CN116301008B - Carrier rocket control method, carrier rocket, electronic device and storage medium - Google Patents
Carrier rocket control method, carrier rocket, electronic device and storage medium Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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Abstract
The application discloses a carrier rocket control method, a carrier rocket, electronic equipment and a storage medium, and relates to the technical field of aerospace, wherein the method comprises the following steps: acquiring a target attack angle, a real-time sideslip angle and a real-time velocity vector in a launching coordinate system of a carrier rocket at the current flight time; determining a real-time ballistic inclination angle and a real-time ballistic deflection angle of the carrier rocket at the current flight moment based on the real-time velocity vector; determining a real-time pitch angle and a real-time yaw angle of the carrier rocket at the current flight time based on the real-time trajectory inclination angle, the real-time trajectory deflection angle, the target attack angle, the real-time sideslip angle and the posture association relation of the carrier rocket at the current flight time; and controlling the flight attitude of the carrier rocket. The method and the device provided by the application improve the solving efficiency of the pitch angle and the yaw angle and improve the control response speed of the carrier rocket.
Description
Technical Field
The application relates to the technical field of aerospace, in particular to a carrier rocket control method, a carrier rocket, electronic equipment and a storage medium.
Background
In the development process of the carrier rocket, the ballistic design is an overall design work which needs to be subjected to top-level planning and first research, and provides input for the guidance control system and the rocket body structural system design, so the ballistic design is a very important work. When the carrier rocket flies along the trajectory, a control mode of program angle turning is generally adopted, an instruction attack angle is designed in advance, and then the attitude angle of the rocket in a launching inertial coordinate system is obtained through conversion of the instruction attack angle. The attitude angle includes at least a pitch angle and a yaw angle.
Therefore, how to quickly and accurately determine the pitch angle and yaw angle of the carrier rocket and improve the control response speed of the carrier rocket are technical problems to be solved in the industry.
Disclosure of Invention
The application provides a carrier rocket control method, a carrier rocket, electronic equipment and a storage medium, which are used for solving the technical problem of how to quickly and accurately determine the pitch angle and yaw angle of the carrier rocket and improving the control response speed of the carrier rocket.
The application provides a carrier rocket control method, which comprises the following steps:
acquiring a target attack angle, a real-time sideslip angle and a real-time velocity vector in a launching coordinate system of a carrier rocket at the current flight time;
determining a real-time ballistic inclination angle and a real-time ballistic deflection angle of the carrier rocket at the current flight moment based on the real-time velocity vector;
determining a real-time pitch angle and a real-time yaw angle of the carrier rocket at the current flight time based on the real-time trajectory inclination angle, the real-time trajectory deflection angle, the target attack angle, the real-time sideslip angle and the posture association relation of the carrier rocket at the current flight time;
controlling the flight attitude of the carrier rocket based on the real-time pitch angle and the real-time yaw angle;
the attitude association relation is determined based on an attitude transfer matrix among an launching inertial coordinate system, an launching coordinate system, a speed coordinate system and an rocket body coordinate system of the carrier rocket.
In some embodiments, the gesture association is determined based on the steps of:
determining a first attitude transfer matrix of the launching inertial coordinate system transformed to the launching coordinate system based on the azimuth angle of the carrier rocket, the geographic latitude of the launching point, the current flight time and the rotation angular speed of the earth;
determining a second attitude transfer matrix for transforming the launching coordinate system to the speed coordinate system based on the real-time speed inclination angle, the real-time trajectory deflection angle and the real-time trajectory inclination angle of the carrier rocket at the current flight time;
determining a third attitude transfer matrix of the speed coordinate system transformed to the rocket body coordinate system based on a target attack angle and a real-time sideslip angle of the carrier rocket at the current flight time;
determining a fourth pose transfer matrix for transforming the launching inertial coordinate system to the arrow body coordinate system based on the first pose transfer matrix, the second pose transfer matrix, and the third pose transfer matrix;
determining a fifth attitude transfer matrix for transforming the launch inertial coordinate system to the rocket body coordinate system based on a real-time pitch angle, a real-time yaw angle and a real-time roll angle of the carrier rocket in the launch inertial coordinate system at the current flight time;
and determining the posture association relation based on the fourth posture transfer matrix and the fifth posture transfer matrix.
In some embodiments, the determining the first attitude transfer matrix for transforming the launch inertial coordinate system to the launch coordinate system based on the azimuth of the launch vehicle, the launch point geographical latitude, the current time of flight, and the earth rotation angular velocity includes:
wherein ,for the emission inertial coordinate system +.>To the emission coordinate system->Is a first posture transfer matrix of->For the azimuth angle>For the geographical latitude of the emission point +.>For the current flight time>For the rotational angular velocity of the earth,for representing a surrounding coordinate system +.>A rotation matrix for rotation of the shaft; />For representing a surrounding coordinate system +.>A rotation matrix for rotation of the shaft; />For representing a surrounding coordinate system +.>A rotation matrix for rotating the shaft.
In some embodiments, the determining a second attitude transfer matrix for transforming the launch coordinate system to the velocity coordinate system based on the real-time velocity tilt, the real-time ballistic deflection, and the real-time ballistic tilt of the launch vehicle at the current time of flight comprises:
wherein ,for the emission coordinate system->To the velocity coordinate system->Is a second posture transfer matrix of->For the real-time speed dip +.>For the real-time ballistic deflection, +.>For the real-time ballistic dip angle.
In some embodiments, the determining a third attitude transfer matrix for transforming the velocity coordinate system to the rocket body coordinate system based on a target angle of attack and a real-time sideslip angle of the launch vehicle at a current time of flight comprises:
wherein ,for the speed coordinate system->To the arrow coordinate system->Third pose transition matrix of>For the target angle of attack, < >>And the real-time sideslip angle is the real-time sideslip angle.
In some embodiments, the determining a fifth attitude transfer matrix for transforming the launch inertial coordinate system to the rocket body coordinate system based on the real-time pitch angle, the real-time yaw angle, and the real-time roll angle of the launch inertial coordinate system at the current time of flight of the launch vehicle comprises:
wherein ,for the emission inertial coordinate system +.>To the arrow coordinate system->Fifth pose transition matrix of>For the real-time pitch angle +.>For said real time yaw angle +.>And (5) the real-time roll angle is the real-time roll angle.
In some embodiments, the real-time yaw angleSolving based on the following formula:
the real-time pitch angleSolving based on the following formula:
in the formula ,is a three-dimensional matrix->Element of (a)>Is a three-dimensional matrix->Element of (a)>For line number, ->Is a column number;is a first intermediate variable; />Is a second intermediate variable; />Is a third intermediate variable; />Is a fourth intermediate variable;
；
；
。
the application provides a carrier rocket, which comprises a rocket body and an rocket-borne computer arranged on the rocket body, wherein the rocket-borne computer comprises a rocket body and a rocket body;
the rocket-borne computer is used for executing the carrier rocket control method.
The application provides an electronic device, which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor realizes the carrier rocket control method when executing the program.
The present application provides a non-transitory computer readable storage medium having stored thereon a computer program which when executed by a processor implements the launch vehicle control method.
The application provides a carrier rocket, which comprises a rocket body and an rocket-borne computer arranged on the rocket body, wherein the rocket-borne computer comprises a rocket body and a rocket body; the rocket-borne computer is used for executing the carrier rocket control method.
The application provides an electronic device, which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor realizes the carrier rocket control method when executing the program.
The present application provides a non-transitory computer readable storage medium having stored thereon a computer program which when executed by a processor implements the launch vehicle control method.
According to the carrier rocket control method, the carrier rocket, the electronic equipment and the storage medium, the posture association relation is determined according to the posture transfer matrixes among the launch inertial coordinate system, the launch coordinate system, the speed coordinate system and the rocket body coordinate system of the carrier rocket, the real-time trajectory dip angle and the real-time trajectory deflection angle are determined according to the real-time velocity vector of the carrier rocket at the current flight time, the real-time pitch angle and the real-time yaw angle of the carrier rocket at the current flight time and the posture association relation of the carrier rocket at the current flight time are determined, the flight posture of the carrier rocket is controlled, and as the posture association relation is established according to the posture transfer matrixes among the coordinate systems, compared with the method for solving the problem in the prior art, the method is easy to solve quickly through a computer, the calculation speed of the pitch angle and the yaw angle of the carrier rocket is improved, the complex calculation process of expanding each posture transfer matrix one by one is avoided, the solving efficiency of the pitch angle and the yaw angle is improved, the control response speed of the carrier rocket is improved, and the control response time of the carrier rocket is shortened, and the control performance of the carrier rocket is improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application.
In order to more clearly illustrate the application or the technical solutions of the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the application, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of a method for controlling a launch vehicle according to an embodiment of the present application;
FIG. 2 is a schematic representation of a transformation of a carrier rocket coordinate system provided by an embodiment of the present application;
FIG. 3 is a schematic view of a carrier rocket according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
In order that those skilled in the art will better understand the present application, a technical solution in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, shall fall within the scope of the present application.
It should be noted that the terms "first," "second," and the like herein are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the application described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or modules is not necessarily limited to those steps or modules that are expressly listed or inherent to such process, method, article, or apparatus.
Fig. 1 is a flow chart of a method for controlling a launch vehicle according to an embodiment of the present application, as shown in fig. 1, the method includes steps 110, 120, 130 and 140.
Step 110, obtaining a target attack angle, a real-time sideslip angle and a real-time speed vector in a launching coordinate system of the carrier rocket at the current flight time.
Specifically, the execution main body of the carrier rocket control method provided by the embodiment of the application can be an rocket-borne computer of the carrier rocket.
The flight time refers to each time when the carrier rocket flies along the trajectory. The attack angle is the included angle between the speed direction of the carrier rocket and the longitudinal symmetry axis of the carrier rocket. The target attack angle is the attack angle which the carrier rocket needs to keep when turning at the current flight moment. The real-time velocity vector comprises the velocity magnitude and the velocity direction of the carrier rocket at the current flight time. The real-time sideslip angle refers to the angle between the real-time velocity vector of the launch vehicle and the longitudinal plane of symmetry of the launch vehicle.
In the launching process of the carrier rocket, the related coordinate system mainly comprises a launching inertial coordinate system, a launching coordinate system, a speed coordinate system and an rocket body coordinate system.
The emission coordinate system is a right-hand rectangular coordinate system which is formed by taking an emission point as an origin O, pointing an OX axis to an emission aiming direction in the horizontal plane of the emission point, enabling an OY axis to face upwards perpendicular to the horizontal plane of the emission point, and enabling an OZ axis to be perpendicular to the OX axis and the OY axis respectively. For example, the origin O in the launch coordinate system may be a projected point of the launch vehicle on the geodetic reference ellipsoidal surface. The OX axis may be directed in the emission direction in the tangential plane of the reference ellipsoid passing through the origin, and the OY may coincide with the local normal direction of the reference ellipsoid and be directed upward. Once the launch point of the launch vehicle is determined, the entire launch coordinate system is determined and remains unchanged throughout the launch of the launch vehicle.
The launching inertial coordinate system is overlapped with the launching coordinate system at the moment of launching the carrier rocket, and the directions of all coordinate axes in the launching coordinate system are kept unchanged in the inertial space after the carrier rocket is launched.
The velocity coordinate system uses the centroid of the launch vehicle as the origin O, OX axis (also denoted asAxis) is along the direction of the flight speed of the launch vehicle, the OY axis (also denoted +.>The axis) is positive in the main symmetry plane (longitudinal symmetry plane) of the launch vehicle and pointing perpendicular to the OX axis, the OZ axis (also denoted +.>Axis) perpendicular to the plane formed by the OX axis and the OY axis, pointing to the right as viewed in the direction of flight of the launch vehicle.
The rocket body coordinate system takes the mass center of the carrier rocket as an origin O, the OX axis points to the head of the carrier rocket along the symmetrical axis of the rocket body shell of the carrier rocket, the OY axis is positive in the main symmetrical plane of the carrier rocket and is perpendicular to the OX axis, and the OZ axis is perpendicular to the plane formed by the OX axis and the OY axis and points to the right when being seen along the launching direction of the carrier rocket.
Step 120, determining a real-time trajectory inclination angle and a real-time trajectory deflection angle of the carrier rocket at the current flight time based on the real-time velocity vector.
Specifically, the real-time velocity vector of the carrier rocket is analyzed, so that the real-time ballistic inclination angle and the real-time ballistic deflection angle of the carrier rocket at the current flight time can be obtained.
The real-time ballistic inclination angle refers to the angle between the real-time velocity vector of the launch vehicle and the horizontal plane. The real-time ballistic deflection refers to the angle between the projection of the real-time velocity vector of the launch vehicle on the horizontal plane and the OX axis of the launch coordinate system.
And 130, determining a real-time pitch angle and a real-time yaw angle of the carrier rocket at the current flight time based on the real-time trajectory inclination angle, the real-time trajectory deflection angle, the target attack angle and the real-time sideslip angle and the posture association relation of the carrier rocket at the current flight time.
The attitude association relation is determined based on an attitude transfer matrix among an launching inertial coordinate system, an launching coordinate system, a speed coordinate system and an rocket body coordinate system of the carrier rocket.
Specifically, there are transformation relations among the emission inertial coordinate system, the emission coordinate system, the velocity coordinate system and the arrow body coordinate system, and these transformation relations can be represented by the attitude transfer matrix. The posture transfer matrix is related to the posture angle in the corresponding coordinate system.
And performing matrix operation according to the gesture conversion matrix among the coordinate systems to obtain a gesture association relation. The posture association relationship is used to represent the association relationship between the posture angles in the respective coordinate systems.
These attitude angles include at least:
(1) Transmitting pitch angle, yaw angle, roll angle and the like in an inertial coordinate system;
(2) Velocity dip, trajectory dip, etc. in the launch coordinate system;
(3) Angle of attack and sideslip angle in a velocity coordinate system, and the like.
And substituting the real-time trajectory inclination angle and the real-time trajectory deflection angle into the posture association relation, and solving to obtain the real-time pitch angle and the real-time yaw angle of the carrier rocket at the current flight time. The real-time pitch angle is the pitch angle of the carrier rocket when turning at the current flight moment. The real-time yaw angle is the yaw angle of the carrier rocket when turning at the current flight time. The real-time roll angle is the roll angle when the carrier rocket turns at the current flight time.
And 140, controlling the flight attitude of the carrier rocket based on the real-time pitch angle and the real-time yaw angle.
Specifically, control parameters of the attitude and orbit control engine of the carrier rocket can be obtained according to the real-time pitch angle and the real-time yaw angle, so that the attitude and orbit control engine of the carrier rocket is controlled to change the output, the flight attitude of the carrier rocket is controlled, the pitch angle and the yaw angle of the carrier rocket are changed, and the turning action is completed.
According to the carrier rocket control method provided by the embodiment of the application, the posture association relation is determined according to the launching inertial coordinate system, the launching coordinate system, the speed coordinate system and the posture transfer matrix between the rocket body coordinate systems of the carrier rocket, the real-time trajectory inclination angle and the real-time trajectory deflection angle are determined according to the real-time speed vector of the carrier rocket at the current flight time, the real-time pitch angle and the real-time yaw angle of the carrier rocket at the current flight time are determined according to the real-time trajectory inclination angle, the real-time trajectory deflection angle, the real-time sideslip angle and the target attack angle and the posture association relation of the carrier rocket at the current flight time, the flight posture of the carrier rocket is controlled, and as the posture association relation is established according to the posture transfer matrix between the coordinate systems, compared with the trigonometric function in the related art, the carrier rocket is easy to solve quickly through a computer, the complex operation process of expanding and multiplying each posture transfer matrix one by one is avoided, the solving efficiency of the pitch angle and the yaw angle is improved, the solving time of the pitch angle and the yaw angle is shortened, the control response speed of the carrier rocket is improved, and the control response time of the carrier rocket is shortened, and the control response time of the carrier rocket is improved.
It should be noted that each embodiment of the present application may be freely combined, exchanged in order, or separately executed, and does not need to rely on or rely on a fixed execution sequence.
In some embodiments, the gesture association is determined based on the steps of:
determining a first attitude transfer matrix for transforming a launch inertial coordinate system into a launch coordinate system based on an azimuth angle of the carrier rocket, a geographic latitude of a launch point, a current flight time and an earth rotation angular speed;
determining a second attitude transfer matrix for transforming the launching coordinate system into a speed coordinate system based on the real-time speed inclination angle, the real-time trajectory deflection angle and the real-time trajectory inclination angle of the carrier rocket at the current flight time;
determining a third attitude transfer matrix for transforming the velocity coordinate system to an rocket body coordinate system based on a target attack angle and a real-time sideslip angle of the carrier rocket at the current flight time;
determining a fourth attitude transfer matrix for transforming the launching inertial coordinate system to the arrow body coordinate system based on the first, second and third attitude transfer matrices;
determining a fifth gesture transfer matrix for transforming the launching inertial coordinate system to an rocket body coordinate system based on a real-time pitch angle, a real-time yaw angle and a real-time roll angle of the carrier rocket in the launching inertial coordinate system at the current flight time;
and determining the posture association relation based on the fourth posture transfer matrix and the fifth posture transfer matrix.
Specifically, fig. 2 is a schematic diagram of transformation of a carrier rocket coordinate system according to an embodiment of the present application, and as shown in fig. 2, there are two transformation paths from an inertial-launching coordinate system to an rocket body coordinate system. The first is to transform from the emission inertial coordinate system to the emission coordinate system, from the emission coordinate system to the velocity coordinate system, and from the velocity coordinate system to the arrow body coordinate system; the second is a direct transformation from the launching inertial coordinate system to the arrow coordinate system. The results obtained for both transformation paths are equal. Therefore, the posture association relation can be obtained according to matrix operation of the posture conversion matrix under the two transformation paths.
Starting from the first transformation path, the azimuth angle of the carrier rocket refers to the horizontal included angle between the north-pointing direction line of the launching point and the target direction line from the clockwise direction. According to the current flight time and the earth rotation angular velocity, the geographic longitude change between the current position of the carrier rocket and the launching point can be obtained, and then according to the azimuth angle and the geographic latitude of the launching point, the first attitude transfer matrix from the launching inertial coordinate system to the launching coordinate system can be obtained through solving. And according to the real-time velocity dip angle, the real-time trajectory deflection angle and the real-time trajectory dip angle of the carrier rocket at the current flight time, a second gesture transfer matrix from the launching coordinate system to the velocity coordinate system can be obtained through solving. And according to the target attack angle and the real-time sideslip angle of the carrier rocket at the current flight time, a third attitude transfer matrix from the velocity coordinate system to the rocket body coordinate system can be obtained by solving. And multiplying the three gesture transfer matrixes to obtain a fourth gesture transfer matrix from the emission inertial coordinate system to the arrow body coordinate system.
Starting from the second transformation path, according to the real-time pitch angle, the real-time yaw angle and the real-time roll angle of the carrier rocket in the launching inertial coordinate system at the current flight time, a fifth gesture transfer matrix for transforming the launching inertial coordinate system into the rocket body coordinate system can be obtained.
Because the fourth gesture transfer matrix and the fifth gesture transfer matrix are both transformed from the emission inertial coordinate system to the arrow body coordinate system and are equal, the gesture association relationship can be obtained.
According to the carrier rocket control method provided by the embodiment of the application, the posture association relation is obtained according to the posture transfer matrix among the coordinate systems involved in the carrier rocket launching process, so that the quick calculation of the posture angle under each coordinate system is conveniently realized, the control response speed of the carrier rocket is improved, the control response time of the carrier rocket is shortened, and the control performance of the carrier rocket is improved.
In some embodiments, determining a first attitude transfer matrix for transforming a launch inertial coordinate system to a launch coordinate system based on an azimuth of the launch vehicle, a launch point geographic latitude, a current time of flight, and an earth rotation angular velocity, comprises:
wherein ,for transmitting inertial coordinate system->To the emission coordinate system->Is a first posture transfer matrix of->For azimuth angle->For the geographical latitude of the transmitting point>For the current flight time>For the rotation angular velocity of the earth>For representing a surrounding coordinate system +.>A rotation matrix for rotation of the shaft; />For representing a surrounding coordinate system +.>A rotation matrix for rotation of the shaft; />For representing a wound coordinate systemA rotation matrix for rotating the shaft.
In particular, in the transformation of the respective coordinate systems,for representation of a wound coordinate systemIs->The rotation angle of the shaft is +.>Can be expressed as:
for representing a surrounding coordinate system +.>The rotation angle of the shaft is +.>Can be expressed as:
for representing a surrounding coordinate system +.>The rotation angle of the shaft is +.>Can be expressed as:
relative to the emission inertial frameIs a transmission coordinate system +.>There is at least one rotation of each of the corresponding three shafts.
Emission coordinate systemIs->Axes are +.>Is->The angle by which the axis passes is the angle of rotation of the earth (change in geographical longitude), and the rotation angular velocity of the earth can be used>Is +.>Is obtained by the product of (2).
Emission coordinate systemIs->Axes are +.>Is->The angle at which the axis passes around is the azimuth angle. During the transformation of the coordinate system, two rotations occur.
Emission coordinate systemIs->Inertial seat with respect to the emission axisLabel (I/II)>Is->The angle of axis bypass is the launch point geographical latitude. During the transformation of the coordinate system, two rotations occur.
The sequence of the above rotations is:
1. emission coordinate systemIs->Axes are +.>Is->The angle of the shaft bypass is +.>；
2. Emission coordinate systemIs->Axes are +.>Is->The angle of the shaft bypass is +.>；
3. Emission coordinate systemIs->Axes are +.>Is->The angle of the shaft bypass is +.>；
4. Emission coordinate systemIs->Axes are +.>Is->The angle of the shaft bypass is +.>；
5. Emission coordinate systemIs->Axes are +.>Is->The angle of the shaft bypass is +.>。
According to the above-mentioned angular rotation relationship, each shaftCorresponding rotation matrix and rotation transformation sequence of each axis can obtain a first posture transfer matrix。
According to the carrier rocket control method provided by the embodiment of the application, the first attitude rotation matrix is obtained according to the transmission inertial coordinate system and rotation transformation of three coordinate axes in the transmission coordinate system, so that the conversion relation between the transmission inertial coordinate system and the transmission coordinate system can be accurately represented.
In some embodiments, determining a second attitude transfer matrix for transforming the launch coordinate system to the velocity coordinate system based on the real-time velocity tilt, the real-time ballistic deflection, and the real-time ballistic tilt of the launch vehicle at the current time of flight comprises:
wherein ,for transmitting the coordinate system->To the speed coordinate system->Is a second posture transfer matrix of->For real-time speed dip->For real-time ballistic deflection +.>Is the real-time ballistic dip angle.
Specifically, first, a velocity coordinate systemIs->Axis is +.>Is->The angle of the shaft bypass is real-time ballistic inclination angle +.>The method comprises the steps of carrying out a first treatment on the surface of the Second, the velocity coordinate System +.>Is->Axis is +.>Is->The angle of the shaft bypass is real-time ballistic deflection angle +.>The method comprises the steps of carrying out a first treatment on the surface of the Finally, the velocity coordinate System>Is->Axis is +.>Is->The angle of the shaft bypass is real-time speed dip angle +.>。
According to the angular rotation relationship, the corresponding rotation moment of each shaftThe array and the rotation transformation sequence of each axis can obtain a second posture transfer matrix。
According to the carrier rocket control method provided by the embodiment of the application, the second attitude rotation matrix is obtained according to the rotation transformation of the three coordinate axes in the launching coordinate system and the speed coordinate system, so that the conversion relation between the launching coordinate system and the speed coordinate system can be accurately represented.
In some embodiments, determining a third attitude transfer matrix for transforming the velocity coordinate system to the rocket body coordinate system based on the target angle of attack and the real-time sideslip angle of the launch vehicle at the current time of flight comprises:
wherein ,for the speed coordinate system->To the arrow coordinate system->Third pose transition matrix of>For the target angle of attack->Is the real-time sideslip angle.
Specifically, first, a velocity coordinate systemIs->The axes are +.>Is->The angle of the shaft bypass is real-time sideslip angle +.>The method comprises the steps of carrying out a first treatment on the surface of the Second, the velocity coordinate System +.>Is->The axes are +.>Is->The angle of axis bypass is the target angle of attack +.>。
According to the above angle rotation relation, the rotation matrix corresponding to each axis and the rotation transformation sequence of each axis, a third posture transfer matrix can be obtained。
According to the carrier rocket control method provided by the embodiment of the application, the third attitude rotation matrix is obtained according to the rotation transformation of the three coordinate axes in the speed coordinate system and the rocket body coordinate system, so that the conversion relation between the speed coordinate system and the rocket body coordinate system can be accurately represented.
In some embodiments, a fourth pose transfer matrix is determined based on the first, second, and third pose transfer matrices, with the launching inertial coordinate system transformed to the arrow body coordinate system.
In particular, the emission inertial coordinate systemTransformation to arrow coordinate System->Fourth pose transition matrix of->Can be expressed as:
in some embodiments, determining a fifth attitude transfer matrix for transforming the launch inertial coordinate system to the rocket body coordinate system based on the real-time pitch angle, the real-time yaw angle, and the real-time roll angle of the launch inertial coordinate system of the launch vehicle at the current time of flight comprises:
wherein ,for transmitting inertial coordinate system->To the arrow coordinate system->Fifth pose transition matrix of>For real time pitch angle>For real-time yaw angle>Is the real-time roll angle.
Specifically, first, an arrow body coordinate systemIs->Axes are +.>Is->The angle of shaft bypass is real-time pitch angle +.>The method comprises the steps of carrying out a first treatment on the surface of the Secondly, arrow coordinate system->Is->Axes are +.>Is->The angle of the shaft bypass is real-time yaw angle +.>The method comprises the steps of carrying out a first treatment on the surface of the Finally, arrow coordinate System->Is->Axes are +.>Is->The angle of the shaft bypass is real-time roll angle +.>。
According to the above-mentioned angular rotation relationship, the corresponding rotation matrix of every shaft is used forAnd the rotation conversion sequence of each axis, a fifth gesture transfer matrix can be obtained。
According to the carrier rocket control method provided by the embodiment of the application, the fifth gesture rotation matrix is obtained according to rotation transformation of three coordinate axes in the rocket body coordinate system and the launching inertial coordinate system, so that the conversion relationship between the rocket body coordinate system and the launching inertial coordinate system can be accurately represented.
In some embodiments, the pose correlation is determined based on the fourth pose transfer matrix and the fifth pose transfer matrix.
Specifically, since the fourth posture transfer matrix and the fifth posture transfer matrix are both indicative of the conversion relationship from the emission inertial coordinate system to the arrow body coordinate system, which are equal, the first relational expression can be obtained:
the first relationship may be used to represent a gesture association.
Substitution into and />The second relation can be further obtained:
in the second relation:
middle azimuth +.>Geographical latitude of transmitting point->Rotational speed of the earth->Is known, the current flight moment +.>Are also known; real-time ballistic deflection->And real-time ballistic dip>The real-time velocity vector can be calculated according to a transmitting coordinate system; target attack angle->Is designed in advance and is input through a program; real-time sideslip angle->The method can be calculated according to the included angle between the real-time velocity vector and the longitudinal symmetry plane of the carrier rocket; for launch vehicle ballistic design, real-time roll angle under launch inertial frame +.>May be set to zero.
Therefore, of the 8 attitude angles involved in the second relation, the real-time roll angleTarget attack angle->Real-time sideslip angle->Real-time ballistic deflection->And real-time ballistic dip>Are known; only real-time speed dip +.>Real-time pitch angle->Real-time yaw angle->Is unknown.
Taking into account thatThen->，/>For a 3-dimensional identity matrix, the second relation can be reduced to a third relation:
the transformation of the rotation matrix is known as:
thus, the third relationship may be expressed as a fourth relationship:
respectively using matrixSum matrix->Representing a rotation transformation:
wherein ,for matrix->Element of (a)>For matrix->Element of (a)>For line number, ->Are column numbers.
The fourth relationship may be expressed as:
expanding the fourth relation can obtain a fifth relation:
further, a size ofMatrix->Representation->The following steps are:
the method can obtain the following steps:
wherein ,for matrix->Element of (a)>For line number, ->Are column numbers.
Since the elements corresponding to the matrix are equal, there isI.e. +.>. Consider->Substitution can yield the equation: />
Recording device，/>Is a first intermediate variable; />Is a second intermediate variable; />As a third intermediate variable, the equation may represent:
solving the equation can obtain:
taking into account thatAre small values that vary around 0, so +.>Thus obtainingBy->Calculate->According to the value of-> and />Can obtain real-time yaw angle +.>And judge->Is the sign of (c).
Similarly, there is，/>。
Can be expressed in a matrix as:
recording device，/>Substituting the matrix for the fourth intermediate variable can result in:
solving the matrix to obtain and />Furthermore, the real-time pitch angle can be obtained>And judgeIs the sign of (c).
According to the carrier rocket control method provided by the embodiment of the application, the matrix capable of representing the posture association relation is obtained through the operation of the posture conversion matrix under the two conversion paths, the matrix can be obtained by multiplying the matrix through the programming of the computer codes, the matrix is obtained without manually unfolding and multiplying the matrix, the solving efficiency of the pitch angle and the yaw angle can be improved, the solving time of the pitch angle and the yaw angle is shortened, and the control response speed of the carrier rocket is improved.
FIG. 3 is a schematic view of a carrier rocket according to an embodiment of the present application, and as shown in FIG. 3, the carrier rocket 300 includes a rocket body 310, and an rocket-borne computer 320 disposed on the rocket body 310; the rocket-borne computer 320 is used to perform the launch vehicle control method in the above-described embodiments.
The control method in the embodiment of the application is executed in the launching process, so that the calculation speed of the pitch angle and the yaw angle of the carrier rocket is improved, the complex operation process of expanding and multiplying each attitude transfer matrix one by one is avoided, the solving efficiency of the pitch angle and the yaw angle is improved, the solving time of the pitch angle and the yaw angle is shortened, the control response speed of the carrier rocket is improved, the control response time of the carrier rocket is shortened, and the control performance of the carrier rocket is improved.
Fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application, as shown in fig. 4, the electronic device may include: processor (Processor) 410, communication interface (Communications Interface) 420, memory (Memory) 430, and communication bus (Communications Bus) 440, wherein Processor 410, communication interface 420, memory 430 complete communication with each other via communication bus 440. The processor 410 may invoke logic commands in the memory 430 to perform the method described above, including:
acquiring a target attack angle, a real-time sideslip angle and a real-time velocity vector in a launching coordinate system of a carrier rocket at the current flight time; based on the real-time velocity vector, determining a real-time trajectory inclination angle and a real-time trajectory deflection angle of the carrier rocket at the current flight time; determining a real-time pitch angle and a real-time yaw angle of the carrier rocket at the current flight time based on the real-time trajectory inclination angle, the real-time trajectory deflection angle, the target attack angle, the real-time sideslip angle and the posture association relation of the carrier rocket at the current flight time; controlling the flight attitude of the carrier rocket based on the real-time pitch angle and the real-time yaw angle; the attitude association relation is determined based on an attitude transfer matrix among an launching inertial coordinate system, an launching coordinate system, a speed coordinate system and an rocket body coordinate system of the carrier rocket.
In addition, the logic commands in the memory described above may be implemented in the form of software functional units and may be stored in a computer readable storage medium when sold or used as a stand alone product. Based on this understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in the form of a software product stored in a storage medium, comprising several commands for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The processor in the electronic device provided by the embodiment of the application can call the logic instruction in the memory to realize the method, and the specific implementation mode is consistent with the implementation mode of the method, and the same beneficial effects can be achieved, and the detailed description is omitted here.
The embodiments of the present application also provide a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, is implemented to perform the methods provided by the above embodiments.
The specific embodiment is consistent with the foregoing method embodiment, and the same beneficial effects can be achieved, and will not be described herein.
The embodiments of the present application provide a computer program product comprising a computer program which, when executed by a processor, implements a method as described above.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present application without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application.
Claims (9)
1. A method of controlling a launch vehicle, comprising:
acquiring a target attack angle, a real-time sideslip angle and a real-time velocity vector in a launching coordinate system of a carrier rocket at the current flight time;
determining a real-time ballistic inclination angle and a real-time ballistic deflection angle of the carrier rocket at the current flight moment based on the real-time velocity vector;
determining a real-time pitch angle and a real-time yaw angle of the carrier rocket at the current flight time based on the real-time trajectory inclination angle, the real-time trajectory deflection angle, the target attack angle, the real-time sideslip angle and the posture association relation of the carrier rocket at the current flight time;
controlling the flight attitude of the carrier rocket based on the real-time pitch angle and the real-time yaw angle;
the attitude association relation is determined based on an attitude transfer matrix among an launching inertial coordinate system, an launching coordinate system, a speed coordinate system and an rocket body coordinate system of the carrier rocket;
the posture association relationship is determined based on the following steps:
determining a first attitude transfer matrix of the launching inertial coordinate system transformed to the launching coordinate system based on the azimuth angle of the carrier rocket, the geographic latitude of the launching point, the current flight time and the rotation angular speed of the earth;
determining a second attitude transfer matrix for transforming the launching coordinate system to the speed coordinate system based on the real-time speed inclination angle, the real-time trajectory deflection angle and the real-time trajectory inclination angle of the carrier rocket at the current flight time;
determining a third attitude transfer matrix of the speed coordinate system transformed to the rocket body coordinate system based on a target attack angle and a real-time sideslip angle of the carrier rocket at the current flight time;
determining a fourth pose transfer matrix for transforming the launching inertial coordinate system to the arrow body coordinate system based on the first pose transfer matrix, the second pose transfer matrix, and the third pose transfer matrix;
determining a fifth attitude transfer matrix for transforming the launch inertial coordinate system to the rocket body coordinate system based on a real-time pitch angle, a real-time yaw angle and a real-time roll angle of the carrier rocket in the launch inertial coordinate system at the current flight time;
and determining the posture association relation based on the fourth posture transfer matrix and the fifth posture transfer matrix.
2. The method of claim 1, wherein determining the first attitude transfer matrix for transforming the launch inertial coordinate system to the launch coordinate system based on the azimuth angle of the launch vehicle, the launch point geographical latitude, the current time of flight, and the earth rotation angular velocity comprises:
；
wherein ,for the emission inertial coordinate system +.>To the emission coordinate system->Is a first posture transfer matrix of->For the azimuth angle>For the geographical latitude of the emission point +.>For the current flight time>For the earth rotation angular velocity, +.>For representing a surrounding coordinate system +.>A rotation matrix for rotation of the shaft; />For representing a surrounding coordinate system +.>A rotation matrix for rotation of the shaft; />For representing a surrounding coordinate system +.>A rotation matrix for rotating the shaft.
3. A method of controlling a launch vehicle according to claim 2, wherein said determining a second attitude transfer matrix for transforming the launch coordinate system to the velocity coordinate system based on the real-time velocity tilt, the real-time ballistic deflection and the real-time ballistic tilt of the launch vehicle at the current time of flight comprises:
；
wherein ,for the emission coordinate system->To the velocity coordinate system->Is a second posture transfer matrix of->For the real-time speed dip +.>For the real-time ballistic deflection, +.>For the real-time ballistic dip angle.
4. A method of controlling a launch vehicle according to claim 3, wherein said determining a third attitude transfer matrix for transforming said velocity coordinate system to said rocket body coordinate system based on a target angle of attack and a real-time sideslip angle of said launch vehicle at a current time of flight comprises:
；
wherein ,for the speed coordinate system->To the arrow coordinate system->Third pose transition matrix of>For the target angle of attack, < >>And the real-time sideslip angle is the real-time sideslip angle.
5. The method of claim 4, wherein determining a fifth attitude transfer matrix for transforming the launch inertial coordinate system to the rocket body coordinate system based on the real-time pitch angle, the real-time yaw angle, and the real-time roll angle of the launch inertial coordinate system at the current time of flight of the launch rocket, comprises:
；
wherein ,for the emission inertial coordinate system +.>To the arrow coordinate system->Fifth pose transition matrix of>For the real-time pitch angle +.>For said real time yaw angle +.>And (5) the real-time roll angle is the real-time roll angle.
6. A method of controlling a launch vehicle according to claim 5 wherein the real time yaw angleSolving based on the following formula:
；
the real-time pitch angleSolving based on the following formula:
；
in the formula ,is a three-dimensional matrix->Element of (a)>Is a three-dimensional matrix->Element of (a)>For line number, ->Is a column number; />Is a first intermediate variable; />Is a second intermediate variable; />Is a third intermediate variable; />Is a fourth intermediate variable;
；
；
。
7. the carrier rocket is characterized by comprising a rocket body and an rocket-borne computer arranged on the rocket body;
the rocket-borne computer for performing the launch vehicle control method of any one of claims 1 to 6.
8. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the launch vehicle control method of any one of claims 1 to 6 when the computer program is executed.
9. A non-transitory computer readable storage medium having stored thereon a computer program, which when executed by a processor, implements a launch vehicle control method according to any one of claims 1 to 6.
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