CN106325292A - Universal controller of spaceflight carrier rocket - Google Patents
Universal controller of spaceflight carrier rocket Download PDFInfo
- Publication number
- CN106325292A CN106325292A CN201610899957.3A CN201610899957A CN106325292A CN 106325292 A CN106325292 A CN 106325292A CN 201610899957 A CN201610899957 A CN 201610899957A CN 106325292 A CN106325292 A CN 106325292A
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- appearance control
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- outfan
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- 238000002955 isolation Methods 0.000 claims abstract description 26
- 238000004519 manufacturing process Methods 0.000 claims description 36
- 238000005259 measurement Methods 0.000 claims description 21
- 230000037452 priming Effects 0.000 claims description 4
- 238000013461 design Methods 0.000 abstract description 8
- 238000009826 distribution Methods 0.000 abstract description 2
- 238000011084 recovery Methods 0.000 abstract 3
- 238000012360 testing method Methods 0.000 description 11
- 238000000034 method Methods 0.000 description 7
- 230000005611 electricity Effects 0.000 description 4
- 238000000926 separation method Methods 0.000 description 4
- 238000012163 sequencing technique Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 239000012530 fluid Substances 0.000 description 3
- 239000007787 solid Substances 0.000 description 3
- 238000005422 blasting Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 239000007921 spray Substances 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 230000020411 cell activation Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005304 joining Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000004092 self-diagnosis Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
Classifications
-
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
Abstract
The invention discloses an universal controller of a spaceflight carrier rocket, comprising a control plate, a time sequence plate and an attitude control plate, wherein the time sequence plate comprises M paths of ignition units; the attitude control plate comprises N paths of attitude control drive modules, N paths of attitude control recovery modules, pressure collection modules and remote -measuring power distribution and interruption modules; the control plate comprises a processor DSP (Digital Signal Processor), a programmable logic controller CPLD (Complex Programmable Logic Device), an isolated power supply, an analogue switch, an isolation amplifier, M paths of time sequence recovery modules, M paths of ignition recovery modules, P paths of indication input modules, M paths of time sequence drive modules, a rudder control output module, a rocket-borne CAN isolation drive module, and a ground CAN isolation drive module. The controller is characterized in that controllers in four cabins are combined into one universal controller and has the advantages of modular design, good universality and strong compatibility.
Description
Technical field
The present invention relates to space transporter control field, more particularly, to a kind of space transporter general controls
Device.
Background technology
Certain Solid Launch Vehicle is that a type is mainly directed towards civil aerospace technology and business space flight, takes into account the carrier rocket of militay space flight
Equipment.For reducing cable network on-board length, general purpose controller uses distributed AC servo system principle, respectively after rear, inter-stage section II
Section, inter-stage section II leading portion, propulsion control room place a general purpose controller, and this Solid Launch Vehicle rear mainly completes grid rudder
Control and one-level igniting, rear is battery activated, flash trapping stage I sequencing contro, voltage and indication signal measurement etc.；Inter-stage section II
Back segment major function is sequencing contro, sequential mainly have flash trapping stage II, two-stage ignition, the second-order separation, two grades unlock I, two grades
Unlock II, peace control is battery activated, promote mainly into appearance control fluid path valve I, promote mainly into appearance control fluid path valve II, promote mainly into appearance control gas circuit valve etc.；
Inter-stage section II leading portion major function is sequencing contro, liquid appearance control and distant outer is measured electric control, sequential mainly have three grades of igniting, three
Level unlocks, three grades of separation, trouserss unlock I, trousers unblock II, trousers separation, front end appearance control gas circuit valve, front end appearance control liquid
Road valve I, front end appearance control fluid path valve II etc.；Propulsion control room mainly completes satellite and the rocket separation sequential and swing grouting device controls.This solid
It is close that carrier rocket four cabin section controls unit function, as separately designed as 4 control units, then and the manpower of waste design greatly
Resource, increase testing expenses, the waste of increase unit spare part (by space flight prescription, are newly developed unit and are both needed to do the examination of corresponding example
Test), increase production scene condition managing difficulty.
Summary of the invention
For defect and the urgent technical need of prior art, the present invention provides a kind of space transporter general controls
Device, merges into a general purpose controller, modularized design by aforementioned four cabin paragraph controller, and versatility is good, compatible strong.
A kind of space transporter general purpose controller, including panel, sequential plate and appearance control plate.
Sequential plate comprises M road igniting unit, the input of M road igniting unit and the M road Timing driver branch road on panel
Outfan connect one to one, the outfan of M road igniting unit connects priming system on arrow；
Appearance control plate comprises the appearance control of N road and drives module, N road appearance control back production module, pressure acquisition module, remote measurement to join power-off mould
Block；
The appearance control of N road drives module to include N bar appearance control jet driving branch road, and the input of N bar appearance control jet driving branch road is even
Connect the outfan of CPLD, N bar appearance control jet driving branch road to connect one to one appearance control nozzle switch；N road appearance control back production module
Input connects the appearance control of N road and drives the outfan of module, and outfan connects CPLD；The outfan of pressure acquisition module is with DSP's
Collection of simulant signal pin is connected；The outfan of input and CPLD that power-off modular is joined in remote measurement is connected, and outfan connects on arrow
Telemetry system；
Panel includes that processor DSP, programmable logic controller (PLC) CPLD, insulating power supply, analog switch, isolation are amplified
Device, M road sequential back production module, M waypoint fire back production module, P road instruction input module, M road Timing driver module, rudder control output mould
CAN isolation drive module, ground CAN isolation drive module on block, arrow；
DSP analog input port connects isolated amplifier outfan, and it is defeated that isolated amplifier input connects analog switch
Going out end, insulating power supply connects isolated amplifier input side power supply and analog switch, and DSP connects CPLD, ground by XINTF bus
CAN isolation drive module；DSP connects rudder control output module by SPI interface, and DSP connects CAN on arrow by CAN and isolates
Drive module；
CPLD indicates input module, M road Timing driver with M road sequential back production module, M waypoint fire back production module, P road respectively
Module, the appearance control of N road drive module, N road appearance control back production module, remote measurement to join power-off modular and connect；
M road Timing driver module includes that the igniting of M bar drives branch road, the M waypoint fire list of the sequential that connects one to one respectively plate
Unit；M road sequential back production module includes M bar Timing acquisition branch road, and its input connects one to one M bar Timing driver branch road respectively
Outfan；M waypoint fire back production module includes that the igniting of M bar gathers branch road, and its input connects one to one M waypoint fire list respectively
The outfan of unit；N road appearance control back production module includes that N bar appearance control gathers branch road, for gathering N number of appearance control nozzle switch shape respectively
State；P road instruction input module includes that indication signal branch road plugged by 2 cabin, tunnel section identification signal branch and P-2 road cable.
The Advantageous Effects of the present invention is embodied in:
This general purpose controller uses modularized design, is increased and decreased by modularity after general purpose controller design typification, it is ensured that produce
Product are parts optimization in the section of each cabin, is greatly reduced further by modularized design cost.
This general purpose controller uses and identifies that the outside indication signal status method in 2 tunnels judges controller placement location, general
Controller software enables corresponding cabin section software control flow according to mark, controls at carrier rocket software initialization Shi Youjianshang center
System processed reads the identification number of each general purpose controller, normally then judges each cabin as the section general purpose controller self-inspection of each cabin and mark read
Section general purpose controller is installed correct, otherwise then judges setup error.The method using external hardware to identify+identify interpretation improves
Product reliability, the method that this kind identifies software workflow by mark, greatly reduce software development workload estimate.This
Outward, for reducing hardware cost and software code expense, controller housing is stamped different cabins segment identification, for the establishment of each cabin section specially
Have software, can the transformation of the way of general unit be the special unit of each cabin section, i.e. general purpose controller hardware and interface constant in the case of,
By downloading different control software in controller, various carrier rocket can be met and control requirement.
This general purpose controller possesses Hardware self-diagnosis function, ground single machine test stage, only need to connect respective load,
Own hardware working condition is diagnosed by CAN；At carrier rocket joint debugging and mission phase, also can will be from by CAN
Diagnostic state sends central control system and telemetry system on arrow to, improves fault diagnosis and the Test coverage of this controller
Property.
Further, each functional module of this general purpose controller all uses insulating power supply designing technique, particularly state acquisition
Part electricity consumption is completely isolated with control part electricity consumption, and outside input/output signal is isolated with internal signal, this circuit isolation design
Technology improves reliability and the anti-interference of this controller.
Accompanying drawing explanation
Fig. 1 is general purpose controller structured flowchart of the present invention.
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, right
The present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, and
It is not used in the restriction present invention.If additionally, technical characteristic involved in each embodiment of invention described below
The conflict of not constituting each other just can be mutually combined.
Fig. 1 is space transporter general purpose controller structure chart of the present invention.Space transporter general purpose controller includes control
Making sheet, sequential plate and appearance control plate.
Sequential plate comprises M road igniting unit, and every road igniting unit is made up of 2 waypoint firearm parallel connections.M road igniting unit defeated
Entering and hold the outfan with the M road Timing driver branch road on panel to connect one to one, the outfan of M road igniting unit connects arrow
Upper priming system, such as electromotor, blasting bolt, trousers, thermal cell etc., M road igniting unit receives M road Timing driver module
The timing instructions of output, completes rocket motor ignition, blasting bolt detonates, trousers separates, thermal cell activation etc. operates.M
The input that the outfan of road igniting unit also gathers branch road with the M bar igniting on panel connects one to one, shape of lighting a fire
State is sent to the igniting of M bar and gathers branch road.
Appearance control plate comprises the appearance control of N road and drives module, N road appearance control back production module, pressure acquisition module, remote measurement to join power-off mould
Block.
The appearance control of N road drives module to include N bar appearance control jet driving branch road, N >=8.The input of N bar appearance control jet driving branch road
End receives the appearance control instruction that CPLD forwards, and enables, according to appearance control instruction, the appearance control jet driving branch road specified, and then opens or close
Close the appearance control nozzle switch of correspondence, thus regulation rocket attitude.Appearance control jet driving branch road one is achieved in that and includes successively
The digital isolator, the 5V that connect turn 12V voltage conversion chip, NMOS power tube, and the outfan of NMOS power tube connects appearance control spray
The control end of pipe switch.The input of N road appearance control back production module connects the outfan of NMOS power tube, and outfan connects CPLD,
For gathering nozzle switch state and feeding back to CPLD.The outfan of pressure acquisition module and the collection of simulant signal pin of DSP
It is connected, the rocket appearance control nozzle exit pressure of collection is sent to DSP.Remote measurement is joined power-off modular and is connected with the outfan of CPLD, is used for
Receive remote measurement and join break-poing instruction to control telemetry system distribution and power-off.
Panel includes that processor DSP, programmable logic controller (PLC) CPLD, insulating power supply, analog switch, isolation are amplified
Device, M road sequential back production module, M waypoint fire back production module, P road instruction input module, M road Timing driver module, rudder control output mould
CAN isolation drive module, ground CAN isolation drive module on block, arrow.
DSP analog input port connects isolated amplifier outfan, and it is defeated that isolated amplifier input connects analog switch
Going out end, insulating power supply connects isolated amplifier input side power supply and analog switch, and DSP connects CPLD, ground by XINTF bus
CAN isolation drive module；DSP connects rudder control output module by SPI interface, and DSP connects CAN on arrow by CAN and isolates
Drive module.
CPLD indicates input module, M road Timing driver with M road sequential back production module, M waypoint fire back production module, P road respectively
Module, the appearance control of N road drive module, N road appearance control back production module, remote measurement to join power-off modular and connect.
Voltage analog signal outside analog switch reception (includes firer on steering wheel supply voltage, arrow Up Highway UHW voltage, arrow
Product voltage, remote measurement supply voltage etc.), voltage analog signal sends DSP to after being amplified by isolated amplifier isolation, insulating power supply
For isolation voltage analogue signal power supply with the simulation of DSP ground, prevent the short trouble of voltage analog signal power supply from affecting
DSP。
DSP receives voltage analog signal from isolated amplifier and is converted to voltage digital signal, also receives state from CPLD
Digital input signals, the ground test stage by voltage digital signal together with status number input signal by ground CAN every
It is uploaded to ground testing system, in the rocket flight stage by voltage digital signal and status number input signal one from driving module
Rise and be uploaded to central control system and telemetry system on arrow by CAN isolation drive module on arrow；At ground test stage, DSP
Receive, by ground CAN isolation drive module, the test instruction that ground testing system is assigned, and test is instructed by CAN on arrow
Isolation drive module is sent on arrow central control system to complete Rocket test；In the rocket flight stage, driven by CAN on arrow
Dynamic model block receives rudder control instruction, timing instructions, appearance control instruction and remote measurement that on arrow, central control system issues and joins cut-offing instruction, will
Rudder control instruction controls steering wheel duty by rudder control output module, joins disconnected by remaining timing instructions, appearance control instruction and remote measurement
Electricity instruction is forwarded by CPLD.
Timing instructions, appearance control instruction and remote measurement, as the I/O expansion of DSP, are joined cut-offing instruction and are respectively transmitted to M road by CPLD
Timing driver module, the appearance control of N road drive module and remote measurement to join disconnected Electric drive module, receive N road appearance control back production module, M road sequential
Back production module, M waypoint fire back production module, N road instruction input module output rocket nozzle state, time sequence status, fired state,
Cabin section instruction information, and it is transmitted to DSP.
M road Timing driver module includes that the igniting of M bar drives branch road, M >=9.The igniting of M bar drives branch road one_to_one corresponding respectively even
Connect the M road igniting unit of sequential plate, successively enable the driving branch road specified according to timing instructions, and then drive corresponding igniting list
Unit, thus completes corresponding priming system ignition operation.
Remote measurement is joined disconnected Electric drive module and is received after remote measurement joins cut-offing instruction, controls remote measurement and joins power-off modular to remote measurement on arrow
System carries out joining power operation.
M road sequential back production module includes M bar Timing acquisition branch road, for gathering the output of M bar Timing driver branch road respectively
Signal.
M waypoint fire back production module includes that the igniting of M bar gathers branch road, for gathering the fired state of M road igniting unit respectively.
N road appearance control back production module includes that N bar appearance control gathers branch road, for gathering N number of appearance control nozzle switch state respectively.
P road instruction input module includes that 2 cabin, tunnel section identification signal branch and P-2 road cable plug indication signal branch road, P
≥2.By the signals collecting of 2 cabin, tunnel section identification signal branch, having signal is 1, and no signal is 0, is known by binary arithmetic operation
Which cabin section controller is positioned at.P-2 road cable is plugged indication signal branch road and is the most normally connected for detecting cable network on-board.
The signal of above-mentioned back production module and input module output is fed back to by CPLD as status number input signal
DSP。
According to a kind of better embodiment, M road Timing driver module and the appearance control of N road drive be provided with between module second every
From power supply, for by the power supply of this driving module with the power supply of DSP isolate, to protect DSP.
According to a kind of better embodiment, on arrow, the quantity of CAN isolation drive module is two, ground CAN isolation drive
The quantity of module is also two, standby as redundancy.
Respectively arrange that 1 general purpose controller can meet sequential, appearance control and measurement at inter-stage section II back segment, inter-stage section II leading portion
Requirement；Respectively arrange that 1 general purpose controller can meet rudder control (or pendulum spray), sequencing contro requirement at rear and propulsion control room.
The development of this general purpose controller, makes the development cost of product, experimentation cost and human resources be greatly reduced.
Example:
Processor is DSP (TMS320F28335), and its high primary frequency is 150MHz, has 512KB built-in FLASH, 68KB
Built-in RAM, no less than 12,16 tunnel ADC, 1 road SPI interface, 2 road CAN interface, 16/32 XINTF interface；
Shown CPLD is EPM1270T144, has 1270 LE and 116 road GPIO；
It is connected by XINTF bus between shown CPLD with DSP；
Shown rudder control output module is 12,4 tunnel D/A (DAC7714), output voltage range ± 10V；
Controller in the CAN isolation drive module of shown ground uses SJA1000T chip, by 8 between itself and DSP
Data (data, address wire multiplexing) line communicates, and uses 3.3V to turn 5V electrical level transferring chip and enter between this controller and DSP
Row signal converting；
On shown arrow, CAN driver for isolating has impedance handoff functionality, in order to corresponding after one-level, two grades and three grades separate
Cabin paragraph controller CAN node carries out CAN impedance matching as terminal node；
M=10, N=12, P=12；
Shown 10 road time-sequence control modes, 12 tunnels instruction inputs and 12 tunnel appearance control back production modules all use light-coupled isolation；
Shown 10 tunnel sequential output modules use digital isolators+Darlington transistor to drive；
Shown 10 road time-sequence control modes use 20 road igniting unit connection in series-parallel designs, and shown igniting unit is single ended input
Double-contact output type solid-state relay, its momentary excess current ability is not less than 40A；
Shown pressure signal is measured by sending the analog input port of DSP to adopt after analog switch and isolated amplifier
Collection；
Shown voltage measures (not indicating in FIG) by analog switch, isolated amplifier and voltage offset electric circuit
After send the analog input port of DSP to be acquired；
Shown 12 tunnel appearance controls control to be turned 12V level translator by digital isolator, 5V and NMOS tube forms, and at electromagnetic valve
Two ends parallel resistance and diode carry out electromagnetic valve energy and release；
Each functional module all uses insulating power supply to be powered, it is ensured that do not affect other electricity during a certain functional circuit fault
The performance on road, the most all signals collecting and indicating section circuit power with control part power completely isolated.
This general purpose controller uses and identifies that the outside indication signal status method in 2 tunnels judges controller placement location, general
Controller software enables corresponding cabin section software control flow according to mark, controls at carrier rocket software initialization Shi Youjianshang center
System processed reads the identification number of each general purpose controller, normally then judges each cabin as the section general purpose controller self-inspection of each cabin and mark read
Section general purpose controller is installed correct, otherwise then judges setup error.The method using external hardware to identify+identify interpretation improves
Product reliability, the method that this kind identifies software workflow by mark, greatly reduce software development workload estimate.This
Outward, for reducing hardware cost and software code expense, controller housing is stamped different cabins segment identification, for the establishment of each cabin section specially
Have software, can the transformation of the way of general unit be the special unit of each cabin section, i.e. general purpose controller hardware and interface constant in the case of,
By downloading different control software in controller, various carrier rocket can be met and control requirement.
Connected by micro-strip cable between each assembly of this general purpose controller, improve the reliability that general purpose controller connects.
As it will be easily appreciated by one skilled in the art that and the foregoing is only presently preferred embodiments of the present invention, not in order to
Limit the present invention, all any amendment, equivalent and improvement etc. made within the spirit and principles in the present invention, all should comprise
Within protection scope of the present invention.
Claims (3)
1. a space transporter general purpose controller, it is characterised in that include panel, sequential plate and appearance control plate.
Sequential plate comprises M road igniting unit, and the input of M road igniting unit is defeated with the M road Timing driver branch road on panel
Going out end to connect one to one, the outfan of M road igniting unit connects priming system on arrow；
Appearance control plate comprises the appearance control of N road and drives module, N road appearance control back production module, pressure acquisition module, remote measurement to join power-off modular；
The appearance control of N road drives module to include N bar appearance control jet driving branch road, and the input of N bar appearance control jet driving branch road connects
The outfan of CPLD, N bar appearance control jet driving branch road connects one to one appearance control nozzle switch；N road appearance control back production module defeated
Entering end and connect the outfan of N road appearance control driving module, outfan connects CPLD；The outfan of pressure acquisition module and the mould of DSP
Intend signals collecting pin to be connected；The outfan of input and CPLD that power-off modular is joined in remote measurement is connected, and outfan connects on arrow distant
Examining system；
Panel includes processor DSP, programmable logic controller (PLC) CPLD, insulating power supply, analog switch, isolated amplifier, M road
Sequential back production module, M waypoint fire back production module, the instruction of P road input module, M road Timing driver module, rudder control output module, arrow
Upper CAN isolation drive module, ground CAN isolation drive module；
DSP analog input port connects isolated amplifier outfan, and isolated amplifier input connects analoging switch output end,
Insulating power supply connects isolated amplifier input side power supply and analog switch, DSP by XINTF bus connect CPLD, ground CAN every
From driving module；DSP connects rudder control output module by SPI interface, and DSP connects CAN isolation drive mould on arrow by CAN
Block；
CPLD indicates input module, M road Timing driver mould with M road sequential back production module, M waypoint fire back production module, P road respectively
Block, the appearance control of N road drive module, N road appearance control back production module, remote measurement to join power-off modular and connect；
M road Timing driver module includes that the igniting of M bar drives branch road, the M road igniting unit of the sequential that connects one to one respectively plate；M
Road sequential back production module includes M bar Timing acquisition branch road, and its input connects one to one the defeated of M bar Timing driver branch road respectively
Go out end；M waypoint fire back production module includes that the igniting of M bar gathers branch road, and its input connects one to one M road igniting unit respectively
Outfan；N road appearance control back production module includes that N bar appearance control gathers branch road, for gathering N number of appearance control nozzle switch state respectively；P road
Instruction input module includes that indication signal branch road plugged by 2 cabin, tunnel section identification signal branch and P-2 road cable.
Space transporter general purpose controller the most according to claim 1, it is characterised in that be additionally included in M road sequential and drive
Dynamic model block and the appearance control of N road drive the second insulating power supply arranged between module.
Space transporter general purpose controller the most according to claim 1 and 2, it is characterised in that CAN isolation drive on arrow
The quantity of module is two, and the quantity of ground CAN isolation drive module is two.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610899957.3A CN106325292B (en) | 2016-10-17 | 2016-10-17 | A kind of space transporter general purpose controller |
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|---|---|---|---|
| CN201610899957.3A CN106325292B (en) | 2016-10-17 | 2016-10-17 | A kind of space transporter general purpose controller |
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| CN106325292B CN106325292B (en) | 2019-04-12 |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109521782A (en) * | 2018-10-31 | 2019-03-26 | 湖北三江航天红峰控制有限公司 | A kind of attitude control TT&C system |
| CN110287050A (en) * | 2019-06-17 | 2019-09-27 | 上海宇航系统工程研究所 | A kind of grid rudder is from main distribution time sequence control device |
| CN111142444A (en) * | 2019-12-31 | 2020-05-12 | 华东计算技术研究所（中国电子科技集团公司第三十二研究所） | Three-redundancy carrier rocket time sequence controller based on DSP and CPLD |
| CN111538262A (en) * | 2020-04-02 | 2020-08-14 | 华东计算技术研究所（中国电子科技集团公司第三十二研究所） | Carrier rocket computer self-checking system based on DSP and FPGA |
| CN112783023A (en) * | 2020-12-24 | 2021-05-11 | 湖北航天飞行器研究所 | Control system based on meteorological detection rocket |
| CN114783673A (en) * | 2022-04-20 | 2022-07-22 | 天津航天长征火箭制造有限公司 | Passive pressure relief method for waterproof layer of carrier rocket cable |
| CN114879718A (en) * | 2022-07-12 | 2022-08-09 | 南京理工大学 | Method for controlling an aircraft with a grid rudder |
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| CN109521782A (en) * | 2018-10-31 | 2019-03-26 | 湖北三江航天红峰控制有限公司 | A kind of attitude control TT&C system |
| CN109521782B (en) * | 2018-10-31 | 2021-12-31 | 湖北三江航天红峰控制有限公司 | Attitude control measurement and control system |
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| CN110287050B (en) * | 2019-06-17 | 2023-06-06 | 上海宇航系统工程研究所 | Grid rudder autonomous power distribution time sequence control device |
| CN111142444A (en) * | 2019-12-31 | 2020-05-12 | 华东计算技术研究所（中国电子科技集团公司第三十二研究所） | Three-redundancy carrier rocket time sequence controller based on DSP and CPLD |
| CN111538262A (en) * | 2020-04-02 | 2020-08-14 | 华东计算技术研究所（中国电子科技集团公司第三十二研究所） | Carrier rocket computer self-checking system based on DSP and FPGA |
| CN112783023A (en) * | 2020-12-24 | 2021-05-11 | 湖北航天飞行器研究所 | Control system based on meteorological detection rocket |
| CN114783673A (en) * | 2022-04-20 | 2022-07-22 | 天津航天长征火箭制造有限公司 | Passive pressure relief method for waterproof layer of carrier rocket cable |
| CN114783673B (en) * | 2022-04-20 | 2023-09-19 | 天津航天长征火箭制造有限公司 | Passive decompression method for carrier rocket cable waterproof layer |
| CN114879718A (en) * | 2022-07-12 | 2022-08-09 | 南京理工大学 | Method for controlling an aircraft with a grid rudder |
| CN114879718B (en) * | 2022-07-12 | 2022-09-13 | 南京理工大学 | Method for controlling an aircraft with a grid rudder |
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