Method and device for generating optimal attitude adjustment instruction for space vehicle return, and medium
Patent Information
- Application Number
- CN202611486262.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-09-23
- Publication Date
- 2026-10-30
AI Technical Summary
[0003]本发明旨在提供一种航天运载器返回最优调姿指令的生成方法、设备及介质，以解决现有技术不能充分利用航天运载器的初始姿态角速度及未充分利用调姿时间减少调姿推进剂消耗量的缺陷问题
[0014]本发明提供了一种航天运载器返回最优调姿指令的生成方法、设备及介质，该方法包括：根据航天运载器调姿执行机构的控制力矩及调姿段对应的航天运载器转动惯量确定调姿角加速度大小，同时根据调姿初始时刻的姿态角通过仿真平台统计出初始姿态角速度的包络值和最大调姿角度；根据所述调姿角加速度大小、所述初始姿态角速度的包络值和所述最大调姿角度的相关约束条件确定出调姿时间长度；根据所述初始姿态角速度、所述调姿角加速度大小和所述调姿时间长度确定所述航天运载器的调姿方式为第一调姿方式或第二调姿方式，以完成航天运载器返回最优调姿指令的生成。本发明能够充分利用初始角速度和匀速转动达到调姿目标，并减少加速/减速的时间，从而达到节省调姿推进剂消耗的目标。
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Abstract
Description
Technical Field
[0001] This invention belongs to the field of space launch vehicle control technology, and in particular relates to a method, device and medium for generating optimal attitude adjustment commands for space launch vehicles to return. Background Technology
[0002] Attitude adjustment is a crucial maneuver for ensuring that a space launch vehicle or launch vehicle achieves its flight objectives. During flight, attitude adjustments are necessary to track the flight trajectory and meet spatial pointing requirements. Therefore, attitude adjustment commands need to be pre-programmed or generated online, and the attitude control system tracks these commands to adjust the attitude during flight. Common online attitude adjustment command generation methods involve using the space launch vehicle's current attitude and the desired target attitude, assuming the attitude angular velocity is zero at the start of the adjustment, and generating commands using methods such as direct step transitions, oblique transitions, or parabolic transitions. All of these methods rely on the initial angular velocity of zero, requiring a despinning phase before adjustment. After controlling the space launch vehicle's angular velocity to zero, the attitude is adjusted towards the target attitude. This process often fails to fully utilize the space launch vehicle's initial attitude angular velocity and suffers from problems such as the attitude adjustment commands not matching the control capabilities of the attitude adjustment actuators and insufficient utilization of the adjustment time to reduce propellant consumption. Summary of the Invention
[0003] The present invention aims to provide a method, device and medium for generating optimal attitude adjustment commands for the return of a space launch vehicle, so as to solve the defects of the prior art that cannot make full use of the initial attitude angular velocity of the space launch vehicle and does not make full use of the attitude adjustment time to reduce the consumption of attitude adjustment propellant.
[0004] The first aspect of this invention provides a method for generating optimal attitude control commands for a space launch vehicle to return, comprising: The magnitude of the attitude adjustment angular acceleration is determined based on the control torque of the attitude adjustment actuator of the space launch vehicle and the moment of inertia of the space launch vehicle corresponding to the attitude adjustment segment. At the same time, the envelope value of the initial attitude angular velocity and the maximum attitude adjustment angle are statistically obtained through the simulation platform based on the attitude angle at the initial moment of attitude adjustment. The attitude adjustment time length is determined based on the magnitude of the attitude adjustment angular acceleration, the envelope value of the initial attitude angular velocity, and the relevant constraints of the maximum attitude adjustment angle. Based on the initial attitude angular velocity, the magnitude of the attitude adjustment angular acceleration, and the attitude adjustment time, the attitude adjustment mode of the space launch vehicle is determined to be either the first attitude adjustment mode or the second attitude adjustment mode, so as to complete the generation of the space launch vehicle's return optimal attitude adjustment command.
[0005] In some embodiments, determining the attitude adjustment mode of the space launch vehicle as a first attitude adjustment mode or a second attitude adjustment mode based on the initial attitude angular velocity, the magnitude of the attitude adjustment angular acceleration, and the attitude adjustment time includes: like If so, then the attitude adjustment mode of the space launch vehicle is determined to be the first attitude adjustment mode; or, like If so, the attitude adjustment mode of the space launch vehicle is determined to be the second attitude adjustment mode; in, The magnitude of the attitude adjustment angle acceleration, The duration of the attitude adjustment is [length]. To adjust the posture angle, The initial attitude angular velocity, For symbolic functions, This is the modulo value.
[0006] In some embodiments, the first attitude adjustment method is an acceleration-constant speed-deceleration attitude adjustment method, and the calculation formula for the corresponding attitude adjustment process command change value is as follows: ; ; ; in, The change value of the instruction during the attitude adjustment process. This represents the attitude adjustment time with the start time of attitude adjustment as the zero point, 0~ To speed up the time period, ~ For a uniform speed time period, ~ This is the deceleration period. The magnitude of the attitude adjustment angle acceleration, The duration of the attitude adjustment is [length]. To adjust the posture angle, The initial attitude angular velocity, For symbolic functions, This is the modulo value.
[0007] In some embodiments, the second attitude adjustment method is a deceleration-uniform speed-deceleration attitude adjustment method, and the calculation formula for the corresponding attitude adjustment process command change value is as follows: ; ; ; in, The change value of the instruction during the attitude adjustment process. This represents the attitude adjustment time with the start time of attitude adjustment as the zero point, 0~ This is the first deceleration period. ~ For a uniform speed time period, ~ This is the second deceleration period. The magnitude of the attitude adjustment angle acceleration, The duration of the attitude adjustment is [length]. To adjust the posture angle, The initial attitude angular velocity, For symbolic functions, This is the modulo value.
[0008] In some embodiments, the attitude adjustment time length is determined based on the magnitude of the attitude adjustment angular acceleration, the envelope value of the initial attitude angular velocity, and the relevant constraints of the maximum attitude adjustment angle, including: The following conditions must be satisfied simultaneously between the magnitude of the attitude adjustment angular acceleration, the envelope value of the initial attitude angular velocity, and the maximum attitude adjustment angle: ; ; in, The magnitude of the attitude adjustment angle acceleration, The duration of the attitude adjustment is [length]. The envelope value of the initial attitude angular velocity. The maximum pose angle is... For symbolic functions, This is the modulo value.
[0009] In some embodiments, the generation of the space launch vehicle's return of optimal attitude control commands includes: The attitude angle at the initial moment of attitude adjustment Attitude command at the initial moment of attitude adjustment And according to the target angle of the posture adjustment The shortest path pose adjustment process is performed to obtain the target angle of the shortest path pose adjustment, which is used as the pose command at the end of the pose adjustment. ; According to the attitude command at the initial moment of attitude adjustment and the attitude command at the end of the attitude adjustment The attitude adjustment angle is obtained. Its formula is expressed as follows: ; According to the posture adjustment angle The attitude command at the initial moment of attitude adjustment and the change value of the posture adjustment process command The formula for generating the attitude adjustment command during the attitude adjustment time is as follows: .
[0010] In some embodiments, the attitude angle at the initial moment of attitude adjustment is... Attitude command at the initial moment of attitude adjustment And according to the target angle of the posture adjustment The shortest path pose adjustment process is performed to obtain the target angle of the shortest path pose adjustment, which is used as the pose command at the end of the pose adjustment. ,include: Based on the attitude angle at the initial moment of attitude adjustment and the target angle of the attitude adjustment Shortest path pose adjustment is performed to obtain the target angle of the shortest path pose adjustment. Its formula is expressed as follows: ; ;in, This is the floor function; The integer value represents the compensation for the entire week. According to the shortest path adjustment target angle The attitude command at the end of the attitude adjustment is obtained according to the following formula. : .
[0011] A second aspect of the present invention provides a computer device including a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the method described in the above embodiments.
[0012] A third aspect of the present invention provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the method described in the above embodiments.
[0013] A fourth aspect of the present invention provides a computer program product, including a computer program / instructions, which, when executed by a processor, implements the steps of the method described in the above embodiments.
[0014] This invention provides a method, device, and medium for generating optimal attitude adjustment commands for a space launch vehicle's return. The method includes: determining the magnitude of the attitude adjustment angular acceleration based on the control torque of the space launch vehicle's attitude adjustment actuator and the space launch vehicle's moment of inertia corresponding to the attitude adjustment segment; simultaneously, statistically determining the envelope value of the initial attitude angular velocity and the maximum attitude adjustment angle using a simulation platform based on the attitude angle at the initial moment of attitude adjustment; determining the attitude adjustment time length based on the relevant constraints of the magnitude of the attitude adjustment angular acceleration, the envelope value of the initial attitude angular velocity, and the maximum attitude adjustment angle; and determining the attitude adjustment mode of the space launch vehicle as either a first attitude adjustment mode or a second attitude adjustment mode based on the initial attitude angular velocity, the magnitude of the attitude adjustment angular acceleration, and the attitude adjustment time length, thereby generating the optimal attitude adjustment command for the space launch vehicle's return. This invention can fully utilize the initial angular velocity and uniform rotation to achieve the attitude adjustment target and reduce acceleration / deceleration time, thereby saving on attitude adjustment propellant consumption. Attached Figure Description
[0015] Figure 1 This is a flowchart illustrating the method for generating optimal attitude control commands for a space launch vehicle according to an embodiment of the present invention. Figure 2 This is a schematic diagram of the attitude adjustment method under the condition that the absolute value of the initial angular velocity is small and the change in the attitude adjustment program angle is greater than 0, according to an embodiment of the present invention. Figure 3 This is a schematic diagram of the attitude adjustment method under the condition that the absolute value of the initial angular velocity is small and the change in the attitude adjustment program angle is less than or equal to 0 in an embodiment of the present invention. Figure 4 This is a schematic diagram of the attitude adjustment method under the condition that the absolute value of the initial angular velocity is large and the change in the attitude adjustment program angle is greater than 0 in an embodiment of the present invention. Figure 5 This is a schematic diagram of the attitude adjustment method under the condition that the absolute value of the initial angular velocity is large and the change in the attitude adjustment program angle is less than or equal to 0, according to an embodiment of the present invention. Detailed Implementation
[0016] Various embodiments and features of this application are described herein with reference to the accompanying drawings.
[0017] 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.
[0018] 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.
[0019] 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.
[0020] 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.
[0021] The core concept of this invention is as follows: Based on the control torque of the attitude adjustment actuator and the moment of inertia of the spacecraft corresponding to the attitude adjustment segment, the angular acceleration of the spacecraft for attitude adjustment acceleration / deceleration is determined. Based on the initial attitude angular velocity, the target attitude angular condition, and the duration of the attitude adjustment process, the attitude adjustment command is generated in the manner of "acceleration-uniform speed-deceleration" or "deceleration-uniform speed-deceleration". This fully utilizes the initial angular velocity and uniform rotation to achieve the attitude adjustment target, reduces the acceleration / deceleration time, and thus achieves the goal of saving attitude adjustment propellant consumption.
[0022] Figure 1 A flowchart illustrating a method for generating optimal attitude control commands for a space launch vehicle to return, as provided in an embodiment of the present invention, is shown below. Figure 1 As shown, a method for generating optimal attitude control commands for a space launch vehicle to return includes the following steps: S101, the magnitude of the attitude adjustment angular acceleration is determined based on the control torque of the attitude adjustment actuator of the space launch vehicle and the moment of inertia of the space launch vehicle corresponding to the attitude adjustment segment. At the same time, the envelope value of the initial attitude angular velocity and the maximum attitude adjustment angle are statistically obtained through the simulation platform based on the attitude angle at the initial moment of attitude adjustment. S102, determine the attitude adjustment time length based on the magnitude of the attitude adjustment angular acceleration, the envelope value of the initial attitude angular velocity, and the relevant constraints of the maximum attitude adjustment angle; Specifically, the magnitude of the attitude adjustment angular acceleration (Determination of the control torque of the attitude adjustment actuator and the moment of inertia of the spacecraft corresponding to the attitude adjustment segment), attitude adjustment time length envelope value of initial attitude angular velocity Maximum posture adjustment angle The following conditions must be met: ; and ; Therefore, the first step in the design process is to statistically determine the envelope value of the initial attitude angular velocity based on simulation. and maximum pose angle Select the attitude adjustment time length according to the above constraints. .
[0023] Here, the simulation statistics are based on the simulation platform considering various deviations, and the initial angular velocity during the attitude adjustment segment is calculated (from which the envelope value of the initial angular velocity is obtained) and the difference between the attitude angle at the end of the attitude adjustment and the attitude angle at the beginning of the attitude adjustment is obtained (from which the maximum value of the attitude adjustment angle is obtained).
[0024] S103, based on the initial attitude angular velocity, the magnitude of the attitude adjustment angular acceleration, and the attitude adjustment time, determine whether the attitude adjustment mode of the space launch vehicle is the first attitude adjustment mode or the second attitude adjustment mode, so as to complete the generation of the space launch vehicle's return optimal attitude adjustment command.
[0025] It should be noted that the attitude adjustment command within the attitude adjustment time range is as follows: Among them, the change in program angle (i.e., the attitude adjustment angle) , , These are the attitude angle commands at the beginning and end of the attitude adjustment, respectively. This refers to the change value of the attitude adjustment command. It should be noted that the change value of the attitude adjustment command refers to the angle change value corresponding to the command generated during the attitude adjustment process.
[0026] Compared with the prior art, the technical solution of the present invention determines the angular acceleration of the spacecraft's attitude adjustment acceleration / deceleration based on the control torque of the attitude adjustment actuator and the rotational inertia of the spacecraft corresponding to the attitude adjustment segment. Based on the initial attitude angular velocity, the target attitude angular condition, and the duration of the attitude adjustment process, it determines whether to generate the attitude adjustment command in the manner of "acceleration-uniform speed-deceleration" or "deceleration-uniform speed-deceleration". This fully utilizes the initial angular velocity and uniform rotation to achieve the attitude adjustment target, reduces the acceleration / deceleration time, and thus achieves the goal of saving attitude adjustment propellant consumption.
[0027] Based on the above embodiments, determining the attitude adjustment mode of the space launch vehicle as a first attitude adjustment mode or a second attitude adjustment mode according to the initial attitude angular velocity, the magnitude of the attitude adjustment angular acceleration, and the attitude adjustment time length includes: like If so, then the attitude adjustment mode of the space launch vehicle is determined to be the first attitude adjustment mode; or, like If so, the attitude adjustment mode of the space launch vehicle is determined to be the second attitude adjustment mode; in, The magnitude of the attitude adjustment angle acceleration, The duration of the attitude adjustment is [length]. To adjust the posture angle, The initial attitude angular velocity, For symbolic functions, This is the modulo value.
[0028] Based on the above embodiments, the first attitude adjustment method is an acceleration-constant speed-deceleration attitude adjustment method, and the calculation formula for the corresponding attitude adjustment process command change value is as follows: ; ; ; in, The change value of the instruction during the attitude adjustment process. This represents the attitude adjustment time with the start time of attitude adjustment as the zero point, 0~ To speed up the time period, ~ For a uniform speed time period, ~ This is the deceleration period. The magnitude of the attitude adjustment angle acceleration, The duration of the attitude adjustment is [length]. To adjust the posture angle, The initial attitude angular velocity, For symbolic functions, This is the modulo value.
[0029] Based on the above embodiments, the second attitude adjustment method is a deceleration-uniform speed-deceleration attitude adjustment method, and the calculation formula for the corresponding attitude adjustment process command change value is as follows: ; ; ; in, The change value of the instruction during the attitude adjustment process. This represents the attitude adjustment time with the start time of attitude adjustment as the zero point, 0~ This is the first deceleration period. ~ For a uniform speed time period, ~ This is the second deceleration period. The magnitude of the attitude adjustment angle acceleration, The duration of the attitude adjustment is [length]. To adjust the posture angle, The initial attitude angular velocity, For symbolic functions, This is the modulo value.
[0030] In other words, based on the initial attitude angular velocity Magnitude of attitude adjustment angle acceleration Posture adjustment time length The attitude adjustment method was determined to be either "acceleration-constant speed-deceleration" or "deceleration-constant speed-deceleration". (Value changes in the posture adjustment command).
[0031] a) when At that time, the attitude adjustment method is "acceleration-constant speed-deceleration": ; Among them, time Taking the start of posture adjustment as the zero point, 0~ To speed up the time period, ~ For the time period of uniform rotation, ~ This refers to the deceleration period. ; ; b) When At that time, the attitude adjustment method is "deceleration-constant speed-deceleration": ; ; ; Among them, time Taking the start of posture adjustment as the zero point, 0~ This is the first deceleration period. ~ For the time period of uniform rotation, ~ This is the second deceleration period.
[0032] It should be noted that the specific derivation process of the above algorithm is as follows: First, the attitude adjustment conditions are divided into four categories for separate design. Then, they are merged into two categories to reduce the number of branches in the controller software. The symbols used in the following derivation process... With the above calculation process They have the same meaning.
[0033] 1) When the absolute value of the initial angular velocity is small and the change in the attitude adjustment program angle is greater than 0, the attitude adjustment method of "acceleration-uniform speed-deceleration" is adopted, such as... Figure 2 As shown.
[0034] When the initial attitude angular velocity is zero or small, the derivation process of the attitude adjustment scheme of "uniform acceleration-uniform speed-uniform deceleration" is as follows: ; ; ; ; Depend on ; ; ; ; Will Substituting into the above equation, then ; ; (Take the correct time) Depend on ; ; contradiction) so ; ; at this time Established, again ,but ; ; comprehensive , have to ; Heng was established.
[0035] 2) When the absolute value of the initial angular velocity is small and the change in the attitude adjustment program angle is less than or equal to 0, the attitude adjustment method of "acceleration-uniform speed-deceleration" is adopted, such as... Figure 3 As shown. The derivation process of this attitude adjustment scheme is as follows: when ,but ; ; ; ; ; Depend on ; have to ; ; again ; so ; ; Must meet ; (Take the correct time) contradiction) so ; ; at this time Established, ; ; ; again ,but ; ; Heng was established.
[0036] 3) When the absolute value of the initial angular velocity is large and the change in the attitude adjustment program angle is greater than 0, the attitude adjustment method of "deceleration-uniform speed-deceleration" is adopted, such as... Figure 4 As shown.
[0037] The derivation process of this attitude adjustment scheme is as follows: ; ; ; ; have to ; ; have to Heng was established.
[0038] Depend on ; It can be known ; because ,but .
[0039] In summary .
[0040] 4) When the absolute value of the initial angular velocity is large and the change in the attitude adjustment program angle is less than or equal to 0, the attitude adjustment method of "deceleration-uniform speed-deceleration" is adopted, such as... Figure 5 As shown. The derivation process of this attitude adjustment scheme is as follows: when ,but ; ; ; Right now ; .
[0041] ; Equivalent to Heng was established.
[0042] Depend on ; Right now ; ; but ; .
[0043] 5) Summary: (a) when , When the absolute value of the initial angular velocity is large ; ; When the absolute value of the initial angular velocity is small ; ; .
[0044] (b) When , When the absolute value of the initial angular velocity is large ; ; When the absolute value of the initial angular velocity is small ; ; ; ; In summary, when hour, ; ; when , ; ; When designing the posture adjustment, it is necessary to ensure that and ,and ; At this point, the target angle for pose adjustment is obtained based on the shortest path pose adjustment process. ; The formula for calculating the attitude adjustment program angle is: ; The selected parameters must not be equal to 0, and the magnitude of the attitude adjustment angle acceleration must be specified. Posture adjustment time length Initial attitude angular velocity The following conditions must be met: and Then, within the attitude adjustment time range, the attitude adjustment command (if no new attitude command is given after the attitude adjustment ends, the attitude command at the end of the attitude adjustment is maintained) is: ; 1) When hour, ; Among them, time Taking the start of posture adjustment as the zero point of time, ; ; 2) When hour, ; ; .
[0045] Based on the above embodiments, the attitude adjustment time length is determined according to the magnitude of the attitude adjustment angular acceleration, the envelope value of the initial attitude angular velocity, and the relevant constraints of the maximum attitude adjustment angle, including: The following conditions must be satisfied simultaneously between the magnitude of the attitude adjustment angular acceleration, the envelope value of the initial attitude angular velocity, and the maximum attitude adjustment angle: ; ; in, The magnitude of the attitude adjustment angle acceleration, The duration of the attitude adjustment is [length]. The envelope value of the initial attitude angular velocity. The maximum pose angle is... For symbolic functions, This is the modulo value.
[0046] Based on the above embodiments, the generation of the space launch vehicle's return optimal attitude control command includes: The attitude angle at the initial moment of attitude adjustment Attitude command at the initial moment of attitude adjustment And according to the target angle of the posture adjustment The shortest path pose adjustment process is performed to obtain the target angle of the shortest path pose adjustment, which is used as the pose command at the end of the pose adjustment. ; According to the attitude command at the initial moment of attitude adjustment and the attitude command at the end of the attitude adjustment The attitude adjustment angle is obtained. Its formula is expressed as follows: ; According to the posture adjustment angle The attitude command at the initial moment of attitude adjustment and the change value of the posture adjustment process command The formula for generating the attitude adjustment command during the attitude adjustment time is as follows: .
[0047] Based on the above embodiments, the attitude angle at the initial moment of attitude adjustment is... Attitude command at the initial moment of attitude adjustment And according to the target angle of the posture adjustment The shortest path pose adjustment process is performed to obtain the target angle of the shortest path pose adjustment, which is used as the pose command at the end of the pose adjustment. ,include: Based on the attitude angle at the initial moment of attitude adjustment and the target angle of the attitude adjustment Shortest path pose adjustment is performed to obtain the target angle of the shortest path pose adjustment. Its formula is expressed as follows: ; ;in, This is the floor function; The integer value represents the compensation for the entire week. According to the shortest path adjustment target angle The attitude command at the end of the attitude adjustment is obtained according to the following formula. : .
[0048] It should be noted that this invention generates attitude adjustment commands within the spacecraft controller, and the specific steps are as follows: 1) Based on the attitude angle at the initial moment of attitude adjustment As the initial instruction for attitude adjustment = Based on the target angle of attitude adjustment (usually generated online by the binding data or guidance system). Perform shortest path pose adjustment: , ( (This is a function for rounding down). ; Thus, the shortest path pose adjustment target angle is obtained. : ; 2) Based on the change in program angle: ; Within the attitude adjustment time range, the attitude adjustment command is: ; , These are the attitude commands at the beginning and end of the attitude adjustment process, respectively. This represents the change value of the posture adjustment command.
[0049] The technical solution of this invention focuses on protecting the following innovative aspects: 1) This invention performs shortest path attitude adjustment processing on the target angle relative to the attitude angle at the initial moment of attitude adjustment, thereby avoiding redundant consumption of propellant; 2) This invention makes full use of the initial angular velocity and attitude adjustment time of the space launch vehicle to generate attitude adjustment commands that match the attitude adjustment control capability, and makes full use of uniform rotation to reduce acceleration / deceleration time, thereby saving attitude adjustment propellant consumption.
[0050] In summary, the present invention has the following technical advantages compared with the prior art: the present invention makes full use of the initial angular velocity and attitude adjustment time of the space launch vehicle to generate attitude adjustment commands that match the attitude adjustment control capability, and makes full use of uniform rotation to reduce the acceleration / deceleration time, thereby saving attitude adjustment propellant consumption.
[0051] 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: The attitude adjustment command of this invention is given in the form of Euler angles. When a large angle attitude adjustment is required and there is a risk of "singularity" in the transformation matrix from the Euler angle change rate to the rocket body axis angle change rate, a quaternion attitude adjustment method can be used. The quaternion attitude adjustment command can be obtained by converting the Euler angle attitude adjustment command of this invention according to the definition.
[0052] Based on the above embodiments, this embodiment of the invention provides a computer device, including a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the method described in the above embodiments.
[0053] In some embodiments of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the method described in the above embodiments.
[0054] In some embodiments of the present invention, a computer program product is provided, including a computer program / instructions, which, when executed by a processor, implements the steps of the method described in the above embodiments.
[0055] The processor may include, but is not limited to, one or more processors or microprocessors. Each processor may be implemented as an Application Specific Integrated Circuit (ASIC), Digital Signal Processor (DSP), Digital Signal Processing Device (DSPD), Programmable Logic Device (PLD), Field Programmable Gate Array (FPGA), controller, microcontroller, microprocessor, or other electronic component, for executing the methods in the above embodiments.
[0056] Computer-readable storage media can be implemented by any type of volatile or non-volatile storage device or a combination thereof. Computer-readable storage media may include, but are not limited to, random access memory (RAM), read-only memory (ROM), flash memory, EPROM memory, EEPROM memory, registers, and computer storage media (e.g., hard disks, floppy disks, solid-state drives, removable disks, CD-ROMs, DVD-ROMs, Blu-ray discs, etc.).
[0057] Computer-readable storage media may also store at least one computer-executable program / instruction, such as computer-readable instructions. Computer-readable storage media include, but are not limited to, volatile memory and / or non-volatile memory. Volatile memory may include, for example, random access memory (RAM) and / or cache memory. Computer-readable storage media may include, for example, read-only memory (ROM), hard disk, flash memory, etc. For example, a non-transitory computer-readable storage medium may be connected to a computing device such as a computer, and then, when the computing device executes the computer-readable instructions stored on the computer-readable storage medium, the various methods described above can be performed.
[0058] In addition, the computer device may include (but is not limited to) a data bus, an input / output (I / O) bus, a display, and input / output devices (e.g., keyboard, mouse, speakers, etc.).
[0059] The processor can communicate with external devices via the I / O bus through wired or wireless networks.
[0060] In one embodiment, the at least one computer-executable instruction may also be compiled into or comprise a software product / computer program product, wherein one or more computer-executable instructions are executed by a processor to perform the steps of the various functions and / or methods in the embodiments described herein.
[0061] 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.
[0062] 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.
[0063] 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.
[0064] 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.
[0065] 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. A method for generating optimal attitude adjustment commands for the return of a space launch vehicle, characterized in that, include: The magnitude of the attitude adjustment angular acceleration is determined based on the control torque of the attitude adjustment actuator of the space launch vehicle and the moment of inertia of the space launch vehicle corresponding to the attitude adjustment segment. At the same time, the envelope value of the initial attitude angular velocity and the maximum attitude adjustment angle are statistically obtained through the simulation platform based on the attitude angle at the initial moment of attitude adjustment. The attitude adjustment time length is determined based on the magnitude of the attitude adjustment angular acceleration, the envelope value of the initial attitude angular velocity, and the relevant constraints of the maximum attitude adjustment angle. Based on the initial attitude angular velocity, the magnitude of the attitude adjustment angular acceleration, and the attitude adjustment time, the attitude adjustment mode of the space launch vehicle is determined to be either the first attitude adjustment mode or the second attitude adjustment mode, so as to complete the generation of the space launch vehicle's return optimal attitude adjustment command.
2. The method according to claim 1, characterized in that, The step of determining the attitude adjustment mode of the space launch vehicle as either the first attitude adjustment mode or the second attitude adjustment mode based on the initial attitude angular velocity, the magnitude of the attitude adjustment angular acceleration, and the attitude adjustment time includes: like If so, then the attitude adjustment mode of the space launch vehicle is determined to be the first attitude adjustment mode; or, like If so, the attitude adjustment mode of the space launch vehicle is determined to be the second attitude adjustment mode; in, The magnitude of the attitude adjustment angle acceleration, The duration of the attitude adjustment is [length]. To adjust the posture angle, The initial attitude angular velocity, For symbolic functions, This is the modulo value.
3. The method according to claim 2, characterized in that, The first attitude adjustment method is an acceleration-constant speed-deceleration attitude adjustment method, and the calculation formula for the corresponding attitude adjustment process command change value is as follows: ； ； ； in, The change value of the instruction during the attitude adjustment process. This represents the attitude adjustment time with the start time of attitude adjustment as the zero point, 0~ To speed up the time period, ~ For a uniform speed time period, ~ This is the deceleration period. The magnitude of the attitude adjustment angle acceleration, The duration of the attitude adjustment is [length]. To adjust the posture angle, The initial attitude angular velocity, For symbolic functions, This is the modulo value.
4. The method according to claim 2, characterized in that, The second attitude adjustment method is a deceleration-constant speed-deceleration adjustment method, and the calculation formula for the corresponding attitude adjustment process command change value is as follows: ； ； ； in, The change value of the instruction during the attitude adjustment process. This represents the attitude adjustment time with the start time of attitude adjustment as the zero point, 0~ This is the first deceleration period. ~ For a uniform speed time period, ~ This is the second deceleration period. The magnitude of the attitude adjustment angle acceleration, The duration of the attitude adjustment is [length]. To adjust the posture angle, The initial attitude angular velocity, For symbolic functions, This is the modulo value.
5. The method according to claim 1, characterized in that, The attitude adjustment time length is determined based on the magnitude of the attitude adjustment angular acceleration, the envelope value of the initial attitude angular velocity, and the relevant constraints of the maximum attitude adjustment angle, including: The following conditions must be satisfied simultaneously between the magnitude of the attitude adjustment angular acceleration, the envelope value of the initial attitude angular velocity, and the maximum attitude adjustment angle: ； ； in, The magnitude of the attitude adjustment angle acceleration, The duration of the attitude adjustment is [length]. The envelope value of the initial attitude angular velocity. The maximum pose angle is... For symbolic functions, This is the modulo value.
6. The method according to claim 3 or 4, characterized in that, The generation of the space launch vehicle's return optimal attitude control command includes: The attitude angle at the initial moment of attitude adjustment Attitude command at the initial moment of attitude adjustment And according to the target angle of the posture adjustment The shortest path pose adjustment process is performed to obtain the target angle of the shortest path pose adjustment, which is used as the pose command at the end of the pose adjustment. ; According to the attitude command at the initial moment of attitude adjustment and the attitude command at the end of the attitude adjustment The attitude adjustment angle is obtained. Its formula is expressed as follows: ; According to the posture adjustment angle The attitude command at the initial moment of attitude adjustment and the change value of the posture adjustment process command The formula for generating the attitude adjustment command during the attitude adjustment time is as follows: .
7. The method according to claim 6, characterized in that, The attitude angle at the initial moment of attitude adjustment Attitude command at the initial moment of attitude adjustment And according to the target angle of the posture adjustment The shortest path pose adjustment process is performed to obtain the target angle of the shortest path pose adjustment, which is used as the pose command at the end of the pose adjustment. ,include: Based on the attitude angle at the initial moment of attitude adjustment and the target angle of the attitude adjustment Shortest path pose adjustment is performed to obtain the target angle of the shortest path pose adjustment. Its formula is expressed as follows: ; ;in, This is the floor function; The integer value represents the compensation for the entire week. According to the shortest path adjustment target angle The attitude command at the end of the attitude adjustment is obtained according to the following formula. : 。 8. A computer device, characterized in that, The device includes a memory, a processor, and a computer program stored in the memory, characterized in that the processor executes the computer program to implement the steps of the method for generating the optimal attitude adjustment command for a space launch vehicle according to any one of claims 1 to 7.
9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of the method for generating the optimal attitude adjustment command for a space launch vehicle as described in any one of claims 1 to 7.
10. A computer program product, comprising a computer program / instructions, characterized in that, When executed by a processor, the computer program implements the steps of the method for generating the optimal attitude adjustment command for a space launch vehicle as described in any one of claims 1 to 7.