CN116123940A - Rocket ground autonomous recovery system under weak ground-air communication environment - Google Patents
Rocket ground autonomous recovery system under weak ground-air communication environment Download PDFInfo
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- CN116123940A CN116123940A CN202211374706.5A CN202211374706A CN116123940A CN 116123940 A CN116123940 A CN 116123940A CN 202211374706 A CN202211374706 A CN 202211374706A CN 116123940 A CN116123940 A CN 116123940A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
- G01S19/15—Aircraft landing systems
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
- F42B10/00—Means for influencing, e.g. improving, the aerodynamic properties of projectiles or missiles; Arrangements on projectiles or missiles for stabilising, steering, range-reducing, range-increasing or fall-retarding
- F42B10/32—Range-reducing or range-increasing arrangements; Fall-retarding means
- F42B10/48—Range-reducing, destabilising or braking arrangements, e.g. impact-braking arrangements; Fall-retarding means, e.g. balloons, rockets for braking or fall-retarding
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
Abstract
The invention relates to a rocket ground autonomous recovery system in a weak ground-air communication environment, and belongs to the technical field of rocket recovery control. The system comprises a perception subsystem, a ground tracking subsystem and a bearing platform, and can autonomously realize reliable identification, rapid and accurate tracking and stable and flexible bearing of the rocket under complex terrains. Under the weak ground-air communication environment, the ground autonomous recovery system acquires the rough preset landing point position of the carrier rocket, and after the landing site is reached, the system actively searches for an air target to realize autonomous recovery, so that a new method is provided for carrier rocket recovery, and the carrier rocket is pushed to be reused. According to the invention, the high-precision identification and gesture determination positioning of the rocket under weak ground-air communication can be realized through the remote adjustment working mode of the distance of the carrier rocket and the multi-source information fusion.
Description
Technical Field
The invention relates to a rocket recovery system, and belongs to the technical field of rocket recovery control.
Background
The rocket is important aerospace equipment, the use efficiency of satellites, aerospace vehicles and the like is directly determined by the related technical research, and the aerospace power and comprehensive national power of one country are reflected. The research and development and manufacturing costs of the rocket are extremely high, and if the rocket can be safely recovered, part of the components can be recycled, so that the launching cost is remarkably reduced. Therefore, rocket recovery technology becomes a key ring of rocket technology development.
The rocket is recovered, and the requirements on the control precision, landing environment and the like of the rocket are extremely high. Under the working background of high load, high strength and high risk coefficient, the control precision, the real-time performance and the robustness of the whole system directly influence the success rate of rocket recovery. Therefore, the rocket can be safely and reliably recovered, the technical difficulty is great, and the system is also provided with extremely high technical indexes.
Most of the existing rockets are disposable. The falcon-9 rocket of an individual company, such as Space-X company in the United states, is recovered at sea, the dynamic vertical recovery is realized, an offshore fixed platform is adopted as a landing environment, landing control is realized only by the rocket, and the problems of incapability of flying to the platform, large landing impact, inclined landing posture and the like occur for many times due to extremely high precision control difficulty of the rocket.
Disclosure of Invention
Aiming at the defects of the prior art, the invention creatively provides a rocket ground autonomous recovery system in a weak ground-air communication environment, which can realize the perception, tracking and receiving of a rocket, in order to effectively solve the technical problem of rocket safety recovery, and especially to avoid the influence on recovery effect due to ground-air communication delay.
The technical scheme adopted by the invention is as follows.
A rocket ground autonomous recovery system under a weak ground-air communication environment, namely a recovery system for short, comprises a multi-source information sensing system, a ground tracking system and a receiving platform.
The multi-source information sensing system is used for detecting, identifying and tracking a rocket and a sensing layer under weak ground-air communication through equipment such as a sensor and the like, and acquiring position and posture information of an air target. Based on the position and posture information, the rocket is tracked and recovered through a ground tracking system and a receiving platform.
And the ground tracking system is responsible for quickly tracking the rocket landing points in a large range. The ground tracking system is an unmanned vehicle, is a mechanical main body of the whole recovery system, and is provided with a multi-source information sensing system and a receiving platform. The system obviously improves the complex environment movement capacity of the whole system by strong terrain adaptability such as climbing, obstacle avoidance and the like.
The bearing platform is responsible for accurately tracking the rocket, provides a horizontal, flexible and vertical bearing environment for the rocket, and can assist the rocket to keep vertical. The space six-degree-of-freedom platform can be used as a landing recovery table surface of the rocket and is loaded in the center of the unmanned vehicle.
In the actual working process, the recovery system is deployed near the position of the approximately preset landing point of the rocket and is in the range of the area which can be perceived by the perception system. Specifically, the recovery system acquires stable and reliable position and posture information of an aerial target by using detection elements (such as a visible light camera, a depth camera, a radar, a laser radar, an infrared sensor and the like) and through sensing algorithms such as data fusion, detection, identification, sensing layer tracking and the like in different modes.
Based on the position and posture information, firstly, the ground tracking system implements large-scale rapid tracking. Because the unmanned vehicle has stronger complex terrain adaptability, the whole system has stronger field environment maneuverability, but because of the limitation of the mechanical structure of the unmanned vehicle, a single unmanned vehicle is difficult to accurately and flexibly track the unstable landing point of the rocket, so the system is only used for large-scale rapid tracking. The ground tracking system performs real-time path planning and tracking according to the real-time detection landing points of the rocket, and rapidly reaches the vicinity of the preset landing points of the rocket, so that a carrying platform carried on the ground tracking system is positioned below and in the vicinity of the landing area of the rocket.
On the basis, the device enters a receiving platform to carry out accurate tracking and recovery stages. Firstly, the receiving platform carries out accurate tracking, namely, after the recovery system reaches the vicinity of a preset landing point of the rocket, the receiving platform carries out fine adjustment according to the real-time positioning information of the rocket until the receiving platform is positioned right below the rocket, so that high-precision tracking is realized, and the situation that the rocket cannot land on a table top and is damaged is avoided.
In the rocket landing recovery process, the receiving platform synchronously carries out a comprehensive recovery control algorithm, namely, a moving table top of the receiving platform is controlled, vertical, stable and flexible recovery of the rocket is realized through inverted pendulum control, gesture stable control and impedance control, rocket damage caused by large rocket landing impact, gesture inclination and other reasons during receiving is avoided, and recovery success rate is improved.
The receiving platform comprises an inverted pendulum control module, a gesture stability control module and an impedance control module, and the three modules act together to realize rocket recovery. The inverted pendulum control module takes rocket posture information as input, takes a plane inverted pendulum principle as a basis, understands the rocket as a swinging rod, and actively suppresses the inclination of the rocket posture by adjusting the horizontal position of the bearing platform so as to keep the rocket posture vertical. The attitude stability control module takes the attitude information of the base platform as the attitude compensation input of the platform, and can ensure the stability of the receiving platform in high real-time through attitude feedforward control. The impedance control module obtains the Z-direction position correction quantity of the bearing platform by calculating the acting force on the bearing platform when the rocket lands, so that the bearing platform has a stress retraction effect, and flexible bearing is realized.
Advantageous effects
Compared with the prior art, the method provided by the invention has the following advantages:
1. the system can autonomously realize reliable identification, rapid and accurate tracking and stable and flexible bearing of the rocket under complex terrains. The system integrates the sensing, tracking and bearing of the carrier rocket. Under the weak ground-air communication environment, the ground autonomous recovery system acquires a rough preset landing point position of the carrier rocket, and after the landing point is reached, the system actively searches for an air target to realize autonomous recovery, so that a new method is provided for carrier rocket recovery, the carrier rocket is pushed to be reused, and the method has strategic application prospect.
2. According to the invention, the high-precision identification and gesture determination positioning of the rocket under weak ground-air communication can be realized through the remote adjustment working mode of the distance of the carrier rocket and the multi-source information fusion.
3. The carrier rocket tracking method adopts a staged tracking mode, namely, the method of quickly tracking by unmanned vehicles in a large range and accurately tracking the carrier rocket by the carrying platform in a small range is adopted, so that the carrier rocket is ensured to be quickly and accurately tracked by the carrying platform, and the risk of damage caused by the fact that the carrier rocket cannot land on the carrying platform is effectively reduced.
4. The invention relates to a bearing platform which comprises inverted pendulum control, gesture stability control and impedance control, wherein the inverted pendulum model is used for keeping a rocket to vertically fall, the gesture feedforward algorithm is used for keeping a bearing platform surface horizontal, and the impedance algorithm is used for flexibly bearing the platform. The three algorithms jointly realize vertical, stable and flexible recovery of the rocket, avoid rocket damage caused by large landing impact, posture inclination and other reasons during carrying, and improve recovery success rate.
Drawings
FIG. 1 is a schematic diagram of the composition of the system of the present invention.
Fig. 2 is a schematic diagram of the operation of the system of the present invention.
Fig. 3 is a flow chart of the operation of the system of the present invention.
Detailed Description
The invention is described in detail below with reference to the drawings and examples.
Examples
The ground autonomous recovery system of the carrier rocket in the weak ground-air communication environment, hereinafter referred to as recovery system, as shown in fig. 1, comprises a multi-source information sensing subsystem, a ground tracking subsystem (unmanned vehicle) and a receiving platform (Stewart type parallel six-degree-of-freedom platform).
The multisource information perception subsystem in the embodiment comprises a three-dimensional laser radar, a visible light camera and a turntable, wherein the three-dimensional laser radar and the visible light camera are arranged on the turntable so as to enlarge the space detection range of the three-dimensional laser radar and the visible light camera. The subsystem is mainly responsible for detecting, identifying and tracking a rocket and a perception layer under weak ground-air communication, and finally acquiring position and posture information of an air target.
In the embodiment, the ground tracking subsystem selects an unmanned vehicle which is steered forwards and backwards and is driven by four wheels independently, the subsystem is a system main body, a multi-source information sensing system and a receiving platform are mounted on the unmanned vehicle, the unmanned vehicle has autonomous path planning and tracking track capability, and the subsystem obviously improves the complex environment movement capability of the whole system by strong terrain adaptability such as climbing, obstacle avoidance and the like, and is mainly responsible for large-range rapid tracking of rocket landing points.
In the embodiment, the receiving platform is a Stewart type parallel six-degree-of-freedom platform, and the platform has the characteristics of high pose precision, no accumulated error and strong immunity, and can realize high-real-time and high-precision control. The subsystem is loaded in the center of the unmanned vehicle, the movable platform is used as a landing recovery table of the rocket, and the platform is mainly responsible for accurately tracking the rocket in a small range and providing a horizontal, flexible and vertical bearing environment for the rocket, and can assist the rocket to keep.
The working process of the recovery system comprises the following steps:
step 1: as shown in fig. 2 (a). Before the rocket landings, position signals (such as Beidou positioning signals and GPS positioning signals) of the to-be-landed place are transmitted to a recovery system, the data do not need to be very real-time and accurate (weak ground-air communication environment), and the recovery system only needs to acquire rough rocket preset landing point positions and then moves to a to-be-landed area in advance to prepare for starting recovery.
Step 2: and after the recovery system reaches the region to be landed, high-precision positioning is performed through the multi-source information sensing subsystem. Specifically, the position information of the rocket relative to the recovery system is obtained through three-dimensional laser radar searching. If the laser radar fails to detect and identify the rocket, returning to the step 1, and re-acquiring the position signal of the to-be-landed place.
Step 3: and the recovery system guides the unmanned vehicle to plan a path in real time according to the positioning information and tracks the rocket, and judges whether the rocket is positioned near the upper part of the unmanned vehicle.
Step 4: and when the distance between the rocket and the unmanned vehicle is smaller than the set value, the rocket is regarded as reaching a preset landing area, and the rocket is ready to start landing. At the moment, the multisource information perception subsystem positions and determines the pose of the rocket through data fusion information of the three-dimensional laser radar and the visible light camera, and sends the state and pose information to be landed to the unmanned vehicle and the receiving platform.
Step 5: after the recovery system determines that the rocket is positioned above the system again, the unmanned vehicle is fixed and is ready for recovery. The receiving platform is controlled stably through accurate tracking and gesture, so that the table top of the recovery platform is ensured to be always horizontal and positioned under the rocket. If the landing of the rocket is not detected by the landing platform (e.g. the force sensor on the landing platform is not detected), step 5 is looped, and if the rocket is landed, step 6 is executed.
Step 6: the receiving platform detects the landing of the rocket, and realizes the stable and reliable recovery of the rocket through the inverted pendulum control and the impedance control.
The inverted pendulum control is based on a plane inverted pendulum principle, a rocket is understood as a swinging rod, the posture inclination of the rocket is actively restrained by adjusting the horizontal position of a Stewart bearing platform, the rocket is kept vertical, and the rocket continuously works after the rocket falls until the rocket is recovered.
The impedance control is responsible for buffering rocket landing impact, the Z-direction acting force on the Stewart bearing platform during rocket landing is solved and is used as feedback, the Z-direction position correction quantity of the bearing platform is obtained, the platform has a stress retraction effect, landing impact force of the rocket is buffered, and flexible bearing of the rocket is achieved.
The recovery of the rocket can be completed.
In a preferred embodiment, an attitude sensor is mounted on the unmanned vehicle, and when the rocket is ready to land, the attitude sensor always detects attitude information and transmits the attitude information to the bearing platform, and the telescopic length of an electric cylinder of the bearing platform is controlled to reversely compensate the telescopic length of the electric cylinder of the bearing platform to the upper platform (bearing table surface), so that the upper platform is always kept horizontal.
Further, the Stewart type bearing platform comprises telescopic cylinders which adopt electric cylinders, and a force sensor is arranged in each cylinder. The receiving platform receives huge impact force at the moment of rocket descent, and space vector superposition calculation can be performed through feedback values of all force sensors. And carrying out admittance control after the calculated stress of the platform is different from the set expected control force to obtain the Z-direction position correction quantity of the bearing platform, so that the platform has a stress retraction effect, the landing impact force of the rocket is buffered, and the flexible bearing of the rocket is realized.
In summary, the above embodiments are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. The rocket ground autonomous recovery system in the weak ground-air communication environment is characterized by comprising a multi-source information sensing system, a ground tracking system and a receiving platform;
the multi-source information sensing system is responsible for detecting, identifying and tracking a sensing layer of a rocket under the weak ground-air communication condition, acquiring position and posture information of an air target, and tracking and recycling the rocket through the ground tracking system and the receiving platform based on the position and posture information;
the ground tracking system is responsible for quickly tracking a rocket landing point, is an unmanned vehicle, has climbing and obstacle avoidance capabilities, is a mechanical main body of the whole recovery system, and is provided with a multi-source information sensing system and a receiving platform;
the receiving platform is responsible for accurately tracking the rocket, provides a horizontal, flexible and vertical receiving environment for the rocket, can assist the rocket to keep vertical, is used as a landing recovery table of the rocket, and is loaded in the center of the unmanned vehicle; the receiving platform comprises an inverted pendulum control module, a gesture stability control module and an impedance control module, and the three modules act together to realize rocket recovery, wherein the inverted pendulum control module takes rocket gesture information as input, takes a plane inverted pendulum principle as a basis, understands the rocket as a swinging rod, and actively suppresses the inclination of the rocket gesture by adjusting the horizontal position of the receiving platform so as to keep the rocket gesture vertical; the attitude stability control module takes the platform attitude information as platform attitude compensation input, and ensures the stability of the receiving platform in real time through attitude feedforward control; the impedance control module obtains the Z-direction position correction quantity of the bearing platform by calculating the acting force on the bearing platform when the rocket lands, so that the platform has a stress retraction effect and flexible bearing is realized;
in the actual working process, deploying a recovery system near the position of a rocket approximately at a preset landing point, and acquiring stable and reliable position and posture information of an aerial target by the recovery system within a region range which can be perceived by a perception subsystem;
based on position and attitude information, the recovery system firstly carries out large-scale rapid tracking, the ground tracking system carries out real-time path planning and tracking according to the real-time detection of the landing point of the rocket, and rapidly reaches the vicinity of the preset landing point of the rocket, so that a carrying platform carried on the ground tracking system is positioned in the vicinity of the lower part of the landing area of the rocket;
in the precise tracking and recovery stage, firstly, the receiving platform precisely tracks, namely, after the ground tracking subsystem reaches the vicinity of a preset landing point of the rocket, the receiving platform finely adjusts according to the real-time positioning information of the rocket until the receiving platform is positioned right below the rocket, so that high-precision tracking is realized, and the situation that the rocket cannot land on a table top and is damaged is avoided;
in the rocket landing recovery process, the receiving platform synchronously carries out a comprehensive recovery control algorithm, namely, a moving table top of the receiving platform is controlled, and the vertical, stable and flexible recovery of the rocket is realized through inverted pendulum control, gesture stable control and impedance control.
2. The autonomous recovery system for rocket ground in a weak ground-air communication environment as recited in claim 1, wherein the multi-source information sensing system comprises a three-dimensional laser radar, a visible light camera and a turntable, wherein the three-dimensional laser radar and the visible light camera are mounted on the turntable for expanding the space detection range thereof.
3. A rocket ground autonomous recovery system in a weak ground-air communication environment as recited in claim 1, wherein the ground tracking system is a front-back steering, four-wheel independently driven unmanned vehicle.
4. The autonomous recovery system of rocket ground in a weak ground-air communication environment of claim 1, wherein the receiving platform is a space six-degree-of-freedom platform.
5. The autonomous recovery system for rocket ground in a weak ground-air communication environment according to claim 1, wherein the attitude sensor is installed on the unmanned vehicle, and when the rocket is ready to land, the attitude sensor always detects attitude information and transmits the attitude information to the receiving platform, and the telescopic length of the electric cylinder of the receiving platform is controlled to reversely compensate the telescopic length of the electric cylinder of the receiving platform to the upper platform, so that the upper platform is always kept horizontal.
6. The autonomous recovery system of rocket ground in a weak ground-air communication environment as recited in claim 1, wherein the telescopic cylinders of the receiving platform are electric cylinders, and each cylinder is internally provided with a force sensor; carrying out space vector superposition calculation by the feedback value of a force sensor on the huge impact force applied to the receiving platform at the moment of rocket descent; and carrying out admittance control after the calculated stress of the platform is different from the set expected control force to obtain the Z-direction position correction quantity of the bearing platform, so that the platform has a stress retraction effect, the landing impact force of the rocket is buffered, and the flexible bearing of the rocket is realized.
7. A rocket ground autonomous recovery system in a weak ground-air communication environment as recited in claim 1, wherein the recovery method of the recovery system comprises the steps of:
step 1: before the rocket landes, position signals of a to-be-landed place are transmitted to a recovery system, the position signal data do not need to be very real-time and accurate, and the recovery system only needs to obtain rough rocket preset landing point positions and then moves to a to-be-landed area in advance to prepare for starting recovery;
step 2: after the recovery system reaches the region to be landed, positioning is carried out through the multi-source information sensing system, searching is carried out to obtain the position information of the rocket relative to the recovery system, if the rocket is not detected and identified, the step 1 is returned, and searching is carried out again to obtain the position signal of the place to be landed;
step 3: the recovery system guides the unmanned vehicle to plan a path in real time according to the positioning information and tracks the rocket, and judges whether the rocket is positioned near the upper part of the unmanned vehicle;
step 4: when the distance between the rocket and the unmanned vehicle is smaller than a set value, the rocket is regarded as reaching a preset landing area, and landing is ready to be started; at the moment, the multisource information sensing system positions and positions the rocket, and sends the state and position information to be landed to the unmanned vehicle and the receiving platform;
step 5: after the recovery system determines that the rocket is positioned above the system again, the unmanned vehicle is fixed and is ready to start recovery; the receiving platform ensures that the table top of the recovery platform is always kept horizontal and is positioned under the rocket through accurate tracking and stable gesture control; if the receiving platform does not detect the rocket landing, the step 5 is circulated, and if the receiving platform does not detect the rocket landing, the step 6 is executed;
step 6: the receiving platform detects the landing of the rocket, and realizes the stable and reliable recovery of the rocket through the control of the inverted pendulum and the impedance control;
the inverted pendulum control is based on a plane inverted pendulum principle, a rocket is understood as a swinging rod, the posture inclination of the rocket is actively restrained by adjusting the horizontal position of a bearing platform, so that the rocket is kept vertical, and the rocket continuously works after falling until the rocket is recovered;
the impedance control is responsible for buffering rocket landing impact, the Z-direction acting force on the bearing platform when the rocket lands is solved and is used as feedback, the Z-direction position correction quantity of the bearing platform is obtained, the platform has a stress retraction effect, the landing impact force of the rocket is buffered, and flexible bearing of the rocket is realized.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116611821A (en) * | 2023-07-19 | 2023-08-18 | 东方空间技术(山东)有限公司 | Rocket recovery sub-level state tracing method and device and computing equipment |
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2022
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116611821A (en) * | 2023-07-19 | 2023-08-18 | 东方空间技术(山东)有限公司 | Rocket recovery sub-level state tracing method and device and computing equipment |
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