Adaptive attitude adjustment method for launch vehicle and satellite separation stage

Abstract

The present application belongs to the field of launch vehicle attitude control and satellite-rocket separation technology, and particularly relates to a launch vehicle satellite-rocket separation phase adaptive attitude adjustment method. The method comprises: offline obtaining satellite spin angular velocity target value at satellite-rocket separation time and attitude control angle target value at satellite-rocket separation time, and online real-time obtaining attitude value at adaptive attitude adjustment starting time in the satellite-rocket separation phase; obtaining the sign product of attitude adjustment angle increment based on the satellite spin angular velocity target value, the attitude control angle target value and the attitude value at the adaptive attitude adjustment starting time; determining the calculation mode of the attitude angle tracking instruction value based on whether the sign product of the attitude adjustment angle increment is greater than zero: if yes, executing the second calculation mode, and if no, executing the first calculation mode; and online real-time controlling the flight attitude of the launch vehicle according to the attitude angle tracking instruction value to realize adaptive attitude adjustment. The present application is suitable for satellite launch tasks with multiple constraints of separation attitude accuracy, rotation angular velocity and propellant consumption.

Description

Technical Field

[0001] This invention belongs to the field of launch vehicle attitude control and satellite-rocket separation technology, and particularly relates to an adaptive attitude adjustment method for the satellite-rocket separation stage of a launch vehicle. Background Technology

[0002] Existing satellite-launch separation and attitude control schemes face technical challenges in multi-target coordination when dealing with increasingly complex mission constraints: 1. Single-target design: Existing solutions can only meet one of the core requirements, either "projectile angular velocity" or "angle control", and cannot achieve both simultaneously, resulting in a high risk of separation attitude for some satellite missions.

[0003] 2. Poor adaptability to operating conditions: Existing algorithms are designed only for the separation requirements of specific satellites and cannot adapt to the different constraints of different satellites, such as their spin-projection angular velocity and angle control accuracy.

[0004] 3. High propellant consumption: To meet a single constraint, the attitude adjustment time needs to be extended or the control torque increased, resulting in propellant waste and reducing the rocket's carrying capacity.

[0005] In actual missions, when a satellite needs both a high angular velocity and a high-precision attitude, one of these parameters must be sacrificed or the amount of propellant carried must be increased. This not only affects mission safety but also increases launch costs. Summary of the Invention

[0006] The purpose of this invention is to provide an adaptive attitude adjustment method for the separation phase of a launch vehicle, so as to solve the defects in existing star-launch separation attitude adjustment technologies.

[0007] This invention provides an adaptive attitude adjustment method for the satellite-rocket separation phase of a launch vehicle, comprising: The satellite's projectile angular velocity and attitude control angle targets at the moment of separation from the launch vehicle are acquired offline, and the attitude values ​​at the start of the adaptive attitude adjustment phase during separation are acquired online in real time. The sign product of the attitude adjustment angle increment is obtained based on the target value of the satellite spin-projectile angular velocity, the target value of the attitude control angle, and the attitude value at the start of the adaptive attitude adjustment. Based on whether the sign product of the attitude adjustment angle increment is greater than zero, determine the calculation method of the online real-time execution attitude angle tracking command value: if yes, then execute the second calculation method to obtain the attitude angle tracking command value; otherwise, execute the first calculation method to obtain the attitude angle tracking command value. The launch vehicle's flight attitude is controlled online in real time based on the attitude angle tracking command value, thereby achieving adaptive attitude adjustment during the launch vehicle's separation phase.

[0008] In some embodiments, the first calculation method includes: Based on the target value of the satellite's spin-throw angular velocity at the moment of satellite-rocket separation, the target value of the attitude control angle at the moment of satellite-rocket separation, the attitude value at the start of the adaptive attitude adjustment, the preset attitude change angular acceleration, and the preset adaptive attitude adjustment duration with the start of the attitude adjustment being zero, the first transition moment when the angular velocity changes from variable to uniform, the second transition moment when the angular velocity changes from uniform to variable, and the third transition moment when the angular velocity changes from variable to uniform are calculated respectively. The adaptive attitude adjustment increment during the satellite-launch separation phase is calculated based on the first handover time, the second handover time, the third handover time, the adaptive attitude adjustment duration with the attitude adjustment start time as zero, the target value of the satellite's spin-projection angular velocity at the satellite-launch separation time, the target value of the attitude control angle at the satellite-launch separation time, the attitude value at the adaptive attitude adjustment start time, the attitude variable angular acceleration, and the real-time calculation time of the attitude command with the attitude adjustment start time as zero. The real-time calculation time of the attitude command with the attitude adjustment start time as zero is the difference between the real-time flight time and the preset adaptive attitude adjustment start time during the satellite-launch separation phase. The attitude angle tracking command value is calculated based on the adaptive attitude adjustment increment during the satellite-rocket separation phase, the target value of the satellite's spin-projectile angular velocity at the satellite-rocket separation moment, the target value of the attitude control angle at the satellite-rocket separation moment, and the attitude value at the start of the adaptive attitude adjustment phase.

[0009] In some embodiments, the second calculation method includes: Based on the target value of the satellite's spin-projectile angular velocity at the moment of separation from the rocket and the preset attitude change angular acceleration, the first transition moment when the angular velocity changes from variable to uniform is calculated. The adaptive attitude adjustment duration is calculated in real time with the attitude adjustment start time as the zero point, based on the first handover time, the target value of the attitude control angle at the time of star-rocket separation, the attitude value at the start time of adaptive attitude adjustment, the target value of the satellite spin-projectile angular velocity at the time of star-rocket separation, and the attitude variable angular acceleration. The adaptive attitude adjustment increment during the spacecraft separation phase is calculated based on the adaptive attitude adjustment duration calculated in real time with the attitude adjustment start time as zero, the attitude variable angular acceleration, the first handover time, the target value of the attitude control angle at the spacecraft separation time, the attitude value at the adaptive attitude adjustment start time, the target value of the satellite's spin-projectile angular velocity at the spacecraft separation time, and the real-time calculation time of the attitude command with the attitude adjustment start time as zero. The real-time calculation time of the attitude command with the attitude adjustment start time as zero is the difference between the real-time flight time and the preset adaptive attitude adjustment start time for the spacecraft separation phase. The attitude angle tracking command value is calculated based on the adaptive attitude adjustment increment during the star-rocket separation phase, the target value of the attitude control angle at the moment of star-rocket separation, and the attitude value at the start of the adaptive attitude adjustment.

[0010] In some embodiments, based on the target value of the satellite's spin-launch angular velocity at the satellite-launch separation moment, the target value of the attitude control angle at the satellite-launch separation moment, the attitude value at the start of the adaptive attitude adjustment, the preset attitude change angular acceleration, and the preset adaptive attitude adjustment duration with the start of the attitude adjustment moment being zero, the first transition moment when the angular velocity changes from variable to uniform, the second transition moment when the angular velocity changes from uniform to variable, and the third transition moment when the angular velocity changes from variable to uniform are calculated respectively, including: Determine whether the target value of the attitude control angle at the moment of star-rocket separation is equal to the attitude value at the start of the adaptive attitude adjustment: If so, the first handover time, the second handover time, and the third handover time are calculated using the following formulas: ; ; ; Otherwise, the first handover time, the second handover time, and the third handover time are calculated using the following formulas: ; ; ; in, The target value of the satellite's spin-projectile angular velocity at the moment of separation from the launch vehicle. The target value for the attitude control angle at the moment of star-rocket separation. The attitude value at the start of the adaptive attitude adjustment. The preset attitude acceleration angle is... The adaptive attitude adjustment duration is set to the preset attitude adjustment start time of zero. These represent the moments when the angular velocity transitions from variable to uniform, then back to variable, and finally back to uniform. These are regular symbolic functions.

[0011] In some embodiments, the adaptive attitude adjustment increment during the satellite-launch separation phase is calculated based on the first handover time, the second handover time, the third handover time, the adaptive attitude adjustment duration with the attitude adjustment start time as zero, the target value of the satellite's spin-projection angular velocity at the satellite-launch separation time, the target value of the attitude control angle at the satellite-launch separation time, the attitude value at the adaptive attitude adjustment start time, the attitude variable acceleration, and the real-time calculation time of the attitude command with the attitude adjustment start time as zero. The calculation formula is as follows: ; ; in, The target value of the satellite's spin-projectile angular velocity at the moment of separation from the launch vehicle. The target value for the attitude control angle at the moment of star-rocket separation. The attitude value at the start of the adaptive attitude adjustment. The preset attitude acceleration angle is... The adaptive attitude adjustment duration is set to the preset attitude adjustment start time of zero. The real-time calculation time for the attitude command with the attitude adjustment start time as zero point. These are the moments when the angular velocity transitions from variable speed to constant speed, then back to variable speed, and finally back to constant speed. This is the adaptive attitude adjustment increment during the star-rocket separation phase. The real-time flight time, This is the start time for adaptive attitude adjustment during the star-rocket separation phase. These are regular symbolic functions.

[0012] In some embodiments, the attitude angle tracking command value is calculated based on the adaptive attitude adjustment increment during the satellite-rocket separation phase, the target value of the satellite's spin-projectile angular velocity at the satellite-rocket separation moment, the target value of the attitude control angle at the satellite-rocket separation moment, and the attitude value at the start of the adaptive attitude adjustment phase. The calculation formula is as follows: ; in, The target value of the satellite's spin-projectile angular velocity at the moment of separation from the launch vehicle. The target value for the attitude control angle at the moment of star-rocket separation. The attitude value at the start of the adaptive attitude adjustment. This is the adaptive attitude adjustment increment during the star-rocket separation phase. The attitude angle tracking command value, These are regular symbolic functions.

[0013] In some embodiments, the calculation formula for the first transition moment when the angular velocity changes from variable to uniform is obtained based on the target value of the satellite's spin-throw angular velocity at the moment of satellite-rocket separation and the preset attitude change angular acceleration. ; in, The target value of the satellite's spin-projectile angular velocity at the moment of separation from the launch vehicle. The preset attitude acceleration angle is... The moment when the angular velocity changes from variable to uniform is the first transition moment. These are regular symbolic functions.

[0014] In some embodiments, the adaptive attitude adjustment duration, calculated in real time with the attitude adjustment start time as zero, is obtained based on the first handover time, the target value of the attitude control angle at the satellite-rocket separation time, the attitude value at the adaptive attitude adjustment start time, the target value of the satellite's spin-projectile angular velocity at the satellite-rocket separation time, and the attitude change angular acceleration. The calculation formula is as follows: ; in, The target value for the satellite's spin-projectile angular velocity at the moment of separation from the launch vehicle. The target value for attitude control angle at the moment of separation between the spacecraft and rocket. The attitude value at the start of adaptive attitude adjustment. For attitude change angular acceleration, The moment when the angular velocity changes from variable to uniform is the first transition moment. These are regular symbolic functions.

[0015] In some embodiments, the adaptive attitude adjustment increment during the satellite-launch separation phase is calculated based on the adaptive attitude adjustment duration calculated in real time with the attitude adjustment start time as zero, the attitude variable angular acceleration, the first handover time, the target value of the attitude control angle at the satellite-launch separation time, the attitude value at the adaptive attitude adjustment start time, the target value of the satellite's spin-projectile angular velocity at the satellite-launch separation time, and the real-time calculation time of the attitude command with the attitude adjustment start time as zero. The calculation formula is as follows: ; ; in, The target value for the satellite's spin-projectile angular velocity at the moment of separation from the launch vehicle. The target value for attitude control angle at the moment of separation between the spacecraft and rocket. The attitude value at the start of adaptive attitude adjustment. For attitude change angular acceleration, The moment when the angular velocity changes from variable to uniform is the first transition moment. This is the adaptive attitude adjustment increment during the star-rocket separation phase. The real-time calculation time for the attitude command with the attitude adjustment start time as zero point. The adaptive attitude adjustment duration is calculated in real time with the attitude adjustment start time as zero. The real-time flight time, This is the start time for adaptive attitude adjustment during the star-rocket separation phase. These are regular symbolic functions.

[0016] In some embodiments, the attitude angle tracking command value is calculated based on the adaptive attitude adjustment increment during the satellite-rocket separation phase, the target value of the attitude control angle at the moment of satellite-rocket separation, and the attitude value at the start of the adaptive attitude adjustment phase. The calculation formula is as follows: ; in, The target value for attitude control angle at the moment of separation between the spacecraft and rocket. The attitude value at the start of adaptive attitude adjustment. This is the adaptive attitude adjustment increment during the star-rocket separation phase. The attitude angle tracking command value, These are regular symbolic functions.

[0017] This invention provides an adaptive attitude adjustment method for the satellite-launch separation phase of a launch vehicle. This method acquires the target values ​​of the satellite's propulsion angular velocity and attitude control angle at the moment of separation offline, and acquires the attitude value at the start of adaptive attitude adjustment in real time online. Based on the target values ​​of the satellite's propulsion angular velocity, the attitude control angle, and the attitude value at the start of adaptive attitude adjustment, a signed product of the attitude adjustment angle increment is obtained. Based on whether the signed product of the attitude adjustment angle increment is greater than zero, the calculation method for the online real-time attitude angle tracking command value is determined: if yes, a second calculation method is executed to obtain the attitude angle tracking command value; otherwise, a first calculation method is executed. The launch vehicle's flight attitude is controlled online in real time according to the attitude angle tracking command value, thereby achieving adaptive attitude adjustment during the satellite-launch separation phase. This invention can meet the accuracy requirements of propulsion angular velocity and angle control during satellite-launch separation in a single attitude adjustment process and achieve adaptive attitude adjustment during the satellite-launch separation phase. Attached Figure Description

[0018] Figure 1 This is a flowchart of the adaptive attitude adjustment method for the launch vehicle satellite-rocket separation stage according to an embodiment of the present invention; Figure 2 This is a first example diagram of the multi-objective constraint adaptive attitude adjustment method for the launch vehicle satellite-rocket separation stage according to an embodiment of the present invention; Figure 3This is a second example diagram of the multi-target constraint adaptive attitude adjustment method for the launch vehicle satellite-rocket separation stage according to an embodiment of the present invention; Figure 4 This is a third example diagram of the multi-objective constraint adaptive attitude adjustment method for the launch vehicle satellite-rocket separation stage according to an embodiment of the present invention; Figure 5 This is a fourth example diagram of the multi-objective constraint adaptive attitude adjustment method for the launch vehicle satellite-rocket separation stage according to an embodiment of the present invention. Detailed Implementation

[0019] Various embodiments and features of this application are described herein with reference to the accompanying drawings.

[0020] It should be understood that various modifications can be made to the embodiments described herein. Therefore, the above description should not be considered as limiting, but merely as an example of embodiments. Other modifications within the scope and spirit of this application will be apparent to those skilled in the art.

[0021] The accompanying drawings, which are included in and form part of this specification, illustrate embodiments of the present application and, together with the general description of the present application given above and the detailed description of the embodiments given below, serve to explain the principles of the present application.

[0022] These and other features of this application will become apparent from the following description of preferred forms of embodiments given as non-limiting examples, with reference to the accompanying drawings.

[0023] It should also be understood that although this application has been described with reference to some specific examples, those skilled in the art can certainly implement many other equivalent forms of this application.

[0024] This invention aims to improve and optimize several key technical problems existing in the current star-rocket separation and attitude adjustment technology: (1) How to simultaneously meet the requirements of angular velocity and angle control accuracy during star-rocket separation in a single attitude adjustment process; (2) How to construct an adaptive algorithm to adapt to the different operational requirements of different satellites; (3) How to optimize the control strategy to reduce propellant consumption while meeting the constraints.

[0025] Figure 1 A flowchart of an adaptive attitude adjustment method for the separation phase of a launch vehicle satellite, as provided in this embodiment of the invention, is shown below. Figure 1 As shown, an adaptive attitude adjustment method for the satellite-rocket separation stage of a launch vehicle includes the following steps: S101: Offline acquisition of the target values ​​of satellite spin-projectile angular velocity and attitude control angle at the moment of satellite-rocket separation, and online real-time acquisition of the attitude value at the start of adaptive attitude adjustment during the satellite-rocket separation phase; S102, based on the target value of the satellite spin-projectile angular velocity, the target value of the attitude control angle, and the attitude value at the start of the adaptive attitude adjustment, obtain the sign product of the attitude adjustment angle increment; S103, based on whether the signed product of the attitude adjustment angle increment is greater than zero, determine the calculation method of the online real-time execution attitude angle tracking command value: if yes, then execute the second calculation method to obtain the attitude angle tracking command value; otherwise, execute the first calculation method to obtain the attitude angle tracking command value. S104, online real-time control of the launch vehicle's flight attitude based on the attitude angle tracking command value, thereby realizing adaptive attitude adjustment during the launch vehicle's separation phase.

[0026] Compared with existing technologies, the technical solution of this invention achieves dual compliance with the requirements of angular velocity and angle control accuracy at the moment of separation of the satellite and rocket, effectively reducing the risk of separation attitude and ensuring mission safety.

[0027] Based on the above embodiments, the first calculation method includes: Based on the target value of the satellite's spin-throw angular velocity at the moment of satellite-rocket separation, the target value of the attitude control angle at the moment of satellite-rocket separation, the attitude value at the start of the adaptive attitude adjustment, the preset attitude change angular acceleration, and the preset adaptive attitude adjustment duration with the start of the attitude adjustment being zero, the first transition moment when the angular velocity changes from variable to uniform, the second transition moment when the angular velocity changes from uniform to variable, and the third transition moment when the angular velocity changes from variable to uniform are calculated respectively. The adaptive attitude adjustment increment during the satellite-launch separation phase is calculated based on the first handover time, the second handover time, the third handover time, the adaptive attitude adjustment duration with the attitude adjustment start time as zero, the target value of the satellite's spin-projection angular velocity at the satellite-launch separation time, the target value of the attitude control angle at the satellite-launch separation time, the attitude value at the adaptive attitude adjustment start time, the attitude variable angular acceleration, and the real-time calculation time of the attitude command with the attitude adjustment start time as zero. The real-time calculation time of the attitude command with the attitude adjustment start time as zero is the difference between the real-time flight time and the preset adaptive attitude adjustment start time during the satellite-launch separation phase. The attitude angle tracking command value is calculated based on the adaptive attitude adjustment increment during the satellite-rocket separation phase, the target value of the satellite's spin-projectile angular velocity at the satellite-rocket separation moment, the target value of the attitude control angle at the satellite-rocket separation moment, and the attitude value at the start of the adaptive attitude adjustment phase.

[0028] Based on the above embodiments, the second calculation method includes: Based on the target value of the satellite's spin-projectile angular velocity at the moment of separation from the rocket and the preset attitude change angular acceleration, the first transition moment when the angular velocity changes from variable to uniform is calculated. The adaptive attitude adjustment duration is calculated in real time with the attitude adjustment start time as the zero point, based on the first handover time, the target value of the attitude control angle at the time of star-rocket separation, the attitude value at the start time of adaptive attitude adjustment, the target value of the satellite spin-projectile angular velocity at the time of star-rocket separation, and the attitude variable angular acceleration. The adaptive attitude adjustment increment during the spacecraft separation phase is calculated based on the adaptive attitude adjustment duration calculated in real time with the attitude adjustment start time as zero, the attitude variable angular acceleration, the first handover time, the target value of the attitude control angle at the spacecraft separation time, the attitude value at the adaptive attitude adjustment start time, the target value of the satellite's spin-projectile angular velocity at the spacecraft separation time, and the real-time calculation time of the attitude command with the attitude adjustment start time as zero. The real-time calculation time of the attitude command with the attitude adjustment start time as zero is the difference between the real-time flight time and the preset adaptive attitude adjustment start time for the spacecraft separation phase. The attitude angle tracking command value is calculated based on the adaptive attitude adjustment increment during the star-rocket separation phase, the target value of the attitude control angle at the moment of star-rocket separation, and the attitude value at the start of the adaptive attitude adjustment.

[0029] In some embodiments, before implementing the first calculation method or the second calculation method, the target value of the satellite's spin-projectile angular velocity at the moment of satellite-rocket separation is obtained offline. Attitude control angle target value at the moment of star-rocket separation Offline design of adaptive attitude adjustment start time during the star-rocket separation phase Attitude variable angular acceleration and adaptive attitude adjustment duration with the attitude adjustment start time as zero And online real-time acquisition of attitude values ​​at the start of adaptive attitude adjustment during the star-rocket separation phase. .like Figure 2 , Figure 3 , Figure 4 and Figure 5 The diagrams show examples of multi-objective constrained adaptive attitude adjustment methods for the launch vehicle's satellite-rocket separation phase. Specifically, Figure 2 The graphs show the relationship between the attitude angle command value and time when the target value of the attitude control angle at the moment of star-rocket separation is 0, and the graphs between the angular velocity and time when the target value of the angular velocity at the moment of star-rocket separation is -0.3. Figure 3 The graphs show the relationship between the attitude angle command value and time when the target attitude control angle at the moment of spacecraft separation is 5, and the graphs between the angular velocity and time when the target angular velocity at the moment of spacecraft separation is -0.3. Figure 4 The graphs show the relationship between the attitude angle command value and time when the target attitude control angle at the moment of spacecraft separation is 5, and the graphs between the angular velocity and time when the target angular velocity at the moment of spacecraft separation is 0.3. Figure 5The graphs show the relationship between the attitude angle command value and time when the target value of the attitude control angle at the moment of star-rocket separation is 5, and the graphs show the relationship between the angular velocity and time when the target value of the angular velocity at the moment of star-rocket separation is 0.

[0030] Based on the above embodiments, the first transition moment when the satellite's angular velocity changes from variable to uniform, the second transition moment when the angular velocity changes from uniform to variable, and the third transition moment when the angular velocity changes from variable to uniform are calculated based on the target value of the satellite's angular velocity at the time of satellite-rocket separation, the target value of the attitude control angle at the time of satellite-rocket separation, the attitude value at the start of the adaptive attitude adjustment, the preset attitude change angular acceleration, and the preset adaptive attitude adjustment duration with the start of the attitude adjustment being zero. These include: Determine whether the target value of the attitude control angle at the moment of star-rocket separation is equal to the attitude value at the start of the adaptive attitude adjustment: If so, the first handover time, the second handover time, and the third handover time are calculated using the following formulas: ; ; ; Otherwise, the first handover time, the second handover time, and the third handover time are calculated using the following formulas: ; ; ; in, The target value of the satellite's spin-projectile angular velocity at the moment of separation from the launch vehicle. The target value for the attitude control angle at the moment of star-rocket separation. The attitude value at the start of the adaptive attitude adjustment. The preset attitude acceleration angle is... The adaptive attitude adjustment duration is set to the preset attitude adjustment start time of zero. These represent the moments when the angular velocity transitions from variable to uniform, then back to variable, and finally back to uniform. These are regular symbolic functions.

[0031] Based on the above embodiments, the adaptive attitude adjustment increment during the satellite-rocket separation stage is calculated using the first handover time, the second handover time, the third handover time, the adaptive attitude adjustment duration with the attitude adjustment start time as zero, the target value of the satellite's spin-projection angular velocity at the satellite-rocket separation time, the target value of the attitude control angle at the satellite-rocket separation time, the attitude value at the adaptive attitude adjustment start time, the attitude variable angular acceleration, and the real-time calculation time of the attitude command with the attitude adjustment start time as zero. The calculation formula is as follows: ; ; in, The target value of the satellite's spin-projectile angular velocity at the moment of separation from the launch vehicle. The target value for the attitude control angle at the moment of star-rocket separation. The attitude value at the start of the adaptive attitude adjustment. The preset attitude acceleration angle is... The adaptive attitude adjustment duration is set to the preset attitude adjustment start time of zero. The real-time calculation time for the attitude command with the attitude adjustment start time as zero point. These are the moments when the angular velocity transitions from variable speed to constant speed, then back to variable speed, and finally back to constant speed. This is the adaptive attitude adjustment increment during the star-rocket separation phase. The real-time flight time, This is the start time for adaptive attitude adjustment during the star-rocket separation phase. These are regular symbolic functions.

[0032] Based on the above embodiments, the attitude angle tracking command value is calculated based on the adaptive attitude adjustment increment during the satellite-rocket separation phase, the target value of the satellite's spin-projection angular velocity at the satellite-rocket separation moment, the target value of the attitude control angle at the satellite-rocket separation moment, and the attitude value at the start of the adaptive attitude adjustment phase. The calculation formula is as follows: ; in, The target value of the satellite's spin-projectile angular velocity at the moment of separation from the launch vehicle. The target value for the attitude control angle at the moment of star-rocket separation. The attitude value at the start of the adaptive attitude adjustment. This is the adaptive attitude adjustment increment during the star-rocket separation phase. The attitude angle tracking command value, These are regular symbolic functions.

[0033] In other words, it is based on the sign product of the target value of the projectile angular velocity and the attitude adjustment angle increment. The relationship with 0 is used to calculate the attitude angle tracking command value online in real time. Then the attitude angle tracking command value The calculation process is as follows: (1) Solve the time variable value with the attitude adjustment start time as the zero point. : when hour, The calculation method is as follows: ; ; ; when hour, The calculation method is as follows: ; ; ; in, The target value for the satellite's spin-projectile angular velocity at the moment of separation from the launch vehicle. The target value for attitude control angle at the moment of separation between the spacecraft and rocket. The attitude value at the start of adaptive attitude adjustment. For attitude change angular acceleration, The adaptive attitude adjustment duration is set to zero at the attitude adjustment start time. These represent the transition moments when the angular velocity changes from variable to uniform, then back to variable, and finally back to uniform.

[0034] (2) Real-time calculation of attitude angle tracking command values : ; ; ; in, This is the attitude tracking command value. For real-time flight time, This is the start time for adaptive attitude adjustment during the spacecraft-rocket separation phase. The attitude command is calculated in real time with the attitude adjustment start time as the zero point. This is an adaptive attitude adjustment increment for the star-rocket separation phase.

[0035] Based on the above embodiments, the calculation formula for the first transition moment when the angular velocity changes from variable to uniform, based on the target value of the satellite's spin-throw angular velocity at the moment of satellite-rocket separation and the preset attitude change angular acceleration, is as follows: ; in, The target value of the satellite's spin-projectile angular velocity at the moment of separation from the launch vehicle. The preset attitude acceleration angle is... The moment when the angular velocity changes from variable to uniform is the first transition moment. These are regular symbolic functions.

[0036] Based on the above embodiments, the adaptive attitude adjustment duration, calculated in real time with the attitude adjustment start time as zero, is obtained by considering the first handover time, the target value of the attitude control angle at the satellite-rocket separation time, the attitude value at the adaptive attitude adjustment start time, the target value of the satellite's spin-projectile angular velocity at the satellite-rocket separation time, and the attitude change angular acceleration. The calculation formula is as follows: ; in, The target value for the satellite's spin-projectile angular velocity at the moment of separation from the launch vehicle. The target value for attitude control angle at the moment of separation between the spacecraft and rocket. The attitude value at the start of adaptive attitude adjustment. For attitude change angular acceleration, The moment when the angular velocity changes from variable to uniform is the first transition moment. These are regular symbolic functions.

[0037] Based on the above embodiments, the adaptive attitude adjustment increment during the satellite-launch separation stage is calculated using the adaptive attitude adjustment duration calculated in real time with the attitude adjustment start time as zero, the attitude variable angular acceleration, the first handover time, the target value of the attitude control angle at the satellite-launch separation time, the attitude value at the adaptive attitude adjustment start time, the target value of the satellite's spin-projectile angular velocity at the satellite-launch separation time, and the real-time calculation time of the attitude command with the attitude adjustment start time as zero. The calculation formula is as follows: ; ; in, The target value for the satellite's spin-projectile angular velocity at the moment of separation from the launch vehicle. The target value for attitude control angle at the moment of separation between the spacecraft and rocket. The attitude value at the start of adaptive attitude adjustment. For attitude change angular acceleration, The moment when the angular velocity changes from variable to uniform is the first transition moment. This is the adaptive attitude adjustment increment during the star-rocket separation phase. The real-time calculation time for the attitude command with the attitude adjustment start time as zero point. The adaptive attitude adjustment duration is calculated in real time with the attitude adjustment start time as zero. The real-time flight time, This is the start time for adaptive attitude adjustment during the star-rocket separation phase. These are regular symbolic functions.

[0038] Based on the above embodiments, the attitude angle tracking command value is calculated based on the adaptive attitude adjustment increment during the star-rocket separation phase, the target value of the attitude control angle at the star-rocket separation moment, and the attitude value at the start of the adaptive attitude adjustment phase. The calculation formula is as follows: ; in, The target value for attitude control angle at the moment of separation between the spacecraft and rocket. The attitude value at the start of adaptive attitude adjustment. This is the adaptive attitude adjustment increment during the star-rocket separation phase. The attitude angle tracking command value, These are regular symbolic functions. In other words, it is based on the sign product of the target value of the projectile angular velocity and the attitude adjustment angle increment. The relationship with 0 is used to calculate the attitude tracking command value online in real time. Then the attitude tracking command value The calculation process is as follows: (1) Solve the time variable value with the attitude adjustment start time as the zero point. : ; ; in, The target value for the satellite's spin-projectile angular velocity at the moment of separation from the launch vehicle. The target value for attitude control angle at the moment of separation between the spacecraft and rocket. The attitude value at the start of adaptive attitude adjustment. For attitude change angular acceleration, The moment when the angular velocity changes from variable to uniform is called the transition moment. The adaptive attitude adjustment duration is calculated in real time with the attitude adjustment start time as zero.

[0039] (2) Real-time calculation of attitude angle tracking command values : ; ; ; in, This is the attitude tracking command value. For real-time flight time, This is the start time for adaptive attitude adjustment during the spacecraft-rocket separation phase. The attitude command is calculated in real time with the attitude adjustment start time as the zero point. This is an adaptive attitude adjustment increment for the star-rocket separation phase.

[0040] The technical solution of this invention focuses on protecting the following innovative aspects: (1) An adaptive attitude adjustment process was proposed to meet the dual constraints of spin-projection and angular deviation during star-rocket separation.

[0041] (2) A multi-objective optimization model was established to minimize propellant consumption while satisfying constraints.

[0042] (3) A dual closed-loop feedback control strategy was designed to improve the robustness and accuracy of the separation attitude.

[0043] (4) The algorithm has achieved multi-condition adaptiveness and can quickly adapt to the mission requirements of different satellites.

[0044] It should be noted that the present invention has the following advantages over the prior art: (1) Dual objectives are met: This invention achieves dual targets of spin-projectile angular velocity and angle control accuracy at the moment of star-rocket separation, effectively reducing separation attitude risk and ensuring mission safety.

[0045] (2) Efficient use of propellant: Through multi-objective optimization and precise stage control, the propellant consumption of this scheme is significantly reduced compared with the traditional scheme, thereby improving the rocket's carrying capacity and mission margin.

[0046] (3) Multi-condition adaptive adaptation: It can support the differentiated constraint requirements of different satellites and can quickly adapt without redeveloping the algorithm, greatly improving the efficiency of mission adaptation.

[0047] (4) Strong engineering feasibility: The algorithm only relies on the existing sensors and actuators of the attitude control system, without the need for additional hardware investment, and has good engineering feasibility and economy.

[0048] Further improvements and modifications to the above technical solutions are also within the scope of protection of this invention, such as, but not limited to: (1) Application scenario expansion: With further improvement and modification of the technical solution, this method is not only applicable to the star-rocket separation scenario, but can also be extended to other flight segments during the flight of the launch vehicle that need to simultaneously meet the requirements of rotational angular velocity and angle control, and can also achieve the expected technical effect.

[0049] (2) Dynamic stage switching: When the task only requires a single constraint, this algorithm can be applied automatically without additional configuration.

[0050] (3) Multi-satellite adaptation extension: Supports multi-satellite separation tasks. This solution can meet the separation requirements of multiple satellites in one attitude adjustment operation by presetting the constraint parameters of different satellites, thereby improving the efficiency of task execution.

[0051] (4) Multi-channel universality: This algorithm can be directly adapted to multi-channel attitude control scenarios such as pitch, yaw and roll, without the need for additional adaptation development, and has good scenario universality.

[0052] Those skilled in the art will understand that all or part of the steps of the methods described above can be implemented by a program instructing related hardware. The program can be stored in a readable storage medium, and when executed, the program includes one or a combination of the steps of the method implementation.

[0053] In the various embodiments of this application, the functional units can be integrated into a single processing module, or each unit can exist physically separately, or two or more units can be integrated into a single module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a readable storage medium. The storage medium can be a read-only memory, a disk, or an optical disk, etc.

[0054] In the description of this specification, the references to terms such as "one embodiment / mode," "some embodiments / modes," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment / mode or example is included in at least one embodiment / mode or example of this application. Furthermore, the described specific features, structures, materials, or characteristics may be combined in any suitable manner in one or more embodiments / modes or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments / modes or examples described in this specification, as well as the features of different embodiments / modes or examples.

[0055] 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 technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0056] Those skilled in the art should understand that the above embodiments are merely for illustrative purposes and are not intended to limit the scope of this application. Those skilled in the art can make other changes or modifications based on the above disclosure, and these changes or modifications still fall within the scope of this application.

Claims

1. An adaptive attitude adjustment method for the separation phase of a launch vehicle, characterized in that, include: The satellite's projectile angular velocity and attitude control angle targets at the moment of separation from the launch vehicle are acquired offline, and the attitude values ​​at the start of the adaptive attitude adjustment phase during separation are acquired online in real time. The signed product of the attitude adjustment angle increment is obtained based on the target value of the satellite spin-projectile angular velocity, the target value of the attitude control angle, and the attitude value at the start of the adaptive attitude adjustment. Based on whether the sign product of the attitude adjustment angle increment is greater than zero, determine the calculation method of the online real-time execution attitude angle tracking command value: if yes, then execute the second calculation method to obtain the attitude angle tracking command value; otherwise, execute the first calculation method to obtain the attitude angle tracking command value. The first calculation method includes: Based on the target value of the satellite's spin-throw angular velocity at the moment of satellite-rocket separation, the target value of the attitude control angle at the moment of satellite-rocket separation, the attitude value at the start of the adaptive attitude adjustment, the preset attitude change angular acceleration, and the preset adaptive attitude adjustment duration with the start of the attitude adjustment being zero, the first transition moment when the angular velocity changes from variable to uniform, the second transition moment when the angular velocity changes from uniform to variable, and the third transition moment when the angular velocity changes from variable to uniform are calculated respectively. The adaptive attitude adjustment increment during the satellite-launch separation phase is calculated based on the first handover time, the second handover time, the third handover time, the adaptive attitude adjustment duration with the attitude adjustment start time as zero, the target value of the satellite's spin-projection angular velocity at the satellite-launch separation time, the target value of the attitude control angle at the satellite-launch separation time, the attitude value at the adaptive attitude adjustment start time, the attitude variable angular acceleration, and the real-time calculation time of the attitude command with the attitude adjustment start time as zero. The real-time calculation time of the attitude command with the attitude adjustment start time as zero is the difference between the real-time flight time and the preset adaptive attitude adjustment start time during the satellite-launch separation phase. The attitude angle tracking command value is calculated based on the adaptive attitude adjustment increment during the satellite-rocket separation phase, the target value of the satellite's spin-projectile angular velocity at the satellite-rocket separation moment, the target value of the attitude control angle at the satellite-rocket separation moment, and the attitude value at the start of the adaptive attitude adjustment phase. The launch vehicle's flight attitude is controlled online in real time based on the attitude angle tracking command value, thereby achieving adaptive attitude adjustment during the launch vehicle's separation phase.

2. The method according to claim 1, characterized in that, The second calculation method includes: Based on the target value of the satellite's spin-projectile angular velocity at the moment of separation from the rocket and the preset attitude change angular acceleration, the first transition moment when the angular velocity changes from variable to uniform is calculated. The adaptive attitude adjustment duration is calculated in real time with the attitude adjustment start time as the zero point, based on the first handover time, the target value of the attitude control angle at the time of star-rocket separation, the attitude value at the start time of adaptive attitude adjustment, the target value of the satellite spin-projectile angular velocity at the time of star-rocket separation, and the attitude variable angular acceleration. The adaptive attitude adjustment increment during the spacecraft separation phase is calculated based on the adaptive attitude adjustment duration calculated in real time with the attitude adjustment start time as zero, the attitude variable angular acceleration, the first handover time, the target value of the attitude control angle at the spacecraft separation time, the attitude value at the adaptive attitude adjustment start time, the target value of the satellite's spin-projectile angular velocity at the spacecraft separation time, and the real-time calculation time of the attitude command with the attitude adjustment start time as zero. The real-time calculation time of the attitude command with the attitude adjustment start time as zero is the difference between the real-time flight time and the preset adaptive attitude adjustment start time for the spacecraft separation phase. The attitude angle tracking command value is calculated based on the adaptive attitude adjustment increment during the star-rocket separation phase, the target value of the attitude control angle at the moment of star-rocket separation, and the attitude value at the start of the adaptive attitude adjustment.

3. The method according to claim 1, characterized in that, Based on the target satellite spin-launch angular velocity at the satellite-launch separation moment, the target attitude control angle at the satellite-launch separation moment, the attitude value at the adaptive attitude adjustment start moment, the preset attitude change angular acceleration, and the preset adaptive attitude adjustment duration with the attitude adjustment start moment being zero, the first transition moment when the angular velocity changes from variable to uniform, the second transition moment when the angular velocity changes from uniform to variable, and the third transition moment when the angular velocity changes from variable to uniform again are calculated, including: Determine whether the target value of the attitude control angle at the moment of star-rocket separation is equal to the attitude value at the start of the adaptive attitude adjustment: If so, the first handover time, the second handover time, and the third handover time are calculated using the following formulas: ； ； ； Otherwise, the first handover time, the second handover time, and the third handover time are calculated using the following formulas: ； ； ； in, The target value of the satellite's spin-projectile angular velocity at the moment of separation from the launch vehicle. The target value for the attitude control angle at the moment of star-rocket separation. The attitude value at the start of the adaptive attitude adjustment. The preset attitude acceleration angle is given. The adaptive attitude adjustment duration is set to the preset attitude adjustment start time of zero. These represent the moments when the angular velocity transitions from variable to uniform, then back to variable, and finally back to uniform. These are regular symbolic functions.

4. The method according to claim 1 or 3, characterized in that, The adaptive attitude adjustment increment during the satellite-launch separation phase is calculated based on the first handover time, the second handover time, the third handover time, the adaptive attitude adjustment duration with the attitude adjustment start time as zero, the target value of the satellite's spin-projection angular velocity at the satellite-launch separation time, the target value of the attitude control angle at the satellite-launch separation time, the attitude value at the adaptive attitude adjustment start time, the attitude acceleration, and the real-time calculation time of the attitude command with the attitude adjustment start time as zero. The calculation formula is as follows: ； ； in, The target value of the satellite's spin-projectile angular velocity at the moment of separation from the launch vehicle. The target value for the attitude control angle at the moment of star-rocket separation. The attitude value at the start of the adaptive attitude adjustment. The preset attitude acceleration angle is given. The adaptive attitude adjustment duration is set to the preset attitude adjustment start time of zero. The real-time calculation time for the attitude command with the attitude adjustment start time as zero point. These are the moments when the angular velocity transitions from variable speed to constant speed, then back to variable speed, and finally back to constant speed. This is the adaptive attitude adjustment increment during the star-rocket separation phase. The real-time flight time, This is the start time for adaptive attitude adjustment during the star-rocket separation phase. These are regular symbolic functions.

5. The method according to claim 1, characterized in that, The attitude angle tracking command value is calculated based on the adaptive attitude adjustment increment during the satellite-rocket separation phase, the target value of the satellite's spin-projection angular velocity at the satellite-rocket separation moment, the target value of the attitude control angle at the satellite-rocket separation moment, and the attitude value at the start of the adaptive attitude adjustment phase. The calculation formula is as follows: ； in, The target value of the satellite's spin-projectile angular velocity at the moment of separation from the launch vehicle. The target value for the attitude control angle at the moment of star-rocket separation. The attitude value at the start of the adaptive attitude adjustment. This is the adaptive attitude adjustment increment during the star-rocket separation phase. The attitude angle tracking command value, These are regular symbolic functions.

6. The method according to claim 2, characterized in that, The first transition moment when the angular velocity changes from variable to uniform is calculated based on the target value of the satellite's spin-throw angular velocity at the moment of satellite-rocket separation and the preset attitude change angular acceleration. The calculation formula is as follows: ； in, The target value of the satellite's spin-projectile angular velocity at the moment of separation from the launch vehicle. The preset attitude acceleration angle is given. The moment when the angular velocity changes from variable to uniform is the first transition moment. These are regular symbolic functions.

7. The method according to claim 2, characterized in that, The adaptive attitude adjustment duration, calculated in real time with the attitude adjustment start time as zero, is obtained based on the first handover time, the target value of the attitude control angle at the satellite-rocket separation time, the attitude value at the adaptive attitude adjustment start time, the target value of the satellite's spin-projectile angular velocity at the satellite-rocket separation time, and the attitude change angular acceleration. The calculation formula is as follows: ； in, The target value for the satellite's spin-projectile angular velocity at the moment of separation from the launch vehicle. The target value for attitude control angle at the moment of separation between the spacecraft and rocket. The attitude value at the start of adaptive attitude adjustment. For attitude change angular acceleration, The moment when the angular velocity changes from variable to uniform is the first transition moment. These are regular symbolic functions.

8. The method according to claim 2, characterized in that, The adaptive attitude adjustment increment during the satellite-launch separation phase is calculated based on the adaptive attitude adjustment duration calculated in real time with the attitude adjustment start time as zero, the attitude variable angular acceleration, the first handover time, the target value of the attitude control angle at the satellite-launch separation time, the attitude value at the adaptive attitude adjustment start time, the target value of the satellite's spin-projectile angular velocity at the satellite-launch separation time, and the real-time calculation time of the attitude command with the attitude adjustment start time as zero. The calculation formula is as follows: ； ； in, The target value for the satellite's spin-projectile angular velocity at the moment of separation from the launch vehicle. The target value for attitude control angle at the moment of separation between the spacecraft and rocket. The attitude value at the start of adaptive attitude adjustment. For attitude change angular acceleration, The moment when the angular velocity changes from variable to uniform is the first transition moment. This is the adaptive attitude adjustment increment during the star-rocket separation phase. The real-time calculation time for the attitude command with the attitude adjustment start time as zero point. The adaptive attitude adjustment duration is calculated in real time with the attitude adjustment start time as zero. The real-time flight time, This is the start time for adaptive attitude adjustment during the star-rocket separation phase. These are regular symbolic functions.

9. The method according to claim 2, characterized in that, The attitude angle tracking command value is calculated based on the adaptive attitude adjustment increment during the star-rocket separation phase, the target value of the attitude control angle at the moment of star-rocket separation, and the attitude value at the start of the adaptive attitude adjustment phase. The calculation formula is as follows: ； in, The target value for attitude control angle at the moment of separation between the spacecraft and rocket. The attitude value at the start of adaptive attitude adjustment. This is the adaptive attitude adjustment increment during the star-rocket separation phase. The attitude angle tracking command value, These are regular symbolic functions.

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