CN105836161A - Multi-stage aircraft control system and method, aircraft, guided missile and rocket - Google Patents
Multi-stage aircraft control system and method, aircraft, guided missile and rocket Download PDFInfo
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- CN105836161A CN105836161A CN201610282645.8A CN201610282645A CN105836161A CN 105836161 A CN105836161 A CN 105836161A CN 201610282645 A CN201610282645 A CN 201610282645A CN 105836161 A CN105836161 A CN 105836161A
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- 238000000034 method Methods 0.000 title claims abstract description 18
- 238000006073 displacement reaction Methods 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 14
- 238000005516 engineering process Methods 0.000 description 12
- 230000000694 effects Effects 0.000 description 7
- 239000007921 spray Substances 0.000 description 6
- 238000004364 calculation method Methods 0.000 description 5
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- 238000010586 diagram Methods 0.000 description 2
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- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
- B64G1/26—Guiding or controlling apparatus, e.g. for attitude control using jets
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
- B64G1/244—Spacecraft control systems
- B64G1/245—Attitude control algorithms for spacecraft attitude control
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
- F42B15/00—Self-propelled projectiles or missiles, e.g. rockets; Guided missiles
- F42B15/01—Arrangements thereon for guidance or control
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- General Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to a multi-stage aircraft attitude control system, a multi-stage aircraft control method, and a multi-stage aircraft, a rocket and a guided missile to which the multi-stage aircraft control system is applied. The control system comprises an attitude control device. The attitude control device comprises a last-stage attitude control device arranged on the head of the multi-stage aircraft. An attitude sensor and an aircraft attitude controller are further included. The attitude sensor is used for acquiring the pitching angle of the multi-stage aircraft in real time and/or acquiring the yaw angle of the multi-stage aircraft in real time. The aircraft attitude controller is an integrated aircraft attitude controller, and the integrated aircraft attitude controller is arranged on the head of the multi-stage aircraft and used for receiving the pitching angle and/or the yaw angle in real time and controlling thrust of the attitude control device and/or starting and stopping of the attitude control device according to the pitching angle and/or the yaw angle. According to the device, the manufacturing and launching cost of the multi-stage aircraft can be reduced, and reliability is improved.
Description
Technical field
The invention belongs to the attitude control technology field of staged aircraft, particularly relate to staged aircraft control system, multistage
Flying vehicles control method, apply the staged aircraft of this staged aircraft control system, rocket and guided missile.
Background technology
Common rocket or ballistic strategy/tactical missile design, all need to install a set of attitude control device in every one-level.?
During one-level flight, the attitude control system of one-level is used to be controlled；When two grades of flight, use the attitude control system of two grades
It is controlled；When three grades of flight, the attitude control system of three grades is used to be controlled.So design is advantageous in that system sets
Meter is simple, and the attitude control system of every one-level is all designed for this level, and design realizes the most more convenient.
This traditional design mode there is also shortcoming.It essentially consists in rocket or strategy, tactical missile has how many levels, it is necessary to
How much overlap attitude control system.The increase of attitude control system quantity, also brings more problem.
A) overlapping attitude control system, every suit all can not lose efficacy, and (any a set of inefficacy all can cause aircraft unstability, thus leads more
Cause aerial mission failure), for the angle of reliability, define the series connection link of flight reliability, system-wide reliability ratio
The reliability of arbitrary set is the lowest, reduces the reliability of system.
B) the increasing of attitude control system quantity, necessarily brings the significantly increase of cost, the highest from the angle of cost.
C) the increasing of attitude control system quantity, necessarily brings structure to install, the raising of electrical control complexity, also brings along into
This problem with reliability.
D) for aircraft, its weight is a very important parameter；The payload of such as carrier rocket, often increases
1kg, the most quite increases the price of 1kg gold；For aircraft, increasing of attitude control system equipment, necessarily brings
The increase of aircraft weight.
Summary of the invention
The present invention provides staged aircraft control system, staged aircraft to control for overcoming technical problem present in prior art
Method, applying the staged aircraft of this staged aircraft control system, rocket and guided missile, this staged aircraft can reduce system
Make, launch cost, improve reliability.
A kind of staged aircraft attitude control system, staged aircraft includes the first order, it is characterised in that: include appearance control equipment and
The first order, appearance control equipment includes the final stage appearance control device being arranged at staged aircraft head, also includes:
Attitude transducer, for the luffing angle of Real-time Collection staged aircraft, and/or, Real-time Collection staged aircraft inclined
Boat angle；
Attitude Controller, Attitude Controller is integrated form Attitude Controller, integrated form attitude of flight vehicle
Controller is arranged on staged aircraft head, is used for: real-time reception luffing angle, and/or, yaw angle；And according to pitching
Angle, and/or, yaw angle, control thrust and/or the switch of appearance control equipment of appearance control equipment.
By appearance control device being arranged on head and the first order of staged aircraft, it is possible to reduce the quantity of the jet pipe of required control.
And control one-level appearance control device and final stage appearance control device by being arranged at the integrated form Attitude Controller of head, permissible
Reduce the quantity of attitude controller, reduce the manufacture of staged aircraft, launch cost, improve the reliability of staged aircraft.
Preferably technical scheme, its supplementary features are: integrated form Attitude Controller at staged aircraft with the
During the flight of one-level, control final stage appearance control device and produce thrust P1,
P1*L1>MNeed 1
Wherein, MNeed 1The pitching moment required when with the flight of the first order for staged aircraft or yawing, L2For multistage
Vertical dimension between the aircraft the first centroid position and final stage appearance control device when with the flight of the first order；
In the first order after staged aircraft separates, integrated form Attitude Controller controls final stage appearance control device and produces thrust P1,
P1*L2>MNeed 2
Wherein, L2For first order staged aircraft after staged aircraft separates the second centroid position and final stage appearance control device it
Between vertical dimension, MNeed 2The pitching moment needed for staged aircraft after separating for first order staged aircraft or yawing.
When staged aircraft in one-level flight when, due to final stage appearance control device and now aircraft barycenter farther out, so using
Little thrust, i.e. can produce bigger yawing or pitching moment, can improve the control performance of aircraft.
After the first order separates with staged aircraft, final stage appearance control device control the flight attitude of the remainder of aircraft,
For three grades of aircraft, it is convenient to omit fall second-level attitude control device, reduce this unnecessary weight load, also improve
The reliability that system controls.
Preferably technical scheme, its supplementary features are: appearance control equipment also includes the one-level being arranged at the first order of staged aircraft
Appearance control device.
Owing to one-level appearance control device is intended to separate with staged aircraft in the first order, so arranging one-level appearance control device, can subtract
Few final stage appearance control device burden when one-level flight, reduces the weight of final stage appearance control device, improves the final load of staged aircraft
Lotus.
Further preferred technical scheme, its supplementary features are: control final stage appearance control device and produce thrust P1And/or one-level appearance control
Device produces thrust P2 need 2,
Wherein, MNeed 1The pitching moment required when with the flight of the first order for staged aircraft or yawing, L1For multistage
Vertical dimension between the aircraft the first centroid position and final stage appearance control device when with the flight of the first order, L3Fly for multistage
Vertical dimension between the row device the first centroid position and one-level appearance control device when with the flight of the first order；
In the first order after staged aircraft separates, integrated form Attitude Controller controls final stage appearance control device and produces thrust P1,
P1*L2>MNeed 2
Wherein, L2For first order staged aircraft after staged aircraft separates the second centroid position and final stage appearance control device it
Between vertical dimension, MNeed 2The pitching moment needed for staged aircraft after separating for first order staged aircraft or yawing.
Aircraft is carried out with first-stage flight when, jointly provide thrust by one-level appearance control device and final stage appearance control device,
The required thrust provided of one-level appearance control device can be provided, thus decrease the weight of one-level appearance control device, and then reduce transmitting
Cost.
After the first order separates with staged aircraft, final stage appearance control device control the flight attitude of the remainder of aircraft,
For three grades of aircraft, it is convenient to omit fall second-level attitude control device, reduce this unnecessary weight load, also improve
The reliability that system controls.
A kind of staged aircraft attitude control method, including:
The luffing angle of attitude transducer Real-time Collection staged aircraft, and/or, the yaw angle of Real-time Collection staged aircraft；
It is arranged on the integrated form Attitude Controller real-time reception luffing angle of the head of staged aircraft, and/or, driftage
Angle；
Integrated form Attitude Controller according to luffing angle, and/or, yaw angle, at staged aircraft with first
During the flight of level with in the first order after staged aircraft separates, the control thrust of appearance control equipment and/or the switch of appearance control equipment.
By being controlled one-level and final stage appearance control device by integrated form Attitude Controller, it is possible to reduce with first-stage flight
When, the thrust of one-level appearance control device, reduces the size of one-level appearance control device, alleviates aircraft weight.But also in eliminating
The appearance control device of intercaste, alleviates the weight of staged aircraft.
Preferably technical scheme, its supplementary features are: staged aircraft includes that the first order, appearance control equipment include being arranged on multistage
The final stage appearance control device of the head of aircraft, staged aircraft when with the flight of the first order, integrated form aircraft manufacturing technology
Final stage appearance control device produces thrust P1,
P1*L1>MNeed 1
Wherein, L1For hanging down between the staged aircraft the first centroid position and final stage appearance control device when with the flight of the first order
Straight distance appearance control device；
Staged aircraft includes the first order, and in the first order after staged aircraft separates, integrated form Attitude Controller controls
Final stage appearance control device produces thrust P1,
P1*L2>MNeed 2
Wherein, L2For first order staged aircraft after staged aircraft separates the second centroid position and final stage appearance control device it
Between vertical dimension, MNeed 2The pitching moment needed for staged aircraft after separating for first order staged aircraft or yawing.
When staged aircraft in one-level flight when, due to final stage appearance control device and now aircraft barycenter farther out, so using
Little thrust, i.e. can produce bigger yawing or pitching moment, can improve the control performance of aircraft.
After the first order separates with staged aircraft, final stage appearance control device control the flight attitude of the remainder of aircraft,
For three grades of aircraft, it is convenient to omit fall second-level attitude control device, reduce this unnecessary weight load, also improve
The reliability that system controls.
Preferably technical scheme, its supplementary features are: staged aircraft includes that the first order, appearance control equipment include being arranged on multistage
The final stage appearance control device of the head of aircraft and the one-level appearance control device being arranged at the first order, integrated form Attitude Controller control
Final stage appearance control device processed and/or the thrust of one-level appearance control device and/or control opening of final stage appearance control device and/or one-level appearance control device
Close；
Staged aircraft is when with the flight of the first order, and integrated form Attitude Controller controls final stage appearance control device and produces and pushes away
Power P1And/or one-level appearance control device produces thrust P2 need 2,
Wherein, MNeed 1The pitching moment required when with the flight of the first order for staged aircraft or yawing, L1For multistage
Vertical dimension between the aircraft the first centroid position and final stage appearance control device when with the flight of the first order, L3Fly for multistage
Vertical dimension between the row device the first centroid position and one-level appearance control device when with the flight of the first order；
In the first order after staged aircraft separates, integrated form Attitude Controller controls final stage appearance control device and produces thrust P1,
P1*L2>MNeed 2
Wherein, L2For first order staged aircraft after staged aircraft separates the second centroid position and final stage appearance control device it
Between vertical dimension, MNeed 2The pitching moment needed for staged aircraft after separating for first order staged aircraft or yawing.
Aircraft is carried out with first-stage flight when, jointly provide thrust by one-level appearance control device and final stage appearance control device,
The required thrust provided of one-level appearance control device can be provided, thus decrease the weight of one-level appearance control device, and then reduce transmitting
Cost.
After the first order separates with staged aircraft, final stage appearance control device control the flight attitude of the remainder of aircraft,
For three grades of aircraft, it is convenient to omit fall second-level attitude control device, reduce this unnecessary weight load, also improve
The reliability that system controls.
Further preferred technical scheme, its supplementary features are: the attitude angle deviation of staged aircraft is △φ, △φFor by appearance
The luffing angle of state sensor acquisition or yaw angle and expectation luffing angle or the difference of expectation yaw angle；
△1For △φ'sOvergauge boundary, △2For △φ'sLower deviation boundary,
Work as △φ>△1So that appearance control equipment is in minimizing △φState；
Work as △φ<△2So that appearance control equipment is in increase △φState.
Due to limit superior and limit inferior for attitude angle deviation setting, when attitude angle slightly produces deviation when, appearance control device is still
Without starting, so it is unlikely to so that starting or stoping of appearance control device is the most frequent, it is possible to reduce the start-stop time of appearance control device,
Thus reduce the start and stop reliability requirement for appearance control device, advantageously reduce the holistic cost of aircraft.
A kind of staged aircraft, is provided with above-mentioned integrated type multi-stage aircraft manufacturing technology system.
This aircraft can eliminate at least one gesture stability under realizing the staged aircraft same effect with prior art
Device, reduces weight and the cost of staged aircraft, also improves the control reliability of aircraft simultaneously.
A kind of guided missile, is provided with above-mentioned integrated type multi-stage aircraft manufacturing technology system.
This guided missile can eliminate at least one attitude controller under realizing the guided missile same effect with prior art, reduces
The weight of guided missile and cost, the weight saved can be used to the weight improving warhead improving striking capabilities, the most also
Improve the control reliability of missile flight.
A kind of rocket, is provided with above-mentioned integrated type multi-stage aircraft manufacturing technology system.
This rocket can eliminate at least one attitude controller under realizing the rocket same effect with prior art, reduces
The weight of guided missile and cost, the weight saved can be used to improve payload, also improve the control of rocket flight simultaneously
Reliability processed.
Accompanying drawing explanation
Fig. 1 is the structural representation of the control system of the embodiment of the present invention 1；
Fig. 2 is the schematic flow sheet of the control method of the embodiment of the present invention 2.
Detailed description of the invention
For the summary of the invention of the present invention, feature and effect can be further appreciated that, hereby enumerate following example, and describe in detail such as
Under:
Embodiment 1:
Fig. 1 is the structural representation of the embodiment of the present invention 1；In figure, the implication that each reference represents is as follows:；1,
One-level；2, the second level；3, the third level；4, one-level appearance control jet pipe；5, final stage appearance control jet pipe；6, the first centroid position；
7, the second centroid position.
A kind of staged aircraft attitude control system, including being arranged at the final stage appearance control jet pipe 5 of staged aircraft head and being arranged at
The one-level appearance control jet pipe 4 of the first order 1 of staged aircraft, also includes:
Attitude transducer, for gathering the luffing angle of staged aircraft；
Integrated form Attitude Controller, integrated form Attitude Controller is arranged on staged aircraft head, and integrated form flies
Row device attitude controller is also connected with final stage appearance control jet pipe 5 and one-level appearance control jet pipe 4 signal.Integrated form Attitude Controller,
For: receive the luffing angle of the staged aircraft that attitude transducer gathers；And according to luffing angle, control final stage appearance control jet pipe
5 and one-level appearance control jet pipe 4 produce thrust.
By appearance control jet pipe is arranged on staged aircraft head (such as, in the case of staged aircraft is three grades of aircraft,
Head refers to the third level of aircraft, and in the case of staged aircraft is level Four aircraft, head refers to the of aircraft
Level Four) and the first order 1, it is possible to reduce the quantity of the jet pipe of required control.And fly by being arranged at the integrated form of head
Device attitude controller controls one-level appearance control jet pipe 4 and final stage appearance control jet pipe 5, it is possible to reduce the quantity of attitude controller, reduction is many
The level manufacture of aircraft, launch cost, improve the reliability of staged aircraft.
Particularly, staged aircraft is when with the flight of the first order 1, and integrated form Attitude Controller is used for control one
Level appearance control the jet pipe 4 and switch of final stage appearance control jet pipe 5, thrust produced by one-level appearance control jet pipe 4 is P2 need 2, final stage appearance control jet pipe 5
Produced thrust is P1So that
Wherein MNeed 1For the pitching moment that staged aircraft is required when with the flight of the first order 1, L1For staged aircraft with
The vertical dimension between the first centroid position 6 and final stage appearance control jet pipe 5 during the flight of the first order 1, L3For staged aircraft at band
The vertical dimension between the first centroid position 6 and one-level appearance control jet pipe 4 when having the flight of the first order 1.
In the prior art, when using traditional independent one-level appearance control jet pipe to spray the pitching moment with offer aircraft, to one
Thrust P of level appearance control jet pipe2 need 1Requirement as follows:
Contrast two above formula, it can be seen that at the M that offer is identicalNeed 1In the case of, owing to final stage appearance control jet pipe 5 is also carrying
Arch thrust, and the thrust of final stage appearance control jet pipe 5 is relative to aircraft barycenter now, also has the bigger arm of force to constitute pitching
An important part in moment.So aircraft is carried out with the first order 1 flight when, by one-level appearance control jet pipe 4 and end
Level appearance control jet pipe 5 provides thrust jointly, can reduce the required thrust provided of one-level appearance control jet pipe 4, thus decrease one-level appearance control
The weight of jet pipe 4, and then reduce the cost of transmitting.
Particularly, the staged aircraft of the present embodiment is made up of the first order 1, the second level 2 and the third level 3, in the first order 1 from many
After level aircraft separates, integrated form Attitude Controller is additionally operable to control thrust P of final stage appearance control jet pipe 5 now1, make
?
P1*L2>MNeed 2
Wherein, L2The second centroid position 7 and final stage appearance control jet pipe for the first order 1 staged aircraft after staged aircraft separates
Vertical dimension between 5, MNeed 2The pitching moment needed for staged aircraft after separating for the first order 1 staged aircraft.Due to this
Time the most relatively one-level flight of aircraft gross mass when reduce many, so bowing for aircraft when making two grades of flight
Face upward moment and can reduce much the most accordingly, in order to than pitching moment M during three grades of flightNeed 3Larger MNeed 2Pitching moment is provided,
Also the thrust of required final stage appearance control jet pipe will not significantly be increased, natural, also will not substantially increase the big of final stage appearance control jet pipe
Little and weight.It is additionally, since L2 to be also possible to more than second-level attitude control jet pipe and the second barycenter when two grades of flight of the prior art
Distance during position 7, even it is also possible to make the required thrust of final stage appearance control jet pipe, less than second-level attitude control of the prior art
The thrust of jet pipe.
When three grades of flight (after the second level separates with the third level), directly use the integrated form attitude of head (i.e. the third level)
Control system can complete to control.
After the first order 1 separates with staged aircraft, final stage appearance control jet pipe 5 control the flight attitude of the remainder of aircraft,
For three grades of aircraft, it is convenient to omit fall second-level attitude control jet pipe, reduce this unnecessary weight load, also improve
The reliability that system controls.
As a example by three-stage rocket, rocket attitude control system is as it is shown in figure 1, in one-level flight course, one-stage rocket starts
Machine sprays, integrated form aircraft manufacturing technology system, controls one-level appearance control jet pipe 4 and final stage appearance control jet pipe 5, to control one-level
The attitude of flight.During one-level flight controls, need rocket barycenter is produced 15000Nm's if controlling parameter calculation
Pitching moment, then this pitching moment is produced by one-level appearance control jet pipe 4 and final stage appearance control jet pipe 5.
After one-level has been flown, the first order 1 separates from staged aircraft, one-stage rocket electromotor and one-level appearance control dress
Putting and abandon, booster-missile combination electromotor is started working.Equally, in two grades of flight courses, need fire if controlling parameter calculation
Arrow barycenter produces the pitching moment of 7000Nm, then this pitching moment is produced by final stage appearance control jet pipe.
After two grades of flights complete, two stage motors abandoned by rocket, and three-stage rocket electromotor is started working, if three grades of need
Want the pitching moment of 3000Nm, then the pitching moment of this 3000Nm is produced by final stage appearance control jet pipe.
Embodiment 2:
Fig. 2 is the schematic flow sheet of the embodiment of the present invention 2；
A kind of staged aircraft attitude control method, including:
Attitude transducer gathers the luffing angle of staged aircraft；
The integrated form Attitude Controller being arranged on staged aircraft head receives the staged aircraft that attitude transducer gathers
Luffing angle；When staged aircraft is with the flight of the first order 1, integrated form Attitude Controller is multistage to being arranged at
The one-level appearance control jet pipe 4 of the first order 1 of aircraft and the final stage appearance control jet pipe of staged aircraft head send control signal, to control
One-level appearance control jet pipe 4 and the thrust of final stage appearance control jet pipe 5 and/or the switch of thrust；In the first order 1 after staged aircraft separates,
Integrated form Attitude Controller to final stage appearance control jet pipe send control signal, with control final stage appearance control jet pipe 5 thrust and/or
The switch of thrust.
Particularly, the thrust of one-level appearance control jet pipe 4 is P2 need 2, the thrust of final stage appearance control jet pipe 5 is P1, at staged aircraft band
When having the first order 1 flight, P2 need 2And P1Meet following relation:
Wherein MNeed 1For the pitching moment that staged aircraft is required when with the flight of the first order 1, L1 is that staged aircraft is at band
The vertical dimension between the first centroid position 6 and final stage appearance control jet pipe 5 when having the flight of the first order 1, L3 is that staged aircraft exists
With the vertical dimension between the first centroid position 6 and the one-level appearance control jet pipe 4 during the flight of the first order 1.
One-level appearance control jet pipe 4 and final stage appearance control jet pipe 5 is controlled by being arranged at the integrated form Attitude Controller of head,
The quantity of attitude controller can be reduced, reduce the manufacture of staged aircraft, launch cost, improve the reliability of staged aircraft.
Aircraft is carried out with the first order 1 flight when, jointly provided by one-level appearance control jet pipe 4 and final stage appearance control jet pipe 5
Thrust, can reduce the required thrust provided of one-level appearance control jet pipe 4, thus decrease the weight of one-level appearance control jet pipe 4, and then fall
The low cost launched.
Particularly, staged aircraft is made up of the first order 1, the second level 2 and the third level 3,
After the first order 1 separates with the second level 2, thrust P of final stage appearance control jet pipe 51So that
P1*L2>MNeed 2
Wherein, L2 is the second centroid position 7 and the final stage appearance control jet pipe 5 of the staged aircraft after the first order 1 separates with the second level 2
Between vertical dimension, M need 2 be the first order 1 staged aircraft separation after staged aircraft needed for pitching moment.
When three grades of flight (after the second level separates with the third level), directly use the integrated form attitude of head (i.e. the third level)
Control system can complete to control.
After the first order 1 separates with staged aircraft, final stage appearance control jet pipe 5 control the flight attitude of the remainder of aircraft,
For three grades of aircraft, it is convenient to omit fall second-level attitude control jet pipe, reduce this unnecessary weight load, also improve
The reliability that system controls.
Particularly, for pitch channel, either final stage appearance control device, or one-level appearance control device, two sprays all can be set
Pipe, an overgauge being used for eliminating luffing angle in two jet pipes, a minus deviation being used for eliminating luffing angle.Such as Fig. 1
Shown in, as a example by final stage appearance control jet pipe, the left side ejection of first jet pipe aircraft in diagram, i.e. staged aircraft flight
Time to the top of aircraft spray, by downward reaction force F1So that staged aircraft is bowed, and is used for eliminating overgauge,
Second jet pipe to diagram in aircraft right side ejection, i.e. during staged aircraft flight to the lower section of aircraft spray, by
On counteracting force so that staged aircraft come back, be used for eliminate minus deviation.
The attitude angle deviation of staged aircraft can be set as △φ, △φFor the luffing angle gathered by attitude transducer or yaw angle
Degree and expectation luffing angle or the difference of expectation yaw angle；
△1For △φ'sOvergauge boundary, △2For △φ'sLower deviation boundary,
Work as △φ>△1So that appearance control equipment is in minimizing △φState；
Work as △φ<△2So that appearance control equipment is in increase △φState.
Give an example, △ might as well be set1=0.5 °, △2=-0.5 °.
If current △φ=1 °, then open the first jet pipe, until △φ< 0.5 ° or other close the condition of the first jet pipe.
If current △φ=-1 °, then open the second jet pipe, until △φ>-0.5 ° or other close the condition of the second jet pipe.
As a example by three-stage rocket, rocket attitude control system is as it is shown in figure 1, in one-level flight course, one-stage rocket starts
Machine sprays, integrated form aircraft manufacturing technology system, controls one-level appearance control jet pipe 4 and final stage appearance control jet pipe 5, to control one-level
The attitude of flight.During one-level flight controls, need rocket barycenter is produced 15000Nm's if controlling parameter calculation
Pitching moment, then this pitching moment is produced by one-level appearance control jet pipe 4 and final stage appearance control jet pipe 5 completely.
After one-level has been flown, the first order 1 separates from staged aircraft, one-stage rocket electromotor and one-level appearance control system
System is abandoned, and booster-missile combination electromotor is started working.Equally, in two grades of flight courses, need fire if controlling parameter calculation
Arrow barycenter produces the pitching moment of 7000Nm, then this pitching moment is produced by final stage appearance control jet pipe.
After two grades of flights complete, two stage motors abandoned by rocket, and three-stage rocket electromotor is started working, if three grades of need
Want the pitching moment of 3000Nm, then the pitching moment of this 3000Nm is produced by final stage appearance control jet pipe.
Embodiment 3:
The present embodiment with the 1 of embodiment difference be, one-level appearance control jet pipe is no longer set, staged aircraft one-level fly
When, the attitude of aircraft is also controlled by final stage appearance control jet pipe,
Integrated form Attitude Controller, in the whole flight course of staged aircraft one-level, controls final stage appearance control device and produces
Raw thrust P1,
P1*L1>MNeed 1
Wherein, MNeed 1The pitching moment required when with the flight of the first order for staged aircraft or yawing, L2For multistage
Vertical dimension appearance control device between the aircraft the first centroid position and final stage appearance control device when with the flight of the first order；
When staged aircraft in one-level flight when, due to final stage appearance control device and now aircraft barycenter farther out, so using
Little thrust, i.e. can produce bigger yawing or pitching moment, can improve the control performance of aircraft.
Embodiment 4:
The present embodiment is with the difference of embodiment 2:
Staged aircraft is when with the flight of the first order, and integrated form Attitude Controller controls final stage appearance control device so that
The thrust that final stage appearance control device produces meets:
P1*L1>MNeed 1
Wherein P1The thrust produced for final stage appearance control device, MNeed 1For staged aircraft required bowing when with the flight of the first order
Face upward moment or yawing, L1For the staged aircraft the first centroid position when with the flight of the first order and final stage appearance control device
Between vertical dimension；
Embodiment 5:
A kind of staged aircraft, is provided with above-mentioned integrated type multi-stage aircraft manufacturing technology system.
This aircraft can eliminate at least one gesture stability under realizing the staged aircraft same effect with prior art
Device, reduces weight and the cost of staged aircraft, also improves the control reliability of aircraft simultaneously.
Embodiment 6:
A kind of guided missile, is provided with above-mentioned integrated type multi-stage aircraft manufacturing technology system.
This guided missile can eliminate at least one attitude controller under realizing the guided missile same effect with prior art, reduces
The weight of guided missile and cost, the weight saved can be used to the weight improving warhead improving striking capabilities, the most also
Improve the control reliability of missile flight.
Embodiment 7:
A kind of rocket, is provided with above-mentioned integrated type multi-stage aircraft manufacturing technology system.
This rocket can eliminate at least one attitude controller under realizing the rocket same effect with prior art, reduces
The weight of guided missile and cost, the weight saved can be used to improve payload, also improve the control of rocket flight simultaneously
Reliability processed.
Although the preferred embodiments of the present invention being described above in conjunction with accompanying drawing, but the invention is not limited in above-mentioned
Detailed description of the invention, above-mentioned detailed description of the invention is only schematically, is not restrictive, the ordinary skill of this area
Personnel are under the enlightenment of the present invention, in the case of without departing from present inventive concept and scope of the claimed protection, it is also possible to make
A lot of forms, such as: 1. in embodiment 1 and embodiment 2, attitude transducer collection is the luffing angle of staged aircraft,
Control luffing angle, actually this control system and control method to can also be used to control yaw angle；2. control when needs simultaneously
The when of luffing angle and yaw angle, after the thrust of the thrust and pitching that calculate driftage respectively, the two can be pushed away
Power does vector summation, i.e. can get the required actual thrust produced of each jet pipe；3. in above-described embodiment, being mainly of description
Three grades of aircraft, actually this control system can be also used for two grades, level Four so that more stages aircraft, such as fourstage rocket,
Control method when controlling three grades of flight of fourstage rocket is identical with the control method controlling two grades of flights in embodiment 2, controls four
Level rocket level Four flight time control method identical with the three-stage rocket of the prior art control method when three grades of flight；④
In above-described embodiment, appearance control device is appearance control jet pipe, it practice, one-level appearance control device can also use airvane and jet vane, and end
Level appearance control device can also use airvane or other kinds of appearance control device；5., in above-described embodiment, enumerate is to fill appearance control
The situation that the switch put is controlled, but in practice for jet pipe or airvane, jet vane etc., it is also possible to its thrust size is entered
Row controls, or controls thrust size and the startup of appearance control device and closedown simultaneously, to meet the relation of thrust and moment, thus right
The attitude of aircraft is adjusted；6. in embodiment 2 institute's illustrated example be final stage appearance control device be the situation of jet pipe, actually when
The when that final stage appearance control device being airvane, jet vane, those skilled in the art can also realize according to this calculation according to prior art
Method, is changed △ φ by airvane or jet vane, to realize the control to attitude of flight vehicle；7. in embodiment 4, at aircraft
When one-level flight, integrated form aircraft manufacturing technology system is to control final stage jet pipe to realize gesture stability to aircraft,
Actually can also be by whether open one-level jet pipe when one-level flight, it is achieved the control to attitude of flight vehicle, one-level jet pipe
Thrust should meet:
P2*L3>MNeed 1
Within these belong to protection scope of the present invention.
Claims (10)
1. a staged aircraft attitude control system, staged aircraft includes the first order, it is characterised in that: include that appearance control sets
Standby, described appearance control equipment includes the final stage appearance control device being arranged at staged aircraft head, also includes:
Attitude transducer, for the luffing angle of staged aircraft described in Real-time Collection, and/or, multistage described in Real-time Collection fly
The yaw angle of row device；
Attitude Controller, described Attitude Controller is integrated form Attitude Controller, and described integrated form flies
Row device attitude controller is arranged on staged aircraft head, is used for: luffing angle described in real-time reception, and/or, described driftage
Angle；And according to described luffing angle, and/or, described yaw angle, control the thrust of described appearance control equipment and/or described appearance
The switch of control equipment.
Staged aircraft attitude control system the most according to claim 1, it is characterised in that: integrated form attitude of flight vehicle control
Device processed, for when described staged aircraft is with the flight of the described first order, controls described final stage appearance control device and produces thrust P1,
P1*L1>MNeed 1
Wherein MNeed 1The pitching moment required when with the flight of the first order for described staged aircraft or yawing, L1For institute
State the vertical dimension between the staged aircraft the first centroid position and described final stage appearance control device when with the flight of the first order；
In the described first order after described staged aircraft separates, described integrated form Attitude Controller controls described final stage appearance
Control device produces thrust P1,
P1*L2>MNeed 2
Wherein, L2The second centroid position and described end for described first order staged aircraft after described staged aircraft separates
Vertical dimension between level appearance control device, MNeed 2Described staged aircraft institute after separating for staged aircraft described in the described first order
The pitching moment needed or yawing.
Staged aircraft attitude control system the most according to claim 1, it is characterised in that: described appearance control equipment also includes
It is arranged at the one-level appearance control device of the first order of staged aircraft.
Staged aircraft attitude control system the most according to claim 3, it is characterised in that:
Described staged aircraft is when with the flight of the described first order, and integrated form Attitude Controller controls described final stage appearance
Control device produces thrust P1And/or described one-level appearance control device produces thrust P2 need 2,
Wherein, MNeed 1The pitching moment required when with the flight of the first order for described staged aircraft or yawing, L1For
Between the described staged aircraft the first centroid position and described final stage appearance control device when with the flight of the first order vertical away from
From, L3Between the described staged aircraft the first centroid position and described one-level appearance control device when with the flight of the first order
Vertical dimension；
In the described first order after described staged aircraft separates, described integrated form Attitude Controller controls final stage appearance control dress
Buy property raw thrust P1,
P1*L2>MNeed 2
Wherein, L2The second centroid position and described end for described first order staged aircraft after described staged aircraft separates
Vertical dimension between level appearance control device, MNeed 2Described staged aircraft institute after separating for staged aircraft described in the described first order
The pitching moment needed or yawing.
5. a staged aircraft attitude control method, it is characterised in that including:
The luffing angle of attitude transducer Real-time Collection staged aircraft, and/or, the driftage of staged aircraft described in Real-time Collection
Angle；
Luffing angle described in the integrated form Attitude Controller real-time reception of the head being arranged on described staged aircraft, and/
Or, described yaw angle；
Described integrated form Attitude Controller according to described luffing angle, and/or, described yaw angle, described many
Level aircraft with during the flight of the first order with in the described first order after described staged aircraft separates, control described appearance control equipment
Thrust and/or the switch of described appearance control equipment.
Staged aircraft attitude control method the most according to claim 5, it is characterised in that: described staged aircraft includes
The first order, described appearance control equipment includes the final stage appearance control device being arranged on the head of described staged aircraft, described staged aircraft
When with the flight of the described first order, integrated form Attitude Controller controls described final stage appearance control device and produces thrust P1,
P1*L1>MNeed 1
Wherein, MNeed 1The pitching moment required when with the flight of the first order for described staged aircraft or yawing, L1For
Between the described staged aircraft the first centroid position and described final stage appearance control device when with the flight of the first order vertical away from
From appearance control device；
Described staged aircraft includes the first order, and in the described first order after described staged aircraft separates, described integrated form flies
Device attitude controller controls described final stage appearance control device and produces thrust P1,
P1*L2>MNeedx
Wherein, L2The second centroid position and described end for described first order staged aircraft after described staged aircraft separates
Vertical dimension between level appearance control device, MNeed 2Described staged aircraft institute after separating for staged aircraft described in the described first order
The pitching moment needed or yawing.
Staged aircraft attitude control method the most according to claim 5, it is characterised in that: described staged aircraft includes
The first order, described appearance control equipment includes the final stage appearance control device being arranged on the head of described staged aircraft and is arranged at described first
The one-level appearance control device of level, described integrated form Attitude Controller controls described final stage appearance control device and/or described one-level appearance
Control the thrust of device and/or control described final stage appearance control device and/or the switch of described one-level appearance control device；
Described staged aircraft is when with the flight of the first order, and integrated form Attitude Controller controls described final stage appearance control dress
Buy property raw thrust P1And/or described one-level appearance control device produces thrust P2 need 2,
Wherein, MNeed 1The pitching moment required when with the flight of the first order for described staged aircraft or yawing, L1For
Between the described staged aircraft the first centroid position and described final stage appearance control device when with the flight of the first order vertical away from
From, L3Between the described staged aircraft the first centroid position and described one-level appearance control device when with the flight of the first order
Vertical dimension；
In the described first order after described staged aircraft separates, described integrated form Attitude Controller controls described final stage appearance
Control device produces thrust P1,
P1*L2>MNeed 2
Wherein, L2The second centroid position and described end for described first order staged aircraft after described staged aircraft separates
Vertical dimension between level appearance control device, MNeed 2Described staged aircraft institute after separating for staged aircraft described in the described first order
The pitching moment needed or yawing.
Staged aircraft attitude control method the most according to claim 6, it is characterised in that: the appearance of described staged aircraft
State angular displacement is △φ, △φFor the described luffing angle gathered by described attitude transducer or described yaw angle and the expectation angle of pitch
Degree or the difference of expectation yaw angle；
△1For △φ'sOvergauge boundary, △2For △φ'sLower deviation boundary,
Work as △φ>△1So that appearance control equipment is in minimizing △φState；
Work as △φ<△2So that appearance control equipment is in increase △φState.
9. a staged aircraft, it is characterised in that: it is provided with the integrated type multi-stage flight described in claim 1 or 2 or 3
Device attitude control system.
10. a guided missile or rocket, it is characterised in that: it is provided with the integrated type multi-stage described in claim 1 or 2 or 3 and flies
Row device attitude control system.
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| CN110371321A (en) * | 2019-07-05 | 2019-10-25 | 中国人民解放军国防科技大学 | Tree-shaped multi-satellite superposition co-location transmitting method |
| CN110414018A (en) * | 2018-04-27 | 2019-11-05 | 中国航天科工飞航技术研究院（中国航天海鹰机电技术研究院） | A kind of virtual reality simulation method and system of Flight Vehicle Stage Separation |
| CN111306997A (en) * | 2020-03-23 | 2020-06-19 | 北京中科宇航技术有限公司 | Electric system and electric control method of carrier rocket |
| CN111516909A (en) * | 2020-04-30 | 2020-08-11 | 北京星际荣耀空间科技有限公司 | Rocket attitude control system |
| CN112068581A (en) * | 2020-09-11 | 2020-12-11 | 中国运载火箭技术研究院 | Aircraft composite control method, control device and storage medium |
| CN112596532A (en) * | 2020-11-19 | 2021-04-02 | 北京电子工程总体研究所 | Dynamic distribution method for attitude control engine control instructions of H spacecraft |
| CN112983679A (en) * | 2021-05-06 | 2021-06-18 | 星河动力(北京)空间科技有限公司 | Carrier rocket upper-stage propulsion system and carrier rocket |
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| CN110414018A (en) * | 2018-04-27 | 2019-11-05 | 中国航天科工飞航技术研究院（中国航天海鹰机电技术研究院） | A kind of virtual reality simulation method and system of Flight Vehicle Stage Separation |
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| CN111306997A (en) * | 2020-03-23 | 2020-06-19 | 北京中科宇航技术有限公司 | Electric system and electric control method of carrier rocket |
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| CN112596532B (en) * | 2020-11-19 | 2022-09-23 | 北京电子工程总体研究所 | Dynamic distribution method for attitude control engine control instructions of H spacecraft |
| CN112983679A (en) * | 2021-05-06 | 2021-06-18 | 星河动力(北京)空间科技有限公司 | Carrier rocket upper-stage propulsion system and carrier rocket |
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| CN105836161B (en) | 2017-12-26 |
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Denomination of invention: Multistage vehicle control system and method, multistage vehicle and missile and rocket Effective date of registration: 20210105 Granted publication date: 20171226 Pledgee: Chongqing Liangjiang New Area strategic emerging industry equity investment fund partnership (L.P.)|Chongqing Liangjiang New Area Runyi emerging industry equity investment fund partnership (L.P.) Pledgor: CHONGQING ONE SPACE AEROSPACE TECHNOLOGY Co.,Ltd. Registration number: Y2021500000001 |
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