CN107933965B - A kind of carrier rocket servo mechanism linear smoothing resetting method - Google Patents
A kind of carrier rocket servo mechanism linear smoothing resetting method Download PDFInfo
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- CN107933965B CN107933965B CN201711100041.8A CN201711100041A CN107933965B CN 107933965 B CN107933965 B CN 107933965B CN 201711100041 A CN201711100041 A CN 201711100041A CN 107933965 B CN107933965 B CN 107933965B
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- 238000000034 method Methods 0.000 title claims abstract description 23
- 238000009499 grossing Methods 0.000 title claims abstract description 12
- 238000000926 separation method Methods 0.000 abstract description 13
- 230000007812 deficiency Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
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
-
- 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
Abstract
A kind of carrier rocket servo mechanism linear smoothing resetting method, determine that the beginning of each servo mechanism is linearly zeroed the moment first, then linear zero moment of each servo mechanism, linear return-to-zero-time are determined, each servo mechanism servo zero coefficient is finally calculated, the angle of servo mechanism engine wobble after being corrected in turn completes servo mechanism linear smoothing zero.Implementation of the present invention is simple, it is easy to spread, it is linearly zeroed by servo mechanism, the rocket attitude misalignment of stage separation period (such as Booster separation, level-one separate) can be effectively reduced, preferable initial attitude condition is provided for the gesture stability of next inflight phase, it can be widely used for turning grade, turning section control for various aircraft, there is good use value.
Description
Technical field
The present invention proposes a kind of carrier rocket servo mechanism linear smoothing resetting method, is related to start and end time of being zeroed
The determination of point, and the calculation formula of zero section servo mechanism instruction.
Background technique
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 control force, therefore in Booster separation without carrying out boost motor servo mechanism return-to-zero.And a new generation's fire
Arrow, booster rocket motor can wave, and participate in rocket gesture stability, also provide control force while providing thrust.To guarantee
Boost motor safe separating during rocket flight needs that booster rocket motor is swung back into zero-bit before separation, i.e., sends out promotion
The boost motor servo mechanism that motivation is swung executes return-to-zero.
In addition, traditional rocket is during level-one separation, the second-order separation etc. turn grade and turn section, at engine zero
Reason, or by the way of being directly zeroed, i.e., zero instruction is sent directly to servo mechanism when turning grade, turning section.This mode has
Two disadvantages can generate interference to rocket posture, second is that watching for engine drainage first is that directly zero belongs to step signal
Mechanism is taken, cannot be swung since engine flow is too small before separation, servo zero is unable to complete.Therefore it needs to propose one kind
New servo mechanism resetting method completes servo after engine cutoff, before the separation of Booster separation or I and II
Structure flyback action, and effectively reduce servo zero bring attitude of flight vehicle interference.
Summary of the invention
Technical problem solved by the present invention is overcome the deficiencies in the prior art, improves the mode of servo mechanism zero, to subtract
The shake of attitude of flight vehicle caused by small servo is zeroed, proposes a kind of carrier rocket servo mechanism linear smoothing resetting method, when this
After inflight phase engine cutoff, before turning grade, zero instruction is issued to servo mechanism, it, will by using linear return-to-zero mode
Servo mechanism is grouped into zero-bit from current location, and engine is made no longer to generate control moment, to eliminate servo mechanism pivot angle to separation
The influence of generation.
The technical solution of the invention is as follows: a kind of carrier rocket servo mechanism linear smoothing resetting method, including as follows
Step:
(1) determine that the beginning of i-th of servo mechanism is linearly zeroed moment tgi_b；Wherein, i is positive integer；The servo
T at the time of mechanism starts linearly to be zeroedgi_bAt the time of dropping to 30% correspondence of normal thrust for the thrust when engine；
(2) the linear zero moment t of i-th of servo mechanism is determinedgi_end, linear return-to-zero-time ti；The linear zero
Moment tgi_endAt the time of dropping to the correspondence of normal thrust 10% for motor power, ti=tgi_end-tgi_b；
(3) i-th servo mechanism servo zero coefficient is calculated, and then i-th of servo mechanism is started after being corrected
The angle that machine is swung；
Described is calculated i-th of servo mechanism servo zero coefficient kgiMethod are as follows:
Wherein, t is current time.
The beginning of i-th of servo mechanism is linearly zeroed moment tgi_bIt is determined to be tested by engine test.
It is described corrected after i-th of servo mechanism engine wobble angle method are as follows:
Calculate the angle correction δ of i-th servo mechanism engine wobble angle of controli_gl=kgi·δi；Wherein, δiIt is i-th
The swing angle of platform servo mechanism engine.
The advantages of the present invention over the prior art are that:
(1) present invention is by linear return zero technique, solve during Booster separation by boosting servo mechanism pivot angle
Bring interference problem improves the safety of boosting separation；
(2) present invention chooses return-to-zero-time parameter by aero-engine test data, and solving conduction type servo mechanism cannot
Moment zero problem is separated again；
(3) present invention solves the problems, such as that servo mechanism zero process causes interference by linear algorithm；
(4) implementation of the present invention is simple, easy to spread, is linearly zeroed by servo mechanism, can effectively reduce between grade
The rocket attitude misalignment for separating period (such as Booster separation, level-one separate), provides preferably for the gesture stability of next inflight phase
Initial attitude condition, can be widely used for turning grade, turning section control for various aircraft.
Detailed description of the invention
Fig. 1 is that servo mechanism is linearly zeroed process.
Specific embodiment
The present invention has overcome the deficiencies of the prior art and provide a kind of carrier rocket servo mechanism linear smoothing resetting method,
After this inflight phase engine cutoff, before turning grade, zero instruction is issued to servo mechanism, by using linear zero side
Servo mechanism is grouped into zero-bit from current location, engine is made no longer to generate control moment by formula, to eliminate servo mechanism pivot angle pair
The influence generated is separated, the method for the present invention is described in detail with reference to the accompanying drawing.Linearly return for servo mechanism as shown in Figure 1
Zero process, a kind of carrier rocket servo mechanism linear smoothing resetting method of the present invention include the following steps:
(1) determine that servo mechanism starts the time t of slope zerogl_b, when the thrust of engine drops to normal thrust
When 30%, servo mechanism starts to execute 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
Time, the i.e. thrust of engine correspond to the moment as t when dropping to the 10% of normal thrustgl_end, can be tried by engine test
Test determining 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
Calculate separately out the control instruction δ of 4 servo mechanisms1_gl、δ2_gl、δ3_gl、δ4_gl, while control instruction being exported
To servo mechanism.
The content that description in the present invention is not described in detail belongs to the well-known technique of those skilled in the art.
Claims (3)
1. a kind of carrier rocket servo mechanism linear smoothing resetting method, it is characterised in that include the following steps:
(1) determine that the beginning of i-th of servo mechanism is linearly zeroed moment tgi_b；Wherein, i is positive integer；The servo mechanism is opened
T at the time of initial line is zeroedgi_bAt the time of dropping to 30% correspondence of normal thrust for the thrust when engine；
(2) the linear zero moment t of i-th of servo mechanism is determinedgi_end, linear return-to-zero-time ti；The linear zero moment
tgi_endAt the time of dropping to the correspondence of normal thrust 10% for motor power, ti=tgi_end-tgi_b；
(3) i-th servo mechanism servo zero coefficient is calculated, and then i-th of servo mechanism engine is put after correct
Dynamic angle；
Described is calculated i-th of servo mechanism servo zero coefficient kgiMethod are as follows:
Wherein, t is current time.
2. a kind of carrier rocket servo mechanism linear smoothing resetting method according to claim 1, it is characterised in that: described
The beginning of i-th of servo mechanism be linearly zeroed moment tgi_bIt is determined to be tested by engine test.
3. a kind of carrier rocket servo mechanism linear smoothing resetting method according to claim 1 or 2, it is characterised in that:
It is described corrected after i-th of servo mechanism engine wobble angle method are as follows:
Calculate the angle correction δ of i-th servo mechanism engine wobble angle of controli_gl=kgi·δi；Wherein, δiIt is watched for i-th
Take the swing angle of mechanism engine.
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| Application Number | Priority Date | Filing Date | Title |
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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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| Publication Number | Publication Date |
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| CN107933965A CN107933965A (en) | 2018-04-20 |
| CN107933965B true CN107933965B (en) | 2019-09-06 |
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Families Citing this family (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, computing device and the terminal device of Rotary aircraft command factor |
| 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 |
| 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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| RU2446081C1 (en) * | 2010-08-06 | 2012-03-27 | Открытое Акционерное Общество "Государственный Ракетный Центр Имени Академика В.П. Макеева" | Method rocket launching |
| CN103955557A (en) * | 2014-03-31 | 2014-07-30 | 北京航空航天大学 | Multi-disciplinary integrated design optimization method and system for carrier rocket |
| CN106354901A (en) * | 2016-08-12 | 2017-01-25 | 北京宇航系统工程研究所 | Online identification method for mass property of carrier rocket and critical parameter of dynamics |
| CN107133380A (en) * | 2017-03-31 | 2017-09-05 | 北京蓝箭空间科技有限公司 | Launch Vehicle Engine exhausts/shut down a kind of guidance program angle processing method of section |
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2017
- 2017-11-09 CN CN201711100041.8A patent/CN107933965B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| RU2446081C1 (en) * | 2010-08-06 | 2012-03-27 | Открытое Акционерное Общество "Государственный Ракетный Центр Имени Академика В.П. Макеева" | Method rocket launching |
| CN103955557A (en) * | 2014-03-31 | 2014-07-30 | 北京航空航天大学 | Multi-disciplinary integrated design optimization method and system for carrier rocket |
| CN103955557B (en) * | 2014-03-31 | 2017-01-04 | 北京航空航天大学 | Carrier rocket multidisciplinary comprehensive design optimization method and system |
| CN106354901A (en) * | 2016-08-12 | 2017-01-25 | 北京宇航系统工程研究所 | Online identification method for mass property of carrier rocket and critical parameter of dynamics |
| CN107133380A (en) * | 2017-03-31 | 2017-09-05 | 北京蓝箭空间科技有限公司 | Launch Vehicle Engine exhausts/shut down a kind of guidance program angle processing method of section |
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| 运载火箭一级发动机自动归零技术研究;罗超 等;《导弹与航天运载技术》;20120610;55-58 |
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