; the first-stage rocket ducted fan 305 provides recovery power and controls the thrust direction via the rudder; the first-stage rocket stabilizer fin battery 306 supplies power to the first-stage rocket stabilizer fin electronic control unit 304; the first-stage rocket air chamber 307 optimizes airflow distribution and reduces turbulence; the first-stage rocket electronic control compartment shell 308 and the first-stage rocket battery compartment shell 309 protect the internal electronic components; the first-stage rocket solid rocket motor 310 provides high thrust during takeoff; and the first-stage rocket tail fin 311 enhances aerodynamic stability.

[0049] like Figure 4 As shown, the second-stage rocket 2 includes a second-stage rocket outer shell assembly 201, a second-stage rocket battery compartment 202, a second-stage rocket electronic control compartment 203, and a second-stage rocket propulsion compartment 204. The second-stage rocket outer shell assembly 201 consists of a fairing and a shell, providing streamlined protection and reducing air resistance. The second-stage rocket battery compartment 202 houses high-capacity batteries, providing independent power to the second-stage rocket 2 and supporting missions during the cruise phase. The second-stage rocket electronic control compartment 203 integrates a flight control module and a communication unit for data acquisition, command parsing, and communication with ground systems. The second-stage rocket propulsion compartment 204 houses the second-stage rocket ducted fan 408 and the second-stage rocket 2 propulsion assembly, achieving thrust vector control through airflow adjustment for attitude adjustment and precise landing point control. The second-stage rocket 2 fairing can carry meteorological sensors for real-time detection, and the overall design supports rapid replacement and reuse, improving mission efficiency.

[0050] like Figure 5The diagram shows the structure of the second-stage rocket 2, including a second-stage rocket fairing 401, a second-stage rocket shell 402, a second-stage rocket battery 403, a second-stage rocket battery mounting plate 404, a second-stage rocket electronic speed controller 405, a second-stage rocket receiver 406, a second-stage rocket flight controller 407, a second-stage rocket ducted fan 408, a second-stage rocket carbon fiber rod 409, a second-stage rocket servo motor 410, and a second-stage rocket stabilizing fin 411. The second-stage rocket fairing 401 and the second-stage rocket shell 402 form an external protective layer, employing aerodynamic design. The second-stage rocket battery 403 is connected to the second-stage rocket 2 mounting plate 404. 04. Securely installed, providing continuous power; the second-stage rocket ESC 405 adjusts the motor speed of the second-stage rocket ducted fan 408 to achieve thrust control; the second-stage rocket receiver 406 receives ground commands; the second-stage rocket flight controller 407 serves as the control core, integrating STM32F4 series chips to process sensor data and execute control algorithms; the second-stage rocket ducted fan 408 generates thrust, and the bottom canard deflects airflow to achieve landing point control; the second-stage rocket carbon fiber rod 409 enhances structural rigidity; the second-stage rocket servo 410 drives the second-stage rocket stabilizer 411 for attitude fine-tuning during the cruise phase.

[0051] like Figure 6 The diagram shows the structure of the elastic separation device, including an elastic separation top plate 501, a separation pin 502, a separation spring 503, a separation fixing plate 504, and a separation servo motor 505. The separation top plate 501 is made of high-strength material to bear the load, and can be made of high-strength materials including but not limited to high-strength aluminum alloy, titanium alloy, or carbon fiber reinforced composite materials. The separation pin 502 locks the first and second stage rockets 2 through an electromagnetic triggering mechanism and is released by the separation servo motor 505 at a preset altitude. The separation spring 503 is pre-compressed to store energy and releases thrust instantaneously during separation, smoothly pushing the second stage rocket 2 away. The separation fixing plate 504 serves as a base and is fixedly connected to the body structure of the first stage rocket 1 to ensure alignment and stability. This module achieves controllable separation, ensuring the safety of the rocket during flight phase transitions. The elastic separation device is triggered after the solid rocket motor is exhausted, causing the second stage rocket 2 to enter cruise mode, and the first stage rocket 1 to initiate the recovery procedure.

[0052] Locked state: In the rocket assembly state (before launch and separation), the separation pin 502, under the action of the separation servo 505, remains in the locked position where it extends out and is inserted into the corresponding locking holes of the first-stage rocket 1 and the second-stage rocket 2 (or separation module).

[0053] Release Process: When the rocket reaches the preset separation altitude, the control module issues a separation command. The separation servo 505 drives the latch, pulling the separation pin 502 out of the locking hole and releasing the mechanical lock. At the moment the lock is released, the pre-compressed separation spring 503 is released, smoothly pushing the second stage rocket 2 away.

[0054] like Figure 7As shown, the rocket's workflow diagram illustrates the entire mission process in block form, including the takeoff, flight, and recovery phases. During takeoff, the control module activates the solid rocket motors to provide primary thrust and uses a Kalman filter algorithm to adjust the attitude in real time, ensuring stable vertical climb. During flight, the rocket adjusts its control surfaces and canards based on sensor data. During recovery, the control module switches to ducted fan power.

[0055] like Figure 8 As shown, the integrated framework diagram of the rocket system illustrates the system integration relationships in a hierarchical structure, including the control module, propulsion system, electronic components, and recovery device. The control module, as the core, contains a flight control unit, sensor unit, and decision-making unit, and connects to the propulsion system to achieve multi-mode thrust switching. The propulsion system employs a dual-power design of a solid rocket motor and a ducted fan, providing power for takeoff and recovery. The electronic components include high-precision sensors and a communication module for data acquisition and transmission.

[0056] like Figure 9 As shown in the diagram, the rocket recovery propulsion system based on a ducted fan details the power flow and energy management. The ducted fan is used in the recovery phase, and the motor speed is controlled by an electronic speed controller to achieve controllable thrust and direction adjustment.

[0057] The lightweight reusable rocket in this application adopts a multi-stage modular design. The first stage provides liftoff and recovery propulsion, while the second stage undertakes the exploration mission. Stage switching is achieved through a flexible separation device. Based on sensor data, the control module can switch modes during liftoff, flight, and recovery to achieve powered return and soft landing. The aforementioned rocket and control method provide a complete solution for small sounding rockets, achieving reusability and low-cost operation.

[0058] Specifically, the rocket consists of a first stage (1) and a second stage (2). The first and second stages are detachably connected. The first stage includes a control module, propulsion system, mounting plate, electronic components, and a reserve parachute compartment. The second stage includes a control module, mounting plate, propulsion system, and electronic components. The first stage's control module, propulsion system, and electronic components are all fixedly connected to the mounting plate. The propulsion system is located below the control module and provides power for takeoff and recovery. The second stage's control module, propulsion system, and electronic components are all housed within the mounting plate. The propulsion system is located at the bottom of the second stage, the control module is connected to the propulsion system, and the electronic components are located at the top and connected to the control module. This modular design improves the rocket's structural strength and maintainability.

[0059] Specifically, the control module includes a flight control unit, a sensor unit, and a decision unit. The flight control unit is connected to the sensor unit to collect rocket attitude data in real time. The decision unit processes the data based on a Kalman filter algorithm to achieve attitude stabilization control. The control module is connected to the propulsion system and electronic components to control the rocket's flight attitude and recovery process, with a response delay of less than 2ms to ensure flight reliability.

[0060] Specifically, the first stage of the rocket includes a solid rocket motor, a ducted fan, stabilizing fins, and a flight control board. The solid rocket motor provides thrust during takeoff, while the ducted fan provides thrust during recovery and controls direction via a rudder. The stabilizing fins are symmetrically mounted on the outside of the rocket to enhance aerodynamic stability. All components are lightweight thanks to a carbon fiber frame and a 3D-printed shell.

[0061] Specifically, the second stage of the rocket includes a ducted fan, control surfaces, sensor payloads, and a battery compartment. The control surfaces, controlled by servo motors, are used to adjust airflow direction for attitude control. The sensor payload includes an IMU, GPS, and barometer for weather detection and data acquisition. The battery compartment provides power to ensure long-term operation during the cruise phase.

[0062] Specifically, the rocket employs a modular design, including a quickly replaceable payload bay and propulsion components; the payload bay is fixedly connected to the second stage rocket 2 and is used to carry weather sensors or other detection equipment. This design enhances mission adaptability and functional versatility.

[0063] As one possible implementation, the first stabilizer assembly includes a first-stage rocket servo motor 301, a first-stage rocket carbon fiber rod 302, a first-stage rocket stabilizer 303, a first-stage rocket stabilizer electronic control 304, and a first-stage rocket stabilizer battery 306. The first-stage rocket stabilizer wing electronic control 304 is connected to the control module, the first-stage rocket servo motor 301 is fixedly connected to the first-stage rocket 1, the first-stage rocket stabilizer wing 303 is connected to the first-stage rocket servo motor 301 via transmission, and the first-stage rocket stabilizer wing battery 306 is connected to the first-stage rocket stabilizer wing electronic control 304.

[0064] As one possible implementation, the first-stage rocket engine assembly 105 includes a first-stage rocket solid rocket engine 310 and a first-stage rocket tail fin 311 that are fixedly connected to the first-stage rocket battery compartment 104. The tail fins 311 of the first-stage rocket are evenly distributed around the solid rocket motor 310 of the first-stage rocket.

[0065] As one possible implementation, the first-stage rocket 1 also includes a first-stage rocket carbon fiber rod 302; The carbon fiber rod 302 of the first-stage rocket runs through the first-stage rocket ducted fan compartment 102, the first-stage rocket gas chamber 307, the first-stage rocket electrical control compartment 103, and the first-stage rocket battery compartment 104, and is fixedly connected to the first-stage rocket ducted fan compartment 102, the first-stage rocket gas chamber 307, the first-stage rocket electrical control compartment 103, and the first-stage rocket battery compartment 104.

[0066] As one possible implementation, the first-stage rocket 1 also includes a spare parachute compartment; The spare parachute compartment is equipped with a backup parachute.

[0067] As one possible implementation, the second-stage rocket 2 propulsion assembly includes a second-stage rocket servo 410 and a second-stage rocket stabilizing fin 411; The second-stage rocket servo motor 410 is fixedly connected to the second-stage rocket power compartment 204 and is evenly distributed around the second-stage rocket power compartment 204. The second-stage rocket stabilizing fin 411 is connected to the second-stage rocket servo motor 410 via transmission.

[0068] As one possible implementation, the second-stage rocket 2 also includes a second-stage rocket carbon fiber rod 409; The carbon fiber rod 409 of the second-stage rocket is fixedly connected to the second-stage rocket's electrical control compartment 203 and the second-stage rocket's power compartment 204.

[0069] As one possible implementation, the elastic separation device includes a separation top plate 501, a separation pin 502, a separation spring 503, a separation fixing plate 504, and a servo motor for magnetically locking and releasing the separation pin 502. The separation top plate 501 is in contact with the bottom of the second stage rocket 2. The two ends of the separation spring 503 are fixedly connected to the separation top plate 501 and the separation fixing plate 504. The separation fixing plate 504 is fixedly connected to the first stage rocket 1. The separation servo motor 505 is fixed on the side of the separation fixing plate 504 away from the separation top plate 501. The fixed end of the separation pin 502 is fixedly connected to the separation top plate 501. The locking end of the separation pin 502 extends toward the separation fixing plate 504.

[0070] Based on the recovery rocket system, a control method for the recovery rocket system is also provided, including the following steps: During the takeoff phase, the control module activates the first-stage rocket engine assembly to control the reusable rocket system to climb vertically and adjust the climbing attitude of the reusable rocket system. Flight phase: Based on flight phase data, the control module adjusts the heading and flight trajectory of the reusable rocket system by adjusting the first-stage rocket stabilizer assembly and the first-stage rocket engine assembly; Separation Phase: When the fuel in the first-stage rocket engine assembly is exhausted, the control module adjusts the first-stage rocket stabilizer assembly and the first-stage rocket engine assembly to allow the reusable rocket system to enter the unpowered gliding phase. When the reusable rocket system enters the ballistic apex region, it controls the second-stage rocket to separate from the first-stage rocket. The second-stage rocket's electronic speed controller starts the second-stage rocket's ducted fan and enters cruise mode. The second-stage rocket's flight control system tracks the second-stage rocket's trajectory and adjusts the second-stage rocket's attitude. Recovery phase: The control module starts the ducted fan of the first-stage rocket, switches the power recovery mode, and plans the landing trajectory based on the altitude, speed and position information of the first-stage rocket.

[0071] Those skilled in the art will understand from the foregoing description that all or part of the steps in the methods of the above embodiments can be implemented by a program instructing related hardware. This program is stored in a storage medium and includes several instructions to cause a device (which may be a microcontroller, chip, etc.) or processor to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes, but is not limited to, various media capable of storing program code, such as USB flash drives, portable hard drives, magnetic storage devices, and optical storage devices.

[0072] As can be seen from the foregoing description, embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. The above descriptions are merely preferred embodiments of the present invention, and the present invention should not be limited to the content disclosed in these embodiments and drawings. All equivalents or modifications made without departing from the spirit of the present invention fall within the scope of protection of the present invention.

[0073] In the description of the above embodiments, specific features, structures, materials, or characteristics may be combined in any suitable manner in one or more embodiments or examples.

[0074] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A reusable rocket system, characterized in that, It includes a first-stage rocket and a second-stage rocket, wherein the second-stage rocket is detachably connected to the first-stage rocket, and the top of the first-stage rocket is provided with an elastic separation device, the lifting end of which abuts against the bottom end of the second-stage rocket; The first-stage rocket is sequentially equipped with a first-stage rocket ducted fan compartment, a first-stage rocket gas chamber, a first-stage rocket electrical control compartment, a first-stage rocket battery compartment, and a first-stage rocket engine assembly. The first-stage rocket is equipped with a first-stage rocket stabilizing wing assembly on top, a first-stage rocket ducted fan is located inside the first-stage rocket ducted fan nacelle, and a control module is located inside the first-stage rocket electrical control nacelle; the control module is connected to the first-stage rocket stabilizing wing assembly; and a first-stage rocket battery is located inside the first-stage rocket battery nacelle. The second-stage rocket is sequentially equipped with a fairing, a battery compartment, an electronic control compartment, and a power compartment. The second-stage rocket battery compartment houses the second-stage rocket battery, the second-stage rocket electronic speed controller (ESC), the second-stage rocket receiver, and the second-stage rocket flight control system. The second-stage rocket power compartment houses the second-stage rocket ducted fan and the second-stage rocket engine assembly. The second-stage rocket ESC is connected to the second-stage rocket ducted fan, and the second-stage rocket flight control system is connected to the second-stage rocket power assembly.

2. The reusable rocket system according to claim 1, characterized in that, The first-stage rocket stabilizer assembly includes a first-stage rocket servo motor, a first-stage rocket stabilizer, a first-stage rocket stabilizer electronic control unit, and a first-stage rocket stabilizer battery. The first-stage rocket stabilizer fin electronic control is connected to the control module, the first-stage rocket servo is fixedly connected to the first-stage rocket, the first-stage rocket stabilizer fin is drivenly connected to the first-stage rocket servo, and the first-stage rocket stabilizer fin battery is connected to the first-stage rocket stabilizer fin electronic control.

3. The reusable rocket system according to claim 1, characterized in that, The first-stage rocket engine assembly includes a first-stage rocket solid rocket engine and a first-stage rocket tail fin that are fixedly connected to the first-stage rocket battery compartment. The tail fins of the first-stage rocket are evenly arranged around the solid rocket motor of the first-stage rocket.

4. The reusable rocket system according to claim 1, characterized in that, The first-stage rocket also includes a first-stage rocket carbon fiber rod; The carbon fiber rod of the first-stage rocket runs through the first-stage rocket ducted fan compartment, the first-stage rocket gas chamber, the first-stage rocket electrical control compartment, and the first-stage rocket battery compartment, and is fixedly connected to the first-stage rocket ducted fan compartment, the first-stage rocket gas chamber, the first-stage rocket electrical control compartment, and the first-stage rocket battery compartment.

5. The reusable rocket system according to claim 1, characterized in that, The first-stage rocket also includes a spare parachute compartment; The spare parachute compartment is equipped with a backup parachute.

6. The reusable rocket system according to claim 1, characterized in that, The second-stage rocket propulsion assembly includes a second-stage rocket servo mechanism and a second-stage rocket stabilizing fin. The second-stage rocket servo motor is fixedly connected to the second-stage rocket power compartment and is evenly distributed along the periphery of the second-stage rocket power compartment. The second-stage rocket stabilizing fin is drivenly connected to the second-stage rocket servo motor.

7. The reusable rocket system according to claim 1, characterized in that, The second-stage rocket also includes a carbon fiber rod for the second-stage rocket; The carbon fiber rod of the second-stage rocket is fixedly connected to the second-stage rocket's electrical control compartment and the second-stage rocket's power compartment.

8. The reusable rocket system according to claim 1, characterized in that, The elastic separation device includes a separation top plate, a separation pin, a separation spring, a separation fixing plate, and a separation servo for locking and releasing the separation pin; The two ends of the separation spring are fixedly connected to the separation top plate and the separation fixing plate. The separation fixing plate is fixedly connected to the first stage rocket. The separation servo is fixed on the side of the separation fixing plate away from the separation top plate. The fixing end of the separation pin is fixedly connected to the separation top plate, and the locking end of the separation pin extends toward the separation fixing plate.

9. A control method based on the reusable rocket system according to any one of claims 1 to 8, characterized in that, Includes the following steps: During the takeoff phase, the control module activates the first-stage rocket engine assembly to control the reusable rocket system to climb vertically and adjust the climbing attitude of the reusable rocket system. Flight phase: Based on flight phase data, the control module adjusts the heading and flight trajectory of the reusable rocket system by adjusting the first-stage rocket stabilizer assembly and the first-stage rocket engine assembly; Separation Phase: When the fuel in the first-stage rocket engine assembly is exhausted, the control module adjusts the first-stage rocket stabilizer assembly and the first-stage rocket engine assembly to allow the reusable rocket system to enter the unpowered gliding phase. When the reusable rocket system enters the ballistic apex region, it controls the second-stage rocket to separate from the first-stage rocket. The second-stage rocket's electronic speed controller starts the second-stage rocket's ducted fan and enters cruise mode. The second-stage rocket's flight control system tracks the second-stage rocket's trajectory and adjusts the second-stage rocket's attitude. Recovery phase: The control module starts the ducted fan of the first-stage rocket, switches the power recovery mode, and plans the landing trajectory based on the altitude, speed and position information of the first-stage rocket.

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