Spacecraft engine swing angle control method and device

Abstract

The application provides a spacecraft engine swing angle control method and device, comprising: offline design of swing angle command limit value calculation total time of a spacecraft engine starting stage and swing angle command limit value calculation total time of an engine shutdown stage; online acquisition of spacecraft engine ignition time and shutdown time, swing angle command limit value calculation of the spacecraft in each flight time period according to a parabolic method; limit value processing of a servo command at a current flight time point according to the swing angle command limit value; and sending of the limit value processed servo command to a servo mechanism for spacecraft attitude control. The control method can guarantee rocket flight safety, reasonably arrange energy, and improve overall performance of the rocket.

Description

Technical Field

[0001] This invention relates to the field of spacecraft control, and more specifically to a method and apparatus for controlling the yaw angle of a spacecraft engine. Background Technology

[0002] With the continuous development of aerospace technology, spacecraft attitude control technology plays a crucial role in space missions. The glide engine, as a key actuator in spacecraft attitude control, directly affects the accuracy and stability of the spacecraft's attitude control through its glide angle control method. Currently, the glide angle control of spacecraft glide engines is mainly achieved by a servo mechanism driving the engine to oscillate. The limiting processing of the glide angle command is a critical step in ensuring the stability and reliability of the attitude control system.

[0003] However, when reusable spacecraft use glide engines for attitude control, traditional methods for calculating the engine glide angle command limit value generally involve directly sending the maximum glide angle value or transitioning from a zero-degree straight line to the maximum glide angle value. This method has significant shortcomings: firstly, the glide angle command limit value has an inflection point during startup, which can easily cause the glide angle command to have a step-like action, thereby generating a large inertial torque, which is not conducive to maintaining attitude control accuracy; secondly, the glide angle command limit value does not play an actual limiting role during the engine shutdown process and cannot effectively control the glide angle change during the shutdown phase.

[0004] These problems are particularly prominent under the requirements of high-precision attitude control, and there is an urgent need for a spacecraft engine pitch angle command limiting method that can smoothly transition throughout the entire process of engine start-up and shutdown. Summary of the Invention

[0005] To address the problems existing in the traditional method of calculating the swing angle command limit when reusable spacecraft use a swing engine for attitude control, this invention provides a spacecraft engine swing angle control method that achieves the technical effect of segmenting the swing angle command limit based on the engine's operating state, making the swing angle command limit smoother, and increasing the number of times the rocket can be reused.

[0006] This invention provides a method for controlling the yaw angle of a spacecraft engine, comprising: Total calculation time for the yaw angle command limit value during the offline design of spacecraft engine start-up phase And the total calculation time for the yaw angle command limit value during the engine shutdown phase. ; Get spacecraft engine ignition time online and shutdown time The engine yaw angle command limit value of the spacecraft in each flight time period is calculated according to the parabolic method; The servo commands at the current flight time point are limited according to the engine yaw angle command limit value. The servo commands, after being limited, are sent to the servo mechanism for attitude control of the spacecraft.

[0007] According to one embodiment of the present invention, the calculation of the engine yaw command limit value of the spacecraft in each flight time period according to the parabolic method includes: offline design engine yaw command limit value parabolic calculation coefficient. .

[0008] According to one embodiment of the present invention, the calculation of the engine yaw command limit value of the spacecraft in each flight time period according to the parabolic method includes: when the spacecraft is currently in flight time At that time, the engine sway angle command limit value is In the formula This is the limit value for the engine sway angle command.

[0009] According to one embodiment of the present invention, the calculation of the engine yaw command limit value of the spacecraft in each flight time period according to the parabolic method includes: when the spacecraft is currently in flight time At that time, the engine yaw angle command limit value is: In the formula This represents the maximum swing angle of the engine.

[0010] According to one embodiment of the present invention, the calculation of the engine yaw command limit value of the spacecraft in each flight time period according to the parabolic method includes: when the spacecraft is currently in flight time At that time, the engine yaw angle command limit value is: .

[0011] According to one embodiment of the present invention, the calculation of the engine yaw command limit value of the spacecraft in each flight time period according to the parabolic method includes: when the spacecraft is currently in flight time At that time, the engine yaw angle command limit value is: .

[0012] According to one embodiment of the present invention, the calculation of the engine yaw command limit value of the spacecraft in each flight time period according to the parabolic method includes: when the spacecraft is currently in flight time At that time, the engine yaw angle command limit value is: .

[0013] According to one embodiment of the present invention, the step of limiting the servo command at the current flight time point based on the engine yaw angle command limiting value includes: In the formula, This represents the servo command value before the current flight time was limited. This represents the servo command value after amplitude limiting at the current flight time.

[0014] On the other hand, this application also provides a spacecraft engine pitch angle control device employing the above method, which includes a design module, a calculation module, and an execution module; wherein, The design module is used for offline design of the total calculation time for the yaw angle command limit value during the spacecraft engine start-up phase. And the total calculation time for the yaw angle command limit value during the engine shutdown phase. ; The calculation module is used to obtain the spacecraft engine ignition time online. and shutdown time The engine sway angle command limit value of the spacecraft in each flight time period is calculated according to the parabolic method, and the servo command at the current flight time point is limited according to the engine sway angle command limit value. The execution module is used to send the limited servo commands to the servo mechanism for attitude control of the spacecraft.

[0015] Furthermore, this application also provides a spacecraft including the aforementioned spacecraft engine tilt control device.

[0016] By segmenting the pitch angle command limit value according to the spacecraft engine's operating status, this invention not only covers all engine operating states, ensuring rocket flight safety, but also rationally allocates energy, improving the overall rocket performance. Compared with traditional methods for calculating engine pitch angle command limits, this invention more comprehensively considers the engine's operating status, avoiding the step-like action problem caused by inflection points in the pitch angle command limit value during startup, and also solving the deficiency of traditional methods in not effectively limiting the pitch angle command limit during engine shutdown.

[0017] It should be understood that the above general description and the following specific embodiments are merely exemplary and illustrative, and do not limit the scope of the invention. Attached Figure Description

[0018] The accompanying drawings, which are part of the specification of this invention, illustrate exemplary embodiments of the invention. The drawings, together with the description in the specification, serve to illustrate the principles of the invention.

[0019] Figure 1 This is a schematic diagram of a spacecraft engine pitch angle control method according to an embodiment of the present invention; Figure 2This is a schematic diagram of a spacecraft engine yaw control device according to an embodiment of the present invention. Detailed Implementation

[0020] The features and exemplary embodiments of various aspects of the present invention will now be described in detail. To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only configured to explain the present invention and to exemplify the principles of the present invention, and are not configured to limit the present invention. In addition, the structural components in the drawings are not necessarily drawn to scale. For example, the dimensions of some structural components or regions in the drawings may be enlarged for other structural components or regions to aid in the understanding of the embodiments of the present invention.

[0021] The directional terms used in the following description refer to the directions shown in the figures and are not intended to limit the specific structure of the embodiments of the present invention. In the description of the present invention, it should be noted that, unless otherwise stated, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the present invention according to the specific circumstances.

[0022] Furthermore, the terms "comprising," "including," "having," or any other variations thereof are intended to cover non-exclusive inclusion, such that a structure or component that includes a list of elements includes not only those elements but also other structural elements that are not expressly listed or inherent to the structure or component. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of other identical elements in the article or apparatus that includes the element.

[0023] Spatial relation terms such as "below," "under," "under," "low," "above," "on," and "high" are used for descriptive convenience to explain the positioning of one element relative to a second element, indicating that these terms are intended to cover different orientations of the device, in addition to those different from those shown in the figure. Furthermore, phrases such as "one element on / below another element" can indicate that two elements are in direct contact, or that there are other elements between the two elements. In addition, terms such as "first" and "second" are also used to describe individual elements, areas, parts, etc., and should not be considered limiting. Similar terms are used throughout the description to refer to similar elements.

[0024] It will be apparent to those skilled in the art that the present invention can be practiced without requiring some of these specific details. The following description of embodiments is merely intended to provide a better understanding of the invention by illustrating examples of the invention.

[0025] Figure 1 This is a schematic diagram of a spacecraft engine pitch angle control method according to an embodiment of the present invention; Figure 2 This is a schematic diagram of a spacecraft engine yaw control device according to an embodiment of the present invention.

[0026] like Figure 1 As shown, the present invention provides a spacecraft engine pitch angle control method, comprising: S100, Total calculation time for the yaw angle command limit value during the offline design phase of a spacecraft engine start-up. And the total calculation time for the yaw angle command limit value during the engine shutdown phase. ; S200, online acquisition of spacecraft engine ignition time and shutdown time The engine yaw command limit value of the spacecraft during each flight period is calculated using a parabolic method. ; S300 limits the servo commands at the current flight time point based on the engine yaw angle command limit value. S400 will limit the servo commands. The data is sent to the servo mechanism for attitude control of the spacecraft.

[0027] Specifically, in practical applications, a suitable [measure] can be determined based on the specific parameters of the spacecraft and the mission requirements. and Value. For example, for a certain type of spacecraft, a value can be set. =10 seconds, =8 seconds. The setting of these time parameters needs to take into account the physical characteristics of the engine, the structural characteristics of the spacecraft, and the mission's requirements for attitude control accuracy.

[0028] During spacecraft flight, the engine ignition time is acquired in real time. and expected shutdown time Based on the current flight time t and , The relationship is used to calculate the engine sway angle command limit value in segments. The servo command after amplitude limiting The commands are sent to the spacecraft's servo mechanism, which executes corresponding actions to adjust the engine's sway angle, thereby achieving precise attitude control of the spacecraft. Based on the engine's structural strength and service life requirements, the number of times the rocket can be reused can be increased through the rational design of the engine sway angle command limit. This invention's method, by precisely limiting the sway angle command, reduces the impact on the structure during engine oscillation, extends the engine's service life, and thus improves the reuse efficiency of reusable launch vehicles.

[0029] Through the above steps, this method achieves effective control of the spacecraft engine tilt angle, ensuring a smooth transition of the spacecraft during engine start-up and shutdown, improving the accuracy and reliability of spacecraft attitude control, and is of great significance for ensuring the safe completion of space missions.

[0030] According to one embodiment of the present invention, calculating the engine yaw command limit value of the spacecraft in each flight time period using a parabolic method includes: offline design engine yaw command limit value parabolic calculation coefficient. .

[0031] According to one embodiment of the present invention, calculating the engine yaw command limit value of the spacecraft in each flight time period according to the parabolic method includes: when the spacecraft is currently in flight... At that time, the engine sway angle command limit value is In the formula This is the limit value for the engine sway angle command.

[0032] According to one embodiment of the present invention, calculating the engine yaw command limit value of the spacecraft in each flight time period according to the parabolic method includes: when the spacecraft is currently in flight time At that time, the engine yaw angle command limit value is: In the formula This represents the maximum swing angle of the engine.

[0033] According to one embodiment of the present invention, calculating the engine yaw command limit value of the spacecraft in each flight time period according to the parabolic method includes: when the spacecraft is currently in flight... At that time, the engine yaw angle command limit value is: .

[0034] According to one embodiment of the present invention, calculating the engine yaw command limit value of the spacecraft in each flight time period according to the parabolic method includes: when the spacecraft is currently in flight... At that time, the engine yaw angle command limit value is: .

[0035] According to one embodiment of the present invention, calculating the engine yaw command limit value of the spacecraft in each flight time period according to the parabolic method includes: when the spacecraft is currently in flight... At that time, the engine yaw angle command limit value is: .

[0036] According to one embodiment of the present invention, limiting the servo command at the current flight time point based on the engine yaw angle command limiting value includes: In the formula, This represents the servo command value before the current flight time was limited. This represents the servo command value after amplitude limiting at the current flight time.

[0037] Specifically, calculate the coefficients This is a key parameter for calculating the swing angle command limit value using a parabolic method. This coefficient can be designed based on the specific spacecraft model, engine characteristics, and mission requirements. For example, it can be set... =2, this parameter will directly affect the rate of change of the swing angle command limit value.

[0038] When the spacecraft's current flight time At that time, the engine sway angle command limit value is At this point, the engine has not yet been ignited, so there is no need for yaw control.

[0039] When the spacecraft's current flight time At that time, the engine yaw angle command limit value is: in This represents the maximum swing angle of the engine. During this phase, as time progresses, the swing angle command limit gradually increases according to a parabolic law, continuously increasing from 0.

[0040] When the spacecraft's current flight time At that time, the engine sway angle command limit value is At this stage, the engine is fully started, and the yaw angle command limit remains at the maximum swing angle value.

[0041] When the spacecraft's current flight time At that time, the engine yaw angle command limit value is: During this stage, as time goes on, the swing angle command limit value gradually decreases according to a parabolic law, from the maximum value to 0.

[0042] When the spacecraft's current flight time At that time, the engine sway angle command limit value is At this point, the engine has been off for some time and no longer requires yaw control.

[0043] In the calculation of the swing angle command limit, a parabolic approach is used to smooth the swing angle command limit, thereby reducing the inertial torque during engine start-up and shutdown, and minimizing its impact on the launch vehicle's attitude. Compared to traditional methods that directly send the maximum swing angle value or transition from zero degrees to the maximum swing angle value, the parabolic calculation method used in this invention effectively reduces the inertial torque and improves attitude control accuracy.

[0044] The servo commands at the current flight time point are limited based on the engine yaw angle command limit value. The limiting process is as follows: This limiting method ensures that the commands sent to the servo mechanism do not exceed the safe range, avoiding instability of the control system or damage to the mechanical structure due to excessive swing angle.

[0045] like Figure 2 As shown, on the other hand, this application also provides a spacecraft engine pitch angle control device using the above method, which includes a design module, a calculation module and an execution module.

[0046] The design module is used for offline design of the total calculation time for the yaw angle command limit value during the spacecraft engine start-up phase. And the total calculation time for the yaw angle command limit value during the engine shutdown phase. .

[0047] The calculation module is used to obtain the spacecraft engine ignition time online. and shutdown time The engine sway angle command limit value of the spacecraft at each flight time period is calculated according to the parabolic method, and the servo command at the current flight time point is limited according to the engine sway angle command limit value.

[0048] The execution module is used to send the limited servo commands to the servo mechanism for attitude control of the spacecraft.

[0049] In the actual operation, the design module of the spacecraft engine pitch control device first completes the offline design work and determines the key parameters. , When the spacecraft begins its flight mission, the computing module acquires real-time engine ignition and shutdown time information and calculates the swing angle command limit values ​​for different flight phases according to the parabolic calculation method detailed in this embodiment, thus limiting the servo commands. Finally, the execution module sends the processed commands to the servo mechanism to complete the spacecraft's attitude control.

[0050] Through this modular design, the device can effectively control the tilt angle of the spacecraft engine, ensuring a smooth transition during engine start-up and shutdown, improving the accuracy and reliability of spacecraft attitude control, and is of great significance for ensuring the safe completion of space missions.

[0051] Furthermore, this application also provides a spacecraft including the aforementioned spacecraft engine tilting device.

[0052] In this spacecraft, the engine pitch control unit is tightly integrated with the spacecraft's attitude control system. It acquires real-time flight status data through sensors on the spacecraft and combines this data with preset flight mission parameters to achieve precise control of the engine pitch. This control unit is installed in the spacecraft's control cabin and forms a closed-loop control system with the main control computer, attitude sensors, and engine servo mechanisms.

[0053] When a spacecraft is performing a flight mission, the engine pitch control device can effectively cope with the special requirements of the engine start-up and shutdown phases. By calculating the pitch command limit value in a parabolic manner, it ensures that the spacecraft maintains a stable attitude during these critical phases and avoids attitude disturbances or control system saturation problems caused by improper pitch control.

[0054] In a preferred embodiment, the spacecraft is also equipped with a redundant pitch control system, which allows the backup system to seamlessly take over control functions in the event of a failure in the main control system, further improving the reliability and safety of the spacecraft.

[0055] By adopting the spacecraft engine pitch control device provided in this embodiment, the spacecraft can achieve a smooth attitude transition during engine operation, improve attitude control accuracy, and extend engine service life, which is of great significance for ensuring the safe completion of space missions.

[0056] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for controlling the pitch angle of a spacecraft engine, characterized in that, include: Total calculation time for the yaw angle command limit value during the offline design of spacecraft engine start-up phase And the total calculation time for the yaw angle command limit value during the engine shutdown phase. ; Get spacecraft engine ignition time online and shutdown time The engine swashplate command limit values ​​for the spacecraft during various flight time periods are calculated using a parabolic method; the coefficients for calculating the engine swashplate command limit values ​​using a parabolic method are designed offline. ; The servo commands at the current flight time are limited according to the engine tilt angle command limit value; when the spacecraft's current flight time At that time, the engine yaw angle command limit value is: In the formula This represents the maximum swing angle of the engine. The servo commands, after being limited, are sent to the servo mechanism for attitude control of the spacecraft.

2. The spacecraft engine pitch angle control method according to claim 1, characterized in that, The calculation of the engine yaw command limit value of the spacecraft in each flight time period according to the parabolic method includes: When the spacecraft's current flight time At that time, the engine sway angle command limit value is In the formula This is the limit value for the engine sway angle command.

3. The spacecraft engine pitch angle control method according to claim 1, characterized in that, The calculation of the engine yaw command limit value of the spacecraft in each flight time period according to the parabolic method includes: When the spacecraft's current flight time At that time, the engine yaw angle command limit value is: .

4. The spacecraft engine pitch angle control method according to claim 3, characterized in that, The calculation of the engine yaw command limit value of the spacecraft in each flight time period according to the parabolic method includes: When the spacecraft's current flight time At that time, the engine yaw angle command limit value is: 。 5. The spacecraft engine pitch angle control method according to claim 4, characterized in that, The calculation of the engine yaw command limit value of the spacecraft in each flight time period according to the parabolic method includes: When the spacecraft's current flight time At that time, the engine yaw angle command limit value is: .

6. The spacecraft engine pitch angle control method according to claim 5, characterized in that, The process of limiting the servo command at the current flight time point based on the engine yaw angle command limiting value includes: In the formula, This represents the servo command value before the current flight time was limited. This represents the servo command value after amplitude limiting at the current flight time.

7. A spacecraft engine pitch angle control device employing the method described in any one of claims 1 to 6, characterized in that, It includes a design module, a calculation module, and an execution module; in, The design module is used for offline design of the total calculation time for the yaw angle command limit value during the spacecraft engine start-up phase. And the total calculation time for the yaw angle command limit value during the engine shutdown phase. ; The calculation module is used to obtain the spacecraft engine ignition time online. and shutdown time The engine sway angle command limit value of the spacecraft in each flight time period is calculated according to the parabolic method, and the servo command at the current flight time point is limited according to the engine sway angle command limit value. The execution module is used to send the limited servo commands to the servo mechanism for attitude control of the spacecraft.

8. A spacecraft, characterized in that, Includes the spacecraft engine yaw control device as described in claim 7.

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