CN107933965A - A kind of carrier rocket servo control mechanism linear smoothing resetting method - Google Patents
A kind of carrier rocket servo control mechanism linear smoothing resetting method Download PDFInfo
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- CN107933965A CN107933965A CN201711100041.8A CN201711100041A CN107933965A CN 107933965 A CN107933965 A CN 107933965A CN 201711100041 A CN201711100041 A CN 201711100041A CN 107933965 A CN107933965 A CN 107933965A
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- 238000004364 calculation method Methods 0.000 description 1
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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
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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
- B64G1/244—Spacecraft control systems
- B64G1/245—Attitude control algorithms for spacecraft attitude control
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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
- B64G1/40—Arrangements or adaptations of propulsion systems
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- Aviation & Aerospace Engineering (AREA)
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Abstract
A kind of carrier rocket servo control mechanism linear smoothing resetting method, determine that the beginning of each servo control mechanism is linearly zeroed the moment first, it is then determined that the linear zero moment of each servo control mechanism, linear return-to-zero-time, each servo control mechanism servo zero coefficient is finally calculated, and then after being corrected servo control mechanism engine wobble angle, complete servo control mechanism linear smoothing zero.Implementation of the present invention is simple, it is easy to spread, linearly it is zeroed by servo control mechanism, the rocket attitude misalignment of stage separation period (such as Booster separation, level-one separate) can effectively be reduced, preferable initial attitude condition is provided for the gesture stability of next inflight phase, turning level, turning section control for various aircraft is can be widely used for, there is good use value.
Description
Technical field
The present invention proposes a kind of carrier rocket servo control mechanism linear smoothing resetting method, is related to zero start and end time
Point determines, and the calculation formula of zero section servo control mechanism instruction.
Background technology
The rocket of tradition binding boost motor, booster rocket motor can not wave, only provide thrust, be not involved in rocket posture
Control, does not provide controling power, therefore boost motor servo control mechanism return-to-zero need not be carried out in Booster separation.And a new generation's fire
Arrow, booster rocket motor can wave, and participate in rocket gesture stability, there is provided controling power is also provided while thrust.To ensure
Boost motor safe separating during rocket flight by booster rocket motor, it is necessary to swing back into zero-bit, i.e., to promoting hair before separation
The boost motor servo control mechanism that motivation is swung performs return-to-zero.
In addition, traditional rocket turns during level turns section in level-one separation, the second-order separation etc., at engine zero
Reason, or by the way of being directly zeroed, i.e., zero instruction is sent directly to servo control mechanism when turning level, turning section.This mode has
Two shortcomings, first, directly zero belongs to step signal, can produce interference, second, watching for engine drainage to rocket posture
Mechanism is taken, cannot be swung since engine flow is too small before separation, servo zero can not be completed.Therefore need to propose a kind of
New servo control mechanism resetting method, after engine cutoff, before the separation of Booster separation or I and II, completes servo
Structure flyback action, and effectively reduce the attitude of flight vehicle interference that servo zero is brought.
The content of the invention
Present invention solves the technical problem that it is：Overcome the deficiencies in the prior art, improves the mode of servo control mechanism zero, to subtract
Attitude of flight vehicle shake caused by small servo zero, proposes a kind of carrier rocket servo control mechanism linear smoothing resetting method, when this
After inflight phase engine cutoff, turn level before, zero instruction is sent to servo control mechanism, will by using linear return-to-zero mode
Servo control mechanism is grouped into zero-bit from current location, engine is no longer produced control moment, to eliminate servo control mechanism pivot angle to separation
The influence of generation.
The present invention technical solution be：A kind of carrier rocket servo control mechanism linear smoothing resetting method, including it is as follows
Step：
(1) determine that the beginning of i-th of servo control mechanism is linearly zeroed moment tgi_b；Wherein, i is positive integer；
(2) linear zero moment t of i-th of servo control mechanism is determinedgi_end, linear return-to-zero-time ti；
(3) i-th servo control mechanism servo zero coefficient is calculated, and then i-th of servo control mechanism starts after being corrected
The angle that machine is swung.
The t at the time of servo control mechanism starts linearly to be zeroedgi_bDrop to normal thrust for the thrust when engine
At the time of 30% correspondence.
Described obtains t at the time of servo control mechanism starts linearly to be zeroedgi_bDetermined to be tested by engine test.
Linear zero moment tgi_endAt the time of dropping to the correspondence of normal thrust 10% for motor power, ti=
tgi_end-tgi_b。
Described is calculated i-th of servo control mechanism servo zero coefficient kgiMethod be：
Wherein, t is current time.
It is described corrected after the method for angle of i-th of servo control mechanism engine wobble be：
Calculate the angle correction δ of i-th servo control mechanism engine wobble angle of controli_gl=kgl·δi；Wherein, δiFor i-th
The swing angle of platform servo control mechanism engine.
The present invention compared with prior art the advantages of be：
(1) present invention is by linear return zero technique, solve during Booster separation by boosting servo control mechanism pivot angle
The interference problem brought, improves the separated security of boosting；
(2) present invention chooses return-to-zero-time parameter by aero-engine test data, and solving conduction type servo control mechanism cannot
Moment zero problem is separated again；
(3) present invention solves the problems, such as that servo control mechanism zero process causes interference by linear algorithm；
(4) implementation of the present invention is simple, easy to spread, is linearly zeroed by servo control mechanism, can effectively reduce between level
The rocket attitude misalignment of period (such as Booster separation, level-one separate) is separated, is provided preferably for the gesture stability of next inflight phase
Initial attitude condition, can be widely used for turning level, turning section control for various aircraft.
Brief description of the drawings
Fig. 1 is linearly zeroed process for servo control mechanism.
Embodiment
The present invention has overcome the deficiencies of the prior art and provide a kind of carrier rocket servo control mechanism linear smoothing resetting method,
After this inflight phase engine cutoff, turn level before, zero instruction is sent to servo control mechanism, by using linear zero side
Formula, is grouped into zero-bit from current location by servo control mechanism, engine is no longer produced control moment, to eliminate servo control mechanism pivot angle pair
The influence produced is separated, the method for the present invention is described in detail below in conjunction with the accompanying drawings.Linearly return for servo control mechanism as shown in Figure 1
Zero process, a kind of carrier rocket servo control mechanism linear smoothing resetting method of the present invention include the following steps：
(1) determine that servo control mechanism starts the time t of slope zerogl_b, when the thrust of engine drops to normal thrust
When 30%, servo control mechanism starts to perform linear ramp zero, can be tested by engine test and determine time parameter tgl_b；
(2) linear ramp return-to-zero-time t is determined1, drop to 30% to the 10% of normal thrust from the thrust of engine
The thrust of time, i.e. engine correspond to the moment when dropping to the 10% of normal thrust be tgl_end, can be tried by engine test
Test definite time parameter t1；
(3) servo instruction during the zero of slope calculates：
Wherein：kglFor servo zero coefficient；
tgl_bIt is zeroed the time started for servo；
tgl_endIt is zeroed the end time for servo, tgl_end=tgl_b+t1；
(4) according to formula
δi_gl=kgl·δiI=1,2,3,4
The control instruction δ of 4 servo control mechanisms is calculated respectively1_gl、δ2_gl、δ3_gl、δ4_gl, while control instruction is exported
To servo control mechanism.
The content not being described in detail in description of the invention belongs to the known technology of those skilled in the art.
Claims (6)
1. a kind of carrier rocket servo control mechanism linear smoothing resetting method, it is characterised in that include the following steps：
(1) determine that the beginning of i-th of servo control mechanism is linearly zeroed moment tgi_b；Wherein, i is positive integer；
(2) linear zero moment t of i-th of servo control mechanism is determinedgi_end, linear return-to-zero-time ti；
(3) i-th servo control mechanism servo zero coefficient is calculated, and then i-th of servo control mechanism engine is put after being corrected
Dynamic angle.
A kind of 2. carrier rocket servo control mechanism linear smoothing resetting method according to claim 1, it is characterised in that：It is described
Servo control mechanism t at the time of start linearly to be zeroedgi_bFor when the thrust of engine drop to normal thrust 30% it is corresponding when
Carve.
A kind of 3. carrier rocket servo control mechanism linear smoothing resetting method according to claim 1 or 2, it is characterised in that：
Described obtains t at the time of servo control mechanism starts linearly to be zeroedgi_bDetermined to be tested by engine test.
A kind of 4. carrier rocket servo control mechanism linear smoothing resetting method according to claim 1 or 2, it is characterised in that：
Linear zero moment tgi_endAt the time of dropping to the correspondence of normal thrust 10% for motor power, ti=tgi_end-
tgi_b。
A kind of 5. carrier rocket servo control mechanism linear smoothing resetting method according to claim 1 or 2, it is characterised in that：
Described is calculated i-th of servo control mechanism servo zero coefficient kgiMethod be：
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Wherein, t is current time.
A kind of 6. carrier rocket servo control mechanism linear smoothing resetting method according to claim 1 or 2, it is characterised in that：
It is described corrected after the method for angle of i-th of servo control mechanism engine wobble be：
Calculate the angle correction δ of i-th servo control mechanism engine wobble angle of controli_gl=kgl·δi；Wherein, δiWatched for i-th
Take the swing angle of mechanism engine.
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| CN201711100041.8A CN107933965B (en) | 2017-11-09 | 2017-11-09 | A kind of carrier rocket servo mechanism linear smoothing resetting method |
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| CN201711100041.8A CN107933965B (en) | 2017-11-09 | 2017-11-09 | A kind of carrier rocket servo mechanism linear smoothing resetting method |
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| CN107933965A true CN107933965A (en) | 2018-04-20 |
| CN107933965B CN107933965B (en) | 2019-09-06 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109814592A (en) * | 2018-12-28 | 2019-05-28 | 中国人民解放军陆军工程大学 | Calculation method and calculation device for command coefficient of rotary aircraft and terminal equipment |
| CN112325710A (en) * | 2020-09-24 | 2021-02-05 | 北京航天自动控制研究所 | High-precision attitude control method and system for high-thrust direct orbit entry of carrier rocket |
| CN114384799A (en) * | 2022-01-14 | 2022-04-22 | 北京中科宇航技术有限公司 | Boosting and core-level engine combined thrust vector control method |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109814592A (en) * | 2018-12-28 | 2019-05-28 | 中国人民解放军陆军工程大学 | Calculation method and calculation device for command coefficient of rotary aircraft and terminal equipment |
| CN112325710A (en) * | 2020-09-24 | 2021-02-05 | 北京航天自动控制研究所 | High-precision attitude control method and system for high-thrust direct orbit entry of carrier rocket |
| CN112325710B (en) * | 2020-09-24 | 2023-03-31 | 北京航天自动控制研究所 | High-precision attitude control method and system for high-thrust direct orbit entry of carrier rocket |
| CN114384799A (en) * | 2022-01-14 | 2022-04-22 | 北京中科宇航技术有限公司 | Boosting and core-level engine combined thrust vector control method |
| CN114384799B (en) * | 2022-01-14 | 2023-11-28 | 北京中科宇航技术有限公司 | Combined thrust vector control method for boosting and core-level engine |
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