Spacecraft reconfiguration control method and spacecraft control device

Abstract

The application provides a space vehicle reconstruction control method and a space vehicle control device, and the method comprises the following steps: designing a nominal controller, generating a nominal equivalent control instruction vector based on the control ability corresponding to a nominal trajectory; when a fault is detected, calculating an equivalent control compensation instruction vector according to the fault information; superimposing the nominal equivalent control instruction vector and the equivalent control compensation instruction vector to synthesize a total equivalent control instruction vector; adjusting a control distribution matrix according to the fault information, generating a servo mechanism instruction vector based on the adjusted control distribution matrix and the total equivalent control instruction vector, and sending the servo mechanism instruction vector to a normally working servo mechanism to drive an engine swing, so as to generate a desired control torque. By reconstructing the control instruction distribution mode between the normal engine and the servo mechanism, the control torque generated by the servo mechanism is consistent with the control torque expected by the nominal controller in the normal state, so that the purpose of attitude stabilization and control of the rocket after the fault is achieved.

Description

Technical Field

[0001] This invention belongs to the field of aerospace technology, and in particular relates to a space launch vehicle reconfiguration control method and a space launch vehicle control device. Background Technology

[0002] To enhance the carrying capacity and scale of space launch vehicles or rockets, multiple engines are often connected in parallel during the boost phase or first stage. Multiple servo mechanisms coordinate their actions, driving the engines to oscillate and change the thrust vector direction, thus achieving attitude stabilization and control of the space launch vehicle. Flight control of space launch vehicles requires the coordinated operation of multiple engines and servo mechanisms. Especially when space launch vehicles are reused, the probability of failure increases, adversely affecting flight reliability and thus impacting the use of reusable rockets in commercial spaceflight. When the engines or servo mechanisms of a space launch vehicle or rocket with multiple engines connected in parallel fail, the symmetry of the engine system or servo mechanism is disrupted, leading to a decrease in attitude control efficiency and the addition of disturbance forces and torques caused by the failure. This alters the dynamic model of the launch vehicle or rocket, thereby affecting the safety of the space launch vehicle. Summary of the Invention

[0003] To address the problems existing in the prior art, the present invention provides a space launch vehicle reconfiguration control method and a space launch vehicle control device.

[0004] In a first aspect, this disclosure provides a space launch vehicle reconfiguration control method, wherein the space launch vehicle adopts a centrally located engine and an outer ring of... A parallel configuration with evenly distributed engines. ≥3, the method includes: Design a nominal controller to generate nominal equivalent control command vectors for pitch, yaw, and roll channels based on the control capabilities corresponding to the nominal trajectory; When a fault is detected, the equivalent control compensation command vectors for pitch, yaw, and roll channels are calculated based on the fault information. The nominal equivalent control command vector is superimposed with the equivalent control compensation command vector to synthesize the total equivalent control command vector; The control allocation matrix is ​​adjusted based on the fault information. A servo mechanism command vector is generated based on the adjusted control allocation matrix and the total equivalent control command vector. The servo mechanism command vector is then sent to the normally operating servo mechanism to drive the engine to oscillate, thereby generating the desired control torque.

[0005] Optionally, the faults include engine loss of thrust and / or servo mechanism failure to respond to commands.

[0006] Optionally, the calculation of the equivalent control compensation command vector includes: For each engine that malfunctions, the corresponding channel equivalent control compensation command is calculated based on the installation azimuth angle of the malfunctioning engine. For each servo mechanism that malfunctions, the corresponding channel equivalent control compensation command is calculated based on the current swing angle feedback information of the malfunctioning servo mechanism. The obtained channel equivalent control compensation commands are linearly superimposed to obtain the final equivalent control compensation command vector.

[0007] Optionally, the calculation formula for the corresponding channel equivalent control compensation command based on the engine mounting azimuth angle of the fault is as follows: , , in, This is the distance from the engine's pivot point to the rocket's central longitudinal axis. This is the distance from the cross-section where the engine's pivot point is located to the theoretical apex. Let be the longitudinal distance from the center of mass of the arrow body to the theoretical tip. The number of peripheral parallel engines, for The installation azimuth angle of engine number 1 , The pitch channel equivalent control compensation command calculated for azimuth angle. The yaw channel equivalent control compensation command calculated for the azimuth angle.

[0008] Optionally, the formula for calculating the corresponding channel equivalent control compensation command based on the current swing angle feedback information of the faulty servo mechanism is as follows: , , in, , and Servo mechanism The pitch, yaw, and roll channel equivalent control compensation commands are calculated based on the pitch feedback information. , and Servo mechanism The pitch, yaw, and roll channel equivalent control compensation commands are calculated based on the pitch feedback information. and Servo mechanism and servo mechanism The swing angle, , The angle between the line connecting the servo mechanism and the engine swing center and the rocket's I quadrant line; For the case of a centrally located engine servo failure, the formula for calculating the corresponding channel equivalent control compensation command based on the current swing angle feedback information of the faulty servo mechanism is as follows: , , in Servo mechanism for centrally located engine Pitch channel equivalent control compensation command. Servo mechanism for centrally located engine Pitch channel equivalent control compensation command. and Servo mechanism and servo mechanism The swing angle.

[0009] Optional, .

[0010] Optionally, adjusting the control allocation matrix based on fault information includes: Construct the transformation matrix from the servo swing angle to the equivalent swing angle of the arrow body axis. And based on the fault information, the transformation matrix will be... Updated to the matrix under fault conditions ; The adjusted control allocation matrix is ​​calculated using the following formula: , in, For matrix The pseudo-inverse matrix, The control allocation matrix is ​​set for normal operating conditions.

[0011] Optionally, the transformation matrix is ​​adjusted based on the fault information. Updated to the matrix under fault conditions ,include: Transformation matrix Set the column element corresponding to the engine or servo mechanism that malfunctions to zero.

[0012] Optionally, the transformation matrix The column elements corresponding to the malfunctioning engine or servo mechanism are set to zero, including: when When engine number 1 malfunctions, the contribution of the corresponding servo mechanism's swing angle on that engine to the equivalent swing angle of the rocket body axis is set to 0, i.e., the matrix... The 2nd -1 and the 2nd All values ​​in the column are set to zero. After adjustment, the matrix is: ; When the servo mechanism malfunctions, when the servo mechanism When a fault occurs, the matrix 2nd All values ​​in column -1 are set to zero; Servo mechanism When a fault occurs, the matrix 2nd All values ​​in the column are set to zero. After adjustment, the matrix is: ,in, , The engine is centrally located.

[0013] Secondly, this disclosure also provides a space launch vehicle control device that uses any of the space launch vehicle reconfiguration control methods described in the first aspect.

[0014] The space launch vehicle reconfiguration control method provided by this invention reconfigures the control command allocation method between the normal engine and servo mechanism, ensuring that the generated control torque is consistent with the nominal controller's expected control torque under normal conditions. This eliminates the need to redesign control parameters for fault conditions. For disturbances caused by faults, the equivalent pitch, yaw, and roll channel equivalent control command compensation amounts (referred to as three-channel compensated control commands) are calculated based on the fault information and superimposed onto the nominal controller output. The control command allocation algorithm is then adjusted, and the equivalent control commands are allocated to the normally functioning servo mechanism based on the fault information. This drives the normally functioning engine to oscillate, generating the control torque required for attitude stabilization and control, thus achieving the goal of attitude stabilization and control of the rocket after a fault. Attached Figure Description

[0015] The above and other objects, features and advantages of this disclosure will become more apparent from the accompanying drawings, in which like reference numerals generally denote like parts.

[0016] Figure 1 A principle block diagram of the space launch vehicle reconfiguration control method provided in the embodiments of this disclosure; Figure 2 This is a schematic diagram of the tail section (i.e., from the tail section towards the head section) of a multi-engine parallel rocket first-stage engine and servo layout provided in an embodiment of this disclosure. Detailed Implementation

[0017] The embodiments of this disclosure will now be described in detail with reference to the accompanying drawings.

[0018] It should be understood that the following specific examples illustrate the implementation of this disclosure, and those skilled in the art can easily understand other advantages and effects of this disclosure from the content disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of this disclosure, and not all of them. This disclosure can also be implemented or applied through other different specific implementation methods, and the details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this disclosure. It should be noted that, in the absence of conflict, the following embodiments and features in the embodiments can be combined with each other. Based on the embodiments in this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.

[0019] It should be noted that the aspects described herein can be embodied in a wide variety of forms, and any particular structure and / or function described herein is merely illustrative. Based on this disclosure, those skilled in the art will understand that one aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number of aspects set forth herein can be used to implement the device and / or practice method. Furthermore, this device and / or practice method can be implemented using other structures and / or functionalities besides one or more of the aspects set forth herein.

[0020] It should also be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of this disclosure. The illustrations only show the components related to this disclosure and are not drawn according to the number, shape and size of the components in actual implementation. In actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0021] Furthermore, specific details are provided in the following description to facilitate a thorough understanding of the examples. However, those skilled in the art will understand that the described aspects can be practiced without these specific details.

[0022] Servo swing angle refers to the angle at which the servo mechanism drives the engine nozzle / thrust chamber to rotate around its swing center.

[0023] This embodiment primarily addresses typical faults in the propulsion systems of multi-engine parallel space launch vehicles or launch vehicles (hereinafter referred to as "rockets"). It utilizes a reconfiguration algorithm to adapt to these faults, ensuring no significant degradation in attitude control performance. Typical faults fall into two categories: first, one or more engines experience power abnormalities (complete loss of power); second, one or more servo mechanisms fail to function properly.

[0024] like Figure 1 As shown, this embodiment divides the rocket landing attitude controller into a nominal controller and a fault reconstruction algorithm. The nominal controller does not need to consider faults and is designed according to the control capability corresponding to the nominal trajectory, generating equivalent control commands for pitch, yaw, and roll channels. These equivalent control commands are then decomposed into servo mechanism commands. When the engine or servo mechanism fails, the control capability of the pitch, yaw, and roll channels decreases, and the dynamic characteristics change. The equivalent control commands for pitch, yaw, and roll channels generated based on the control system parameters designed by the nominal controller essentially generate pitch, yaw, and roll control moments to achieve rocket stability and control. Therefore, this application divides the rocket landing attitude controller into a nominal controller and a fault reconstruction algorithm to adapt to flight control under conditions of engine or servo mechanism failure.

[0025] This embodiment describes a reconfigurable control method for a launch vehicle with a centrally located engine and an outer ring of n (n>=3) engines evenly distributed in a parallel configuration. The specific methods address typical faults such as engine power loss and servo mechanism failure to follow commands are as follows: Layout of the main engine Figure 2 As shown, the engines are evenly distributed. For ease of description, we define... The installation azimuth angle of engine number 1 The center point O of the cross-section of the rocket body, where each of the engine's oscillation centers (pivot points) is located, is related to the first... The angle between the line connecting the center of rotation of the engine and the first quadrant line of the rocket. The formula for calculation is: , No. Servo mechanism on the engine The angle between the line connecting the engine's pivot point and the rocket's first quadrant line is ,but: , like Figure 2 As shown, servo mechanism With servo mechanism The installation position is at a 90° angle, servo mechanism Located in the servo mechanism The position after rotating 90° counterclockwise. Each engine has two servo mechanisms (A and B) for double-swing drive, enabling circumferential oscillation of the engine thrust vector. The servo extension direction is defined as the positive swing angle of the servo. Servo mechanism on the engine The swing angle is ;No. Servo mechanism on the engine The swing angle is For ease of description and torque calculation, a bidirectional sway angle definition for each engine orthogonal to the arrow system is introduced: For the first... The y-axis oscillation of an engine parallel to the lines of quadrants I and III is defined as the y-axis oscillation angle. The direction towards quadrant I is positive; the oscillation parallel to quadrants II and IV is defined as the z-axis oscillation angle. The line pointing towards quadrant IV is positive; and Collectively referred to as orthogonal swashplates, which are respectively the engine... The angular components along the orthogonal coordinate system. Figure 2 In This indicates the rack and servo interface (upper lug).

[0026] In a specific scenario, the space launch vehicle reconfiguration control method is as follows: 1. The nominal controller is designed according to the control capability corresponding to the nominal trajectory. For specific design details, please refer to the book "Control Systems (Volume 1)" published by China Aerospace Publishing House in 1989. The output of the nominal controller is the equivalent control command vector. ,in , , These are the equivalent control commands for the pitch, yaw, and roll channels, respectively.

[0027] 2. Calculate the servo mechanism control efficiency matrix (the transformation matrix from servo swing angle to equivalent swing angle of the arrow body axis): , in, , These are the transformation matrices from servo swing angle to orthogonal swing angle and from orthogonal swing angle to equivalent swing angle of the arrow body axis, respectively, and their expressions are as follows: , , In the matrix above, all unlabeled elements are 0.

[0028] 3. Compensation for interference caused by engine failure and servo mechanism failure shall be performed in the following manner, with the channel compensation algorithm as follows: (1) Compensation of equivalent control commands for each channel when one engine loses thrust: For the ( Engine number 1 loses thrust. The equivalent control compensation command for the corresponding channel required due to engine failure is: , in, The pitch channel equivalent control compensation command calculated for azimuth angle. The yaw channel equivalent control compensation command calculated for the azimuth angle is... In the event of a failure where the centrally located engine loses thrust, no compensation is required.

[0029] (2) Equivalent control command compensation for each channel under abnormal working conditions of a servo: Assumption ( One of the engines in engine number ) corresponds to or The servo has malfunctioned and is unable to respond to control commands. The equivalent control compensation command for the corresponding channel required due to the servo malfunction is as follows: , , Similarly, for Regarding the servo failure of engine number (centrally located), the torque balance formula can be used to determine: , , in Servo mechanism for centrally located engine Pitch channel equivalent control compensation command. Servo mechanism for centrally located engine Pitch channel equivalent control compensation command.

[0030] (3) Comprehensive calculation of equivalent control command compensation for each channel: When several engines or servo mechanisms fail, the equivalent control compensation commands for pitch, yaw, and roll are obtained by linear superposition, i.e.: , Among them, set The set of numbers corresponding to the engines that have failed. For the malfunctioning servo mechanism The set of corresponding numbers, set For the malfunctioning servo mechanism A set of corresponding numbers. Servo mechanism. and servo mechanism With servo mechanism Servo mechanism The meanings are the same, only the formula needs to be represented as a servo mechanism. and servo mechanism Based on the above description, those skilled in the art can clearly and without doubt see the connection between the two. , and This is the equivalent control compensation command for the pitch channel. , and This is the equivalent control compensation command for the yaw channel. and This is the equivalent control compensation command for the rolling channel.

[0031] The equivalent control compensation command vector for each channel caused by the fault is: (When no fault occurs, The compensation command vector is fed forward and superimposed onto the nominal equivalent control vector of each channel to synthesize the equivalent control command vector of each channel. ,Right now: .

[0032] 4. Adjust the servo mechanism control efficiency matrix according to the fault information, that is, adjust it as follows: Adjusted to : (1) When ( When engine #1 malfunctions and loses its thrust, the engine's oscillation no longer generates control torque. Therefore, the contribution of the corresponding servo oscillation angle on that engine to the equivalent oscillation angle of the rocket body axis can be set to 0, i.e., the matrix... The 2nd -1 and the 2nd All values ​​in the column are set to zero. After adjustment, the matrix is: .

[0033] (2) When the servo mechanism malfunctions, it can no longer generate control torque by swinging the malfunctioning servo mechanism. Therefore, when Servo mechanism of engine number 1 When a malfunction occurs that prevents the response to commands, the matrix will be... 2nd All values ​​in column -1 are set to zero; when Servo mechanism of engine number 1 When a malfunction occurs that prevents the response to commands, the matrix will be... 2nd All values ​​in the column are set to zero. After adjustment, the matrix is: .

[0034] (3) When more than one engine or servo mechanism fails, the matrix will be adjusted according to (1) and (2) above. The corresponding columns are all set to zero. After adjustment, the matrix is: .

[0035] That is, when the engine malfunctions, The corresponding servo mechanisms are all set to zero; their states are not considered at this time. For example, if the first engine malfunctions, All values ​​in columns 1 and 2 are set to zero. However, when the first engine is functioning correctly, and only the servo mechanism malfunctions, such as the servo mechanism... If there is a fault, then All values ​​in the first column are set to zero, such as in a servo mechanism. If there is a fault, then If all values ​​in column 2 are set to zero, then if both columns fail simultaneously, then... Set all values ​​in columns 1 and 2 to zero.

[0036] 5. Set the matrix according to the fault handling results. The control allocation adjustment strategy is as follows: , in for The pseudo-inverse matrix.

[0037] The commands for the servo mechanisms corresponding to the malfunctioning engine are reset to zero. For the nominal state (no fault occurrence), the assignment matrix from the equivalent control swing angle command to the servo command is given, and: , in , These are the transformation matrices from equivalent control swing angle command to orthogonal swing angle, and from orthogonal swing angle command to servo command, respectively, and their expressions are as follows: , , In the matrix above, all unlabeled elements are 0.

[0038] When no fault occurs, there is no need to process the transformation matrix from the servo swing angle to the equivalent swing angle of the arrow body axis, i.e. ,at this time, This indicates that the control allocation adjustment algorithm for faults will not affect the normal operating conditions of the engine and servo.

[0039] In addition, in this embodiment, the outer ring An engine can rotate once or multiple times.

[0040] This embodiment proposes a reconfigurable control method for typical faults such as engine power loss and servo mechanism failure to track commands. This method does not require changes to the original control structure and parameters; it only needs to compensate for the equivalent control commands in the pitch, yaw, and roll channels based on the fault information and adjust the servo mechanism command allocation matrix to achieve reconfigurable control under fault conditions. Then, through normal engine and servo oscillation, the control torque required for rocket stabilization and control can be generated.

[0041] This embodiment also discloses a space launch vehicle control device, which uses the space launch vehicle reconfiguration control method disclosed in this embodiment.

[0042] The basic principles of this disclosure have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in this disclosure are merely examples and not limitations, and should not be considered as essential features of each embodiment of this disclosure. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the scope of this disclosure to the necessity of employing the aforementioned specific details for implementation.

[0043] In this disclosure, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. The block diagrams of devices, apparatuses, devices, and systems involved in this disclosure are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, devices, and systems can be connected, arranged, and configured in any manner. Words such as "comprising," "including," "having," etc., are open-ended terms meaning "including but not limited to," and are used interchangeably with them. The terms "or" and "and" as used herein refer to the terms "and / or," and are used interchangeably with them unless the context clearly indicates otherwise. The term "such as" as used herein refers to the phrase "such as but not limited to," and is used interchangeably with it.

[0044] Additionally, as used herein, the "or" used in a list of items beginning with "at least one" indicates a separate list, such that a list of, for example, "at least one of A, B, or C" means A or B or C, or AB or AC or BC, or ABC (i.e., A and B and C). Furthermore, the word "exemplary" does not imply that the described example is preferred or better than other examples.

[0045] It should also be noted that in the systems and methods of this disclosure, the components or steps can be decomposed and / or recombined. These decompositions and / or recombinations should be considered as equivalent solutions to this disclosure.

[0046] Various changes, substitutions, and modifications can be made to the techniques described herein without departing from the teachings defined in this embodiment. Furthermore, the scope of this embodiment is not limited to the specific aspects of the processes, machines, manufacturing processes, events, means, methods, and actions described above. Currently existing or later-developed processes, machines, manufacturing processes, events, means, methods, or actions that perform substantially the same functions or achieve substantially the same results as the corresponding aspects described herein can be utilized. Therefore, this embodiment includes such processes, machines, manufacturing processes, events, means, methods, or actions within its scope.

[0047] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use this disclosure. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of this disclosure. Therefore, this disclosure is not intended to be limited to the aspects shown herein, but rather to be carried out within the widest scope consistent with the principles and novel features disclosed herein.

[0048] The above description has been given for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of this disclosure to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A space launch vehicle reconfiguration control method, characterized in that, The space launch vehicle adopts a centrally located engine and an outer ring of... A parallel configuration with evenly distributed engines. ≥3, the method includes: Design a nominal controller to generate nominal equivalent control command vectors for pitch, yaw, and roll channels based on the control capabilities corresponding to the nominal trajectory; When a fault is detected, including engine thrust loss and / or servo mechanism failure to respond to commands, the equivalent control compensation command vectors for pitch, yaw and roll channels are calculated based on the fault information. The calculation of the equivalent control compensation command vector includes: For each engine that malfunctions, the corresponding channel equivalent control compensation command is calculated based on the installation azimuth angle of the malfunctioning engine. For each servo mechanism that malfunctions, the corresponding channel equivalent control compensation command is calculated based on the current swing angle feedback information of the malfunctioning servo mechanism. The obtained channel equivalent control compensation commands are linearly superimposed to obtain the final equivalent control compensation command vector. The nominal equivalent control command vector is superimposed with the equivalent control compensation command vector to synthesize the total equivalent control command vector; Adjust the control allocation matrix based on the fault information, and construct a transformation matrix from the servo swing angle to the equivalent swing angle of the rocket body axis. , Transformation matrix The column elements corresponding to the malfunctioning engine or servo mechanism are set to zero to obtain the matrix under the fault state. And based on the matrix under fault conditions The adjusted control allocation matrix is ​​obtained; Based on the adjusted control allocation matrix and the total equivalent control command vector, a servo mechanism command vector is generated and sent to the normally operating servo mechanism to drive the engine to oscillate, thereby generating the desired control torque. Without changing the original control structure and parameters, the reconstructed control is achieved only by superimposing the nominal equivalent control command vector and the equivalent control compensation command vector and adjusting the control allocation matrix.

2. The space launch vehicle reconfiguration control method according to claim 1, characterized in that, The formula for calculating the equivalent control compensation command for the corresponding channel based on the engine installation azimuth angle of the fault is as follows: ， ， in, This is the distance from the engine's pivot point to the rocket's central longitudinal axis. This is the distance from the cross-section where the engine's pivot point is located to the theoretical apex. Let be the longitudinal distance from the center of mass of the arrow body to the theoretical tip. The number of peripheral parallel engines, for The installation azimuth angle of engine number 1 , This is the equivalent control compensation command for the pitch channel calculated based on the installation azimuth angle. This is the equivalent control compensation command for the yaw channel calculated based on the installation azimuth angle.

3. The space launch vehicle reconfiguration control method according to claim 1, characterized in that, The formula for calculating the corresponding channel equivalent control compensation command based on the current swing angle feedback information of the faulty servo mechanism is as follows: ， ， in, , and Servo mechanism The pitch, yaw, and roll channel equivalent control compensation commands are calculated based on the pitch feedback information. , and Servo mechanism The pitch, yaw, and roll channel equivalent control compensation commands are calculated based on the pitch feedback information. and Servo mechanism and servo mechanism The swing angle, , The angle between the line connecting the servo mechanism and the engine swing center and the rocket's I quadrant line; For the case of a centrally located engine servo failure, the formula for calculating the corresponding channel equivalent control compensation command based on the current swing angle feedback information of the faulty servo mechanism is as follows: ， in Servo mechanism for centrally located engine Pitch channel equivalent control compensation command. Servo mechanism for centrally located engine Pitch channel equivalent control compensation command. and Servo mechanism and servo mechanism The swing angle.

4. The space launch vehicle reconfiguration control method according to claim 2, characterized in that, 。 5. The space launch vehicle reconfiguration control method according to claim 1, characterized in that, The adjustment of the control allocation matrix based on fault information includes: Construct the transformation matrix from the servo swing angle to the equivalent swing angle of the arrow body axis. And based on the fault information, the transformation matrix will be... Updated to the matrix under fault conditions ; The adjusted control allocation matrix is ​​calculated using the following formula: ， in, For matrix The pseudo-inverse matrix, The control allocation matrix is ​​for normal operating conditions.

6. The space launch vehicle reconfiguration control method according to claim 1, characterized in that, The transformation matrix The column elements corresponding to the malfunctioning engine or servo mechanism are set to zero, including: when When engine number 1 malfunctions, the contribution of the corresponding servo mechanism's swing angle on that engine to the equivalent swing angle of the rocket body axis is set to 0, i.e., the matrix... The 2nd -1 and the 2nd All values ​​in the column are set to zero. After adjustment, the matrix is: ; When the servo mechanism malfunctions, when the servo mechanism When a fault occurs, the matrix 2nd All values ​​in column -1 are set to zero; Servo mechanism When a fault occurs, the matrix 2nd All values ​​in the column are set to zero. After adjustment, the matrix is: ,in, , The engine is centrally located.

7. A space launch vehicle control device, characterized in that, The space launch vehicle reconfiguration control method according to any one of claims 1 to 6.

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