CN101786505A - Low-orbit aircraft based on aerodynamic attitude control and attitude control method thereof - Google Patents
Low-orbit aircraft based on aerodynamic attitude control and attitude control method thereof Download PDFInfo
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Abstract
The invention provides a low-orbit aircraft based on aerodynamic attitude control and an attitude control method thereof, relating to the low-orbit aircraft and the attitude control method thereof and solving the problems of high fuel consumption of the current low-orbit aircraft and the attitude control method thereof and short on-orbit service life of the aircraft. The low-orbit aircraft comprises an aircraft body, a pair of pitching-direction attitude control aerodynamic auxiliary boards, a pair of yawing-direction attitude control aerodynamic auxiliary boards, a first rotating mechanical arm, a second rotating mechanical arm, a third rotating mechanical arm and a fourth rotating mechanical arm. The attitude control method of the low-orbit aircraft comprises the following steps of: acquiring the current attitude angle and the target attitude angle of the low-orbit aircraft, obtaining a member to be deflexed and an angle through combining with aircraft attitude dynamics model and a kinematics model, rotating the member, then calculating the deviation angle at the moment, and then finishing the control process when the deviation angle is in the allowed range. The invention is suitable for the attitude control field of the low-orbit aircraft in the height of 200-500 km.
Description
Technical field
The present invention relates to a kind of low-orbit aircraft and attitude control method thereof.
Background technology
Along with accidents such as earthquake, fire and terrorism to low-cost, high demand of heavily visiting frequency and high resolution observations, the Low Earth Orbit (LEO) aircraft receives increasing concern.Low-orbit aircraft mainly is subjected to the influence of aerodynamic force in orbit in the process, mainly shows as the influence to spacecraft orbit and attitude.Existing low-orbit aircraft and attitude control method thereof adopt active mostly, as jet control, the control of zero momentum wheel, the control of bias momentum wheel, control moment gyroscope control etc., the fuel discharge of these control methods is big, cause aircraft short in the rail life-span thus, the control system in these control methods is comparatively complicated simultaneously.
Summary of the invention
The fuel discharge that the objective of the invention is to solve at present existing low-orbit aircraft and attitude control method thereof greatly and the aircraft that causes thus in short problem of rail life-span, a kind of low-orbit aircraft and attitude control method thereof based on the control of aerodynamic force attitude is provided.
Low-orbit aircraft based on the control of aerodynamic force attitude, it comprise aircraft body, a pair of pitching to attitude control aerodynamic force accessory plate, a pair of driftage to attitude control aerodynamic force accessory plate, the first rotary machine arm, the second rotary machine arm, the 3rd rotary machine arm and the 4th rotary machine arm, wherein, described pitching is made up of the first aerodynamic force accessory plate and the second aerodynamic force accessory plate to attitude control aerodynamic force accessory plate, and driftage is made up of the 3rd aerodynamic force accessory plate and the 4th aerodynamic force accessory plate to attitude control aerodynamic force accessory plate;
One end of the described first rotary machine arm, one end of the second rotary machine arm, one end of the 3rd rotary machine arm and an end of the 4th rotary machine arm are connected the afterbody of aircraft body respectively, the other end of the first rotary machine arm, the other end of the second rotary machine arm, the other end of the other end of the 3rd rotary machine arm and the 4th rotary machine arm points to the last rear of aircraft body respectively, following rear, left back and right abaft, and the other end of the first rotary machine arm connects the first aerodynamic force accessory plate, and to make the first aerodynamic force accessory plate can be rotation after center shaft is driven with the central axis of the first rotary machine arm, the other end of the second rotary machine arm connects the second aerodynamic force accessory plate, and to make the second aerodynamic force accessory plate can be rotation after center shaft is driven with the central axis of the second rotary machine arm, the other end of the 3rd rotary machine arm connects the 3rd aerodynamic force accessory plate, and to make the 3rd aerodynamic force accessory plate can be rotation after center shaft is driven with the central axis of the 3rd rotary machine arm, the other end of the 4th rotary machine arm connects the 4th aerodynamic force accessory plate, and to make the 4th aerodynamic force accessory plate can be rotation after center shaft is driven with the central axis of the 4th rotary machine arm;
Described aircraft body is the rotational symmetry cylinder, and the described first rotary machine arm, the second rotary machine arm, the 3rd rotary machine arm and the 4th rotary machine arm are symmetrical arranged about the central axis of aircraft body.
The attitude control method of above-mentioned low-orbit aircraft based on aerodynamic force attitude control, its process is:
Step 2, according to the creep angle of current attitude angle and object attitude angle and utilize attitude of flight vehicle dynam and the kinematics model that has the aerodynamic force accessory plate, calculating and obtaining pitching needs the parts of deflection and the angle that described parts need deflection to attitude control aerodynamic force accessory plate and driftage in attitude control aerodynamic force accessory plate, then according to the parts deflection corresponding angle of result of calculation with needs deflection;
Step 3, obtain the current attitude angle of low-orbit aircraft, and calculate the creep angle of current attitude angle and object attitude angle, judge that this creep angle is whether in the error limit that allows: if then execution in step four; Otherwise, return execution in step two;
Good effect of the present invention: the present invention adopts big aerodynamic force to realize the attitude control of low-orbit aircraft, utilize low-orbit aircraft of the present invention and attitude control method thereof, can effectively improve the propellant amount of carrying when reducing low-orbit aircraft and entering the orbit, and under the situation that does not increase propellant expenditure, improve the life-span of low-orbit aircraft in the rail service.
Description of drawings
Fig. 1 is the front elevation of the low-orbit aircraft of embodiment of the present invention two; Fig. 2 is the lateral plan of the low-orbit aircraft of embodiment of the present invention two; Fig. 3 is the birds-eye view of the low-orbit aircraft of embodiment of the present invention two; Fig. 4 is the block diagram of the low-orbit aircraft of embodiment of the present invention two; Fig. 5 is the lateral plan of the low-orbit aircraft of embodiment of the present invention three; Fig. 6 is the birds-eye view of the low-orbit aircraft of embodiment of the present invention three; Fig. 7 is the diagram of circuit of the attitude control method of embodiment of the present invention four.
The specific embodiment
The specific embodiment one: the low-orbit aircraft based on the control of aerodynamic force attitude of present embodiment, it comprise aircraft body 1, pitching to attitude control aerodynamic force accessory plate, driftage to attitude control aerodynamic force accessory plate, the first rotary machine arm 5, the second rotary machine arm 6, the 3rd rotary machine arm 7 and the 4th rotary machine arm 8, wherein, described pitching is made up of the first aerodynamic force accessory plate 21 and the second aerodynamic force accessory plate 22 to attitude control aerodynamic force accessory plate, and driftage is made up of the 3rd aerodynamic force accessory plate 31 and the 4th aerodynamic force accessory plate 32 to attitude control aerodynamic force accessory plate;
One end of the described first rotary machine arm 5, one end of the second rotary machine arm 6, one end of the 3rd rotary machine arm 7 and an end of the 4th rotary machine arm 8 are connected the afterbody of aircraft body 1 respectively, the other end of the first rotary machine arm 5, the other end of the second rotary machine arm 6, the other end of the other end of the 3rd rotary machine arm 7 and the 4th rotary machine arm 8 points to the last rear of aircraft body 1 respectively, following rear, left back and right abaft, and the other end of the first rotary machine arm 5 connects the first aerodynamic force accessory plate 21, and to make the first aerodynamic force accessory plate 21 can be rotation after center shaft is driven with the central axis of the first rotary machine arm 5, the other end of the second rotary machine arm 6 connects the second aerodynamic force accessory plate 22, and to make the second aerodynamic force accessory plate 22 can be rotation after center shaft is driven with the central axis of the second rotary machine arm 6, the other end of the 3rd rotary machine arm 7 connects the 3rd aerodynamic force accessory plate 31, and to make the 3rd aerodynamic force accessory plate 31 can be rotation after center shaft is driven with the central axis of the 3rd rotary machine arm 7, the other end of the 4th rotary machine arm 8 connects the 4th aerodynamic force accessory plate 32, and to make the 4th aerodynamic force accessory plate 32 can be rotation after center shaft is driven with the central axis of the 4th rotary machine arm 8;
Described aircraft body 1 is the rotational symmetry cylinder, and the described first rotary machine arm 5, the second rotary machine arm 6, the 3rd rotary machine arm 7 and the 4th rotary machine arm 8 are symmetrical arranged about the central axis of aircraft body 1.
The cross-sectional plane of described aircraft body 1 is center symmetry polygon or circle.
The specific embodiment two: different with embodiment one is, present embodiment also comprises two wedge shape ailerons 4, and the cross-sectional plane of described wedge shape aileron (4) is a wedge shape, one of them wedge shape aileron 4 is positioned at the left side of aircraft body 1 and is connected with aircraft body 1 left-hand face, and another wedge shape aileron 4 is positioned at the right side of aircraft body 1 and is connected with the right lateral surface of aircraft body 1.
Each wedge shape aileron 4 is the sealing member of being made up of five blocks of plates, wherein, described five blocks of plates comprise rectangular plate and two set squares that three block specifications are identical, described three rectangular plates join end to end successively and form the triangle cylinder of a hollow, described two set squares place the upper bottom surface place and the bottom surface place of this triangle cylinder respectively, and the junction of these five blocks of plates is and is tightly connected.
In the present embodiment, pitching adopts rotatable machine arm with aircraft body 1 to be connected with driftage to attitude control aerodynamic force accessory plate to attitude control aerodynamic force accessory plate, when pitching to attitude control aerodynamic force accessory plate and driftage behind each aerodynamic force accessory plate biasing special angle in attitude control aerodynamic force accessory plate, can make the barycenter of low-orbit aircraft change, and then produce required aerodynamic torque with pressing distance in the heart.
Pitching is responsible for pitching to attitude control aerodynamic force accessory plate and is controlled to attitude; Driftage is responsible for driftage to attitude control aerodynamic force accessory plate and is controlled to attitude; Pitching is controlled the aerodynamic force accessory plate and is gone off course when attitude control aerodynamic force accessory plate is used to attitude, can realize that lift-over controls to attitude, promptly rotate pitching to attitude control aerodynamic force accessory plate and driftage each aerodynamic force accessory plate in attitude control aerodynamic force accessory plate, make the first aerodynamic force accessory plate 21, the second aerodynamic force accessory plate 22, distributional class behind the 3rd aerodynamic force accessory plate 31 and the 4th aerodynamic force accessory plate 32 each autorotation special angle is similar to the blade on the windmill, and two wedge shape ailerons 4 just can make upper and lower surface that bigger motor-driven angle is arranged when making wobble shaft rotate smaller angle; When need not attitude control, each aerodynamic force accessory plate in attitude control aerodynamic force accessory plate forwards to along air flow line to attitude control aerodynamic force accessory plate and driftage to make pitching, disturbs with the aerodynamic drag that reduces aircraft.Present embodiment can realize the attitude control of pitching, lift-over and three passages of driftage simultaneously.
Referring to Fig. 4, X is to the heading that is low-orbit aircraft, and X-axis is the wobble shaft of low-orbit aircraft, and Y-axis is the pitch axis of low-orbit aircraft, and the Z axle is the yaw axis of low-orbit aircraft, and wherein X-Y plane is parallel to the ground.The low-orbit aircraft of present embodiment is in the rail flight course, and heading is an optimal cases with minimum wind area.
Present embodiment adopts the aerodynamic force accessory plate to add the configuration design of wedge shape aileron, by control accessory plate and wedge shape aileron, can realize the attitude maneuver and stable control of low-orbit aircraft pitching, lift-over and three passages of driftage.The present invention is applicable to the attitude control of 200～500km height low-orbit aircraft, and can adopt the mode of independent aerodynamic force accessory plate according to concrete task choosing, also can adopt the aerodynamic force accessory plate to add the mode of wedge shape aileron, space tasks is had certain extended capability.
The specific embodiment three:Different with embodiment one is, present embodiment also comprises the first aerodynamic force accessory plate aileron 9, the second aerodynamic force accessory plate aileron 10, the 5th rotary machine arm 11 and the 6th rotary machine arm 12, wherein an end of the 5th rotary machine arm 11 connects the left side of aircraft body 1, one end of the 6th rotary machine arm 12 connects the right side of aircraft body 1, the other end of the 5th rotary machine arm 11 connects the first aerodynamic force accessory plate aileron 9, and to make the first aerodynamic force accessory plate aileron 9 can be rotation after center shaft is driven with the central axis of the 5th rotary machine arm 11, the other end of the 6th rotary machine arm 12 connects the second aerodynamic force accessory plate aileron 10, and to make the second aerodynamic force accessory plate aileron 10 can be rotation after center shaft is driven with the central axis of the 6th rotary machine arm 12.
The specific embodiment four:Present embodiment is the attitude control method of the described low-orbit aircraft based on the control of aerodynamic force attitude of embodiment one, and its process is as follows:
Step 2, according to the creep angle of current attitude angle and object attitude angle and utilize attitude of flight vehicle dynam and the kinematics model that has the aerodynamic force accessory plate, calculating and obtaining pitching needs the parts of deflection and the angle that described parts need deflection to attitude control aerodynamic force accessory plate and driftage in attitude control aerodynamic force accessory plate, then according to the parts deflection corresponding angle of result of calculation with needs deflection;
Step 3, obtain the current attitude angle of low-orbit aircraft, and calculate the creep angle of current attitude angle and object attitude angle, judge that this creep angle is whether in the error limit that allows: if then execution in step four; Otherwise, return execution in step two;
The specific embodiment five:Present embodiment is the further qualification to embodiment four, and described low-orbit aircraft based on the control of aerodynamic force attitude also comprises two wedge shape ailerons 4, and the described process of step 2 is:
Creep angle according to current attitude angle and object attitude angle also utilizes attitude of flight vehicle dynam and the kinematics model that has the aerodynamic force accessory plate, calculating and obtaining pitching needs the parts of deflection and the angle that described parts need deflection to attitude control aerodynamic force accessory plate, driftage in attitude control aerodynamic force accessory plate and wedge shape aileron 4, then according to the parts deflection corresponding angle of result of calculation with needs deflection.
Present embodiment adopts aerodynamic force to realize the attitude control of low-orbit aircraft, can require pitching is carried out the comformability configuration to attitude control aerodynamic force accessory plate, driftage to attitude control aerodynamic force accessory plate and wedge shape aileron 4 according to specific tasks, make the method that is proposed possess good configurability and extendability.For the low rail of 200～500km, the propellant amount of carrying that the attitude control method of present embodiment can effectively reduce low-orbit aircraft when entering the orbit, and under the situation that does not increase propellant expenditure, improve the life-span of low-orbit aircraft in the rail service.
The specific embodiment six:Present embodiment is the further qualification to embodiment four, described low-orbit aircraft based on the control of aerodynamic force attitude also comprises the first aerodynamic force accessory plate aileron, the second aerodynamic force accessory plate aileron, the 5th rotary machine arm and the 6th rotary machine arm, and the described process of step 2 is:
Creep angle according to current attitude angle and object attitude angle also utilizes attitude of flight vehicle dynam and the kinematics model that has the aerodynamic force accessory plate, calculating and obtaining pitching needs the parts of deflection and the angle that described parts need deflection to attitude control aerodynamic force accessory plate, driftage in attitude control aerodynamic force accessory plate, the first aerodynamic force accessory plate aileron and the second aerodynamic force accessory plate aileron, then according to the parts deflection corresponding angle of result of calculation with needs deflection.
Use present embodiment below, provide a specific embodiment:
Described attitude of flight vehicle dynam and the kinematics model that has the aerodynamic force accessory plate of step 2 is:
In the following formula, be the angle that the 5th rotary machine arm 11 needs deflection,
Be the motor-driven angle that the 6th rotary machine arm 12 needs deflection,
Be the angle that the first rotary machine arm 5 needs deflection,
Be the angle that the second rotary machine arm 6 needs deflection,
Be the angle that the 3rd rotary machine arm 7 needs deflection,
Be the angle that the 4th rotary machine arm 8 needs deflection,
Be roll angle,
Be pitch angle,
Be yaw angle,
Be respectively angular velocity in roll, rate of pitch and rate of yaw,,
Be respectively roll angle acceleration/accel, pitch angle acceleration/accel and yaw angle acceleration/accel, coefficient in the formula
Be respectively:
Wherein,
ABe the wobble shaft principal moment of inertia,
BBe the pitch axis principal moment of inertia,
CBe the yaw axis principal moment of inertia,
C 1Be the attitude dynamics coefficient that the first rotary machine arm 5 needs deflection angle,
C 2Be the attitude dynamics coefficient that the second rotary machine arm 6 needs deflection angle,
C 3Being the attitude dynamics coefficient that the 3rd rotary machine arm 7 needs deflection angle, is the attitude dynamics coefficient that the 4th rotary machine arm 8 needs deflection angle,
C 1
Ail Be the attitude dynamics coefficient that the 5th rotary machine arm 11 needs deflection angle,
C 2
Ail Be the attitude dynamics coefficient that the 6th rotary machine arm 12 needs deflection angle,
nBe the spacecraft orbit cireular frequency,
C ψ For the yaw axis attitude motion is learned coefficient,
C θ For the pitch axis attitude motion is learned coefficient.
Described control algorithm selection percentage-differential control algorithm is expressed as follows:
Wherein,
Be the wobble shaft control torque,
Be the pitch axis control torque,
Be the yaw axis control torque,
Be respectively the differential coefficient of wobble shaft, pitch axis and yaw axis,
Be respectively the proportionality coefficient of wobble shaft, pitch axis and yaw axis.
System has adopted inearized model in this example, and optional scope is bigger on controlled variable is selected, and when selecting different parameters within the specific limits, does not influence its final stable its convergence time that just influences.This routine selected controlled variable is:
Calculate and obtain
,
,
,
,
And
, according to the corresponding parts of above deflection as a result, can realize that the moment of each passage that is the deflection of each passage aerodynamic force accessory plate come the attitude of controlling aircraft, thereby reach the purpose of adjusting attitude.
Calculate the current attitude angle of low-orbit aircraft this moment and the creep angle of object attitude angle again, creep angle finishes this control process behind all parts that therefore reset in allowed band at this moment.
Present embodiment can effectively reduce the complexity of low-orbit aircraft attitude control system, can reduce the fuel discharge that attitude control brings, thereby can prolong low-orbit aircraft in the rail life-span.Present embodiment utilizes atmospherical drag to carry out attitude control, aerodynamic drag is converted into active role to the interference effect of low-orbit aircraft, simplify the low-orbit aircraft attitude control method, improve reliability and reduced cost, not only can effectively reduce the satellite energy resource consumption, and utilize aerodynamic force control for low-orbit satellite, can access enough attitude stabilizations and trajectory accuracy, for the control of the low-orbit aircraft of low-cost low-power consumption in the future provides a kind of new strategy.
Claims (8)
1. based on the low-orbit aircraft of aerodynamic force attitude control, it is characterized in that it comprises aircraft body (1), pitching is to attitude control aerodynamic force accessory plate, driftage is to attitude control aerodynamic force accessory plate, the first rotary machine arm (5), the second rotary machine arm (6), the 3rd rotary machine arm (7) and the 4th rotary machine arm (8), wherein, described pitching is made up of the first aerodynamic force accessory plate (21) and the second aerodynamic force accessory plate (22) to attitude control aerodynamic force accessory plate, and driftage is made up of the 3rd aerodynamic force accessory plate (31) and the 4th aerodynamic force accessory plate (32) to attitude control aerodynamic force accessory plate;
One end of the described first rotary machine arm (5), one end of the second rotary machine arm (6), one end of the 3rd rotary machine arm (7) and an end of the 4th rotary machine arm (8) are connected the afterbody of aircraft body (1) respectively, the other end of the first rotary machine arm (5), the other end of the second rotary machine arm (6), the other end of the other end of the 3rd rotary machine arm (7) and the 4th rotary machine arm (8) points to the last rear of aircraft body (1) respectively, following rear, left back and right abaft, and the other end of the first rotary machine arm (5) connects the first aerodynamic force accessory plate (21), and to make the first aerodynamic force accessory plate (21) can be rotation after center shaft is driven with the central axis of the first rotary machine arm (5), the other end of the second rotary machine arm (6) connects the second aerodynamic force accessory plate (22), and to make the second aerodynamic force accessory plate (22) can be rotation after center shaft is driven with the central axis of the second rotary machine arm (6), the other end of the 3rd rotary machine arm (7) connects the 3rd aerodynamic force accessory plate (31), and to make the 3rd aerodynamic force accessory plate (31) can be rotation after center shaft is driven with the central axis of the 3rd rotary machine arm (7), the other end of the 4th rotary machine arm (8) connects the 4th aerodynamic force accessory plate (32), and to make the 4th aerodynamic force accessory plate (32) can be rotation after center shaft is driven with the central axis of the 4th rotary machine arm (8);
Described aircraft body (1) is the rotational symmetry cylinder, and the described first rotary machine arm (5), the second rotary machine arm (6), the 3rd rotary machine arm (7) and the 4th rotary machine arm (8) are symmetrical arranged about the central axis of aircraft body (1).
2. the low-orbit aircraft based on the control of aerodynamic force attitude according to claim 1, the cross-sectional plane that it is characterized in that described aircraft body (1) are center symmetry polygon or circle.
3. the low-orbit aircraft based on the control of aerodynamic force attitude according to claim 1 and 2, it is characterized in that it also comprises two wedge shape ailerons (4), and the cross-sectional plane of described wedge shape aileron (4) is a wedge shape, one of them wedge shape aileron (4) is positioned at the left side of aircraft body (1) and is connected with aircraft body (1) left-hand face, and another wedge shape aileron (4) is positioned at the right side of aircraft body (1) and is connected with the right lateral surface of aircraft body (1).
4. the low-orbit aircraft based on the control of aerodynamic force attitude according to claim 3, it is characterized in that the sealing member of each wedge shape aileron (4) for forming by five blocks of plates, wherein, described five blocks of plates comprise rectangular plate and two set squares that three block specifications are identical, described three rectangular plates join end to end successively and form the triangle cylinder of a hollow, described two set squares place the upper bottom surface place and the bottom surface place of this triangle cylinder respectively, and the junction of these five blocks of plates is and is tightly connected.
5. the low-orbit aircraft based on the control of aerodynamic force attitude according to claim 1, it is characterized in that it also comprises the first aerodynamic force accessory plate aileron (9), the second aerodynamic force accessory plate aileron (10), the 5th rotary machine arm (11) and the 6th rotary machine arm (12), wherein an end of the 5th rotary machine arm (11) connects the left side of aircraft body (1), one end of the 6th rotary machine arm (12) connects the right side of aircraft body (1), the other end of the 5th rotary machine arm (11) connects the first aerodynamic force accessory plate aileron (9), and to make the first aerodynamic force accessory plate aileron (9) can be rotation after center shaft is driven with the central axis of the 5th rotary machine arm (11), the other end of the 6th rotary machine arm (12) connects the second aerodynamic force accessory plate aileron (10), and to make the second aerodynamic force accessory plate aileron (10) can be rotation after center shaft is driven with the central axis of the 6th rotary machine arm (12).
6. the attitude control method of the described low-orbit aircraft based on aerodynamic force attitude control of claim 1 is characterized in that its process is as follows:
Step 1, measure sensor with attitude of flight vehicle and obtain the current attitude angle of described low-orbit aircraft and determine the object attitude angle of low-orbit aircraft, calculate and obtain the creep angle of current attitude angle and object attitude angle according to mission planning;
Step 2, according to the creep angle of current attitude angle and object attitude angle and utilize attitude of flight vehicle dynam and the kinematics model that has the aerodynamic force accessory plate, calculating and obtaining pitching needs the parts of deflection and the angle that described parts need deflection to attitude control aerodynamic force accessory plate and driftage in attitude control aerodynamic force accessory plate, then according to the parts deflection corresponding angle of result of calculation with needs deflection;
Step 3, obtain the current attitude angle of low-orbit aircraft, and calculate the creep angle of current attitude angle and object attitude angle, judge that this creep angle is whether in the error limit that allows: if then execution in step four; Otherwise, return execution in step two;
Step 4, make the parts that are rotated in the step 2 reply initial condition, finishing control process.
7. the attitude control method of low-orbit aircraft according to claim 6 is characterized in that described low-orbit aircraft based on the control of aerodynamic force attitude also comprises two wedge shape ailerons (4), and the described process of step 2 is:
Creep angle according to current attitude angle and object attitude angle also utilizes attitude of flight vehicle dynam and the kinematics model that has the aerodynamic force accessory plate, calculating and obtaining pitching needs the parts of deflection and the angle that described parts need deflection to attitude control aerodynamic force accessory plate, driftage in attitude control aerodynamic force accessory plate and wedge shape aileron (4), then according to the parts deflection corresponding angle of result of calculation with needs deflection.
8. the attitude control method of low-orbit aircraft according to claim 6, it is characterized in that described low-orbit aircraft based on the control of aerodynamic force attitude also comprises the first aerodynamic force accessory plate aileron (9), the second aerodynamic force accessory plate aileron (10), the 5th rotary machine arm (11) and the 6th rotary machine arm (12), the described process of step 2 is:
Creep angle according to current attitude angle and object attitude angle also utilizes attitude of flight vehicle dynam and the kinematics model that has the aerodynamic force accessory plate, calculating and obtaining pitching needs the parts of deflection and the angle that described parts need deflection to attitude control aerodynamic force accessory plate, driftage in attitude control aerodynamic force accessory plate, the first aerodynamic force accessory plate aileron (9) and the second aerodynamic force accessory plate aileron (10), then according to the parts deflection corresponding angle of result of calculation with needs deflection.
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| CN104977936A (en) * | 2014-04-09 | 2015-10-14 | 上海九鹰电子科技有限公司 | Remote signal sending/receiving method and device, remote controller and remote control model |
| CN106660641A (en) * | 2014-06-19 | 2017-05-10 | 空中客车防务和空间公司 | Method for controlling the orbit of a satellite in earth orbit, satellite and system for controlling the orbit of such a satellite |
| CN104743100A (en) * | 2015-03-03 | 2015-07-01 | 北京航天自动控制研究所 | Redistribution method of control action for aircraft under fault condition of executing mechanisms for X-type configuration |
| CN105836161A (en) * | 2016-04-29 | 2016-08-10 | 北京零壹空间科技有限公司 | Multi-stage aircraft control system and method, aircraft, guided missile and rocket |
| CN105836161B (en) * | 2016-04-29 | 2017-12-26 | 北京零壹空间科技有限公司 | Staged aircraft control system and method, staged aircraft and guided missile and rocket |
| CN106005482A (en) * | 2016-05-23 | 2016-10-12 | 北京空间飞行器总体设计部 | Zero-bias lasting day number determination method suitable for navigation inclined orbit satellite |
| CN106005482B (en) * | 2016-05-23 | 2018-05-01 | 北京空间飞行器总体设计部 | A kind of zero bias continuous days for being suitable for navigation inclined plane satellite determine method |
| CN107585328A (en) * | 2017-08-22 | 2018-01-16 | 北京空间技术研制试验中心 | The multi-functional manned spacecraft that can be flown for a long time |
| CN113602533A (en) * | 2021-08-26 | 2021-11-05 | 北京航空航天大学 | Ultra-low orbit satellite orbit control method based on aerodynamic force assistance |
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