CN109018440B - VTOL carrier rocket grade landing phase precise perpendicularity soft landing quartic polynomial method of guidance - Google Patents
VTOL carrier rocket grade landing phase precise perpendicularity soft landing quartic polynomial method of guidance Download PDFInfo
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- CN109018440B CN109018440B CN201810811882.8A CN201810811882A CN109018440B CN 109018440 B CN109018440 B CN 109018440B CN 201810811882 A CN201810811882 A CN 201810811882A CN 109018440 B CN109018440 B CN 109018440B
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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
Abstract
The invention proposes VTOL carrier rocket grade landing phase precise perpendicularity soft landing quartic polynomial method of guidance, belong to guidance and control technology field.This method by design using vector rocket engine as executing agency, the default drop point site of sub- grade state and target landing field that is exported by navigation system on arrow, guidanceed command by the vertical soft landing of rocket landing phase high-precision acquired using quartic polynomial method.VTOL carrier rocket grade landing phase precise perpendicularity soft landing method of guidance can be realized the precise perpendicularity soft landing of rocket grade.
Description
Technical field
The present invention relates to VTOL carrier rocket grade landing phase precise perpendicularity soft landing quartic polynomial method of guidance,
Belong to guidance and control technology field.
Background technique
The cost of carrier rocket is concentrated mainly on rocket rocket body, on engine and arrow in equipment, the fuel mass of rocket at
This is lower, and since China's active service carrier rocket is only capable of being intended for single use, rocket body is abandoned after rocket launching, this is also resulted in currently
Rocket launching cost is high.Therefore develop VTOL carrier rocket, carrier rocket grade is vertically recycled, and
It is reused after maintenance, the launch cost of carrier rocket can be greatly reduced.The recycling latter end of VTOL carrier rocket grade is (i.e.
Vertical landing section) it needs through vector rocket engine deceleration guided flight and vertical soft landing is in predetermined position, rocket position,
Speed and posture intercouple, but the precision of existing vertical landing section precise perpendicularity soft landing method of guidance is lower.
Summary of the invention
The invention aims to solve existing VTOL carrier rocket grade to return to the vertical soft landing of landing latter end
The low problem of precision, provide and a kind of delivered with the VTOL that vector rocket engine (can omnidirectional swing) is executing agency
Rocket grade landing phase precise perpendicularity soft landing quartic polynomial method of guidance, the technical solution taken are as follows:
VTOL carrier rocket grade landing phase precise perpendicularity soft landing quartic polynomial method of guidance, the guidance side
Method includes:
Step 1: carrying out real-time measurement to VTOL carrier rocket grade using navigation system on arrow and obtains rocket
Grade current location and velocity vector, after the rocket grade drops to landing field flying overhead program predetermined altitude, rocket arrow
Measure engine ignition work；
Step 2: the movement of rocket grade is established under earth axes of the drop point site as origin presetting using target landing field
Equation；
Step 3: according to the target drop point site of vertical soft landing and rocket grade current location and speed, solve ground
The acceleration instruction that quartic polynomial guides under areal coordinate system；
Step 4: the acceleration instruction that quartic polynomial guides is converted to by rocket vector engine by coordinate system conversion
The instruction of thrust size and pitch command and yaw angle instruct.
Further, it is established under using default earth axes of the drop point site as origin of target landing field described in step 2
The rocket grade equation of motion are as follows:
Wherein, r is the sub- level position vector of rocket,For the derivative of position vector r；V is the sub- step velocity vector of rocket,For
The derivative of velocity vector v；Acceleration a=u+g, u be thrust acceleration vector sum aerodynamic force acceleration and, g attaches most importance to
Power acceleration.
Further, drop point site is preset according to the target landing field of vertical soft landing described in step 3 and sub- grade is current
Position and speed solves the acceleration instruction that quartic polynomial guides under earth axes method particularly includes:
Step 1: providing and being fallen so that target landing field is default according to the output of carrier rocket grade navigation system real-time measurement
Point is set to the rocket grade current location vector r in the earth axes of origin0With velocity vector v0；
Step 2: presetting position of the drop point site under coordinate system according to the target landing field of the vertical soft landing of rocket grade
Vector rf=[0,0,0]T, vertical soft landing velocity vector v when requiring to landf=[0,0,0]TAnd rocket grade terminal accelerates
Spend af=[0, am,0]T, determine that the acceleration acted in rocket grade has following polynomial form:
A (t)=a0+a1t+a2t2 (2)
Wherein, a0For the current acceleration of rocket grade, a1And a2For unknown constant；
Step 3: when determining that VTOL rocket grade presets the remaining flight of drop point from current location to target landing field
Between be tgo, then rocket grade terminal acceleration afExpression formula conversion are as follows:
Step 4: formula (3) is updated in formula (1), speed vector sum when vertical soft landing requirement is landed can get
The expression formula that the target landing field of the vertical soft landing of rocket grade presets position vector of the drop point site under coordinate system is as follows:
Step 5: formula (3), formula (4) and formula (5) progress simultaneous can be acquired to the acceleration of current time rocket
Instruction, the acceleration instruction of the current time rocket are as follows:
Step 6: obtaining according to method for optimally controlling about residual non-uniformity tgoMultinomial be
Solving equation (8) can be obtained residual non-uniformity tgo；
Step 7: residual non-uniformity t can be enabled in order to eliminate the singular problem of landing terminalgoIt is landing for the previous period
Interior holding constant value, such as work as tgoRemaining time immobilizes when≤2s or height h≤10m；Rocket grade is solved to sit on ground
Acceleration under mark system, which instructs, is
U=a0-g (8)
Wherein, g is acceleration of gravity.
Further, it is converted described in step 4 by coordinate system and the acceleration instruction that quartic polynomial guides is converted into fire
Thrust command and pitch command and the yaw angle instruction of arrow vector engine method particularly includes:
Step 1: it determines from using target landing field and presets drop point site as the earth axes of origin to rocket grade body seat
Marking the transition matrix for being is
It is in formulaPitch angle, ψ are yaw angle, and γ is roll angle；
Step 2: determine that thrust of the rocket grade under body coordinate system is
In formula, P0For motor power size.
Step 3: rocket grade is guidanceed command into u setting are as follows:
Wherein, ux、uyAnd uzRespectively guidanceing command in transmitting is the component of x-axis, y-axis and z-axis.
Step 4: rocket is determined using thruster vector control during landing phase vertical soft landing according to rocket grade
Grade current Quality, rocket grade are guidanceed command with the transition matrix, rocket grade between the thrust under body coordinate system
Relationship are as follows:
M × u=CTP (12)
I.e.
Wherein, m is rocket grade current Quality, and each equation in Simultaneous Equations (13) can obtain
Wherein P0It is controlled for rocket engine thrust size, as the thrust command of rocket vector engine；With ψ points
Not Wei pitch command and yaw angle instruction, be used for rocket grade gesture stability.
The invention has the advantages that:
The invention proposes VTOL carrier rocket grade landing phase precise perpendicularity soft landing quartic polynomial guidance sides
Method.This method devise using vector rocket engine as executing agency, by arrow navigation system export sub- grade state and mesh
The default drop point site for marking landing field, the vertical soft landing guidance of rocket landing phase high-precision acquired by quartic polynomial method
Instruction.The target landing field of the rocket grade current state and bookbinding that export present invention uses navigation system on arrow presets drop point
Quartic polynomial guidance is realized in position, of the present invention based on the vertical of quartic polynomial method compared to other method of guidance
Landing carrier rocket grade landing phase precise perpendicularity soft landing method of guidance can be realized the precise perpendicularity soft landing of rocket grade
It is (position deviation is less than 1m, and velocity deviation is less than 2m/s, and attitude misalignment is less than 0.5 °), vertical in VTOL carrier rocket grade
Recycling field has broad application prospects.
Detailed description of the invention
Fig. 1 is VTOL carrier rocket grade landing phase precise perpendicularity soft landing quartic polynomial guidance of the present invention
The flow chart of method.
Specific embodiment
The present invention will be further described combined with specific embodiments below, but the present invention should not be limited by the examples.
Embodiment 1:
VTOL carrier rocket grade landing phase precise perpendicularity soft landing quartic polynomial method of guidance, as shown in Figure 1,
It the described method comprises the following steps:
Step 1: VTOL carrier rocket grade obtains rocket current location and speed by navigation system real-time measurement
Vector, after dropping to landing field flying overhead program predetermined altitude, rocket vector engine (can omnidirectional swing) ignition operation；
Step 2: the movement of rocket grade is established under earth axes of the drop point site as origin presetting using target landing field
Equation；
Step 3: it according to the target drop point site of vertical soft landing and sub- grade current location and speed, solves ground and sits
Mark is the acceleration instruction of lower quartic polynomial guidance；
Step 4: the acceleration instruction that quartic polynomial guides is converted to by rocket vector engine by coordinate system conversion
The instruction of thrust size and the instruction of pitch angle/yaw angle.
Wherein, the rocket motion equation established under the earth axes using target drop point site as origin described in step 2
Are as follows:
In formula, r is the sub- level position vector of rocket,For the derivative of position vector r；V is the sub- step velocity vector of rocket,For
The derivative of velocity vector v；Acceleration a=u+g, u be thrust acceleration vector sum aerodynamic force acceleration and, g attaches most importance to
Power acceleration.
Wherein, it is asked described in step 3 according to the target drop point site of vertical soft landing and sub- grade current location and speed
Solve the acceleration instruction that quartic polynomial guides under earth axes method particularly includes:
According to the output of carrier rocket grade navigation system real-time measurement, provide with target landing field preset drop point site be
Rocket grade current location vector r in the earth axes of origin0With velocity vector v0.Due to the vertical soft landing of rocket grade
Target landing field preset position vector of the drop point site under coordinate system be rf=[0,0,0]T, vertical soft landing requirement landing
When velocity vector be vf=[0,0,0]T.The posture restraint that rocket grade terminal vertical lands is considered, since lander is with vertical
What posture was landed, therefore have terminal acceleration af=[0, am,0]T, wherein amFor a given constant.
It is provided as having following polynomial form with the acceleration in rocket grade
A (t)=a0+a1t+a2t2 (2)
Wherein a0For the current acceleration of rocket, a1And a2For unknown constant.If VTOL rocket is from current location
The residual non-uniformity for presetting drop point to target landing field is tgo, can be obtained according to (2)
Formula (3), which is updated to equation (1) integral, to be obtained
Joint type (3)-(5) can acquire the acceleration instruction of current time rocket
It obtains according to method for optimally controlling about residual non-uniformity tgoMultinomial be
Solving equation (8) can be obtained residual non-uniformity tgo。
In order to eliminate the singular problem of landing terminal, residual non-uniformity t can be enabledgoKeep normal in for the previous period landing
Value, such as work as tgoRemaining time immobilizes that (specific time 2s or height 10m are according to different when≤2s or height h≤10m
VTOL carrier rocket is adjusted).
Solving acceleration instruction of the rocket grade under earth axes is
U=a0-g (8)
Wherein, g is acceleration of gravity.
It is converted described in step 4 by coordinate system and the acceleration instruction that quartic polynomial guides is converted into rocket vector hair
The thrust command and pitch angle of motivation/yaw angle instruction method particularly includes:
Drop point site is preset as the earth axes of origin to the conversion of rocket grade body coordinate system from using target landing field
Matrix is
It is in formulaPitch angle, ψ are yaw angle, and γ is roll angle.
Thrust of the rocket grade under body coordinate system is
In formula, P0For motor power size.
The u of guidanceing command of rocket grade is enabled to be
Wherein, ux、uyAnd uzRespectively guidanceing command in transmitting is the component of x-axis, y-axis and z-axis.
Since rocket grade uses thruster vector control during landing phase vertical soft landing, have
M × u=CTP (12)
I.e.
In formula, m is rocket grade current Quality.Joint type (13) each equation can obtain
P in formula0It is controlled for rocket engine thrust size,With ψ for rocket grade gesture stability (by vector fire
Arrow engine is realized).
High-precision vertical soft landing of the present invention for VTOL carrier rocket landing fragment position, speed and posture coupling
Guidance problems and propose, introduce arrow on navigation system output sub- grade state and target landing field preset drop point site, pass through four
Order polynomial method obtains the vertical soft landing of sub- grade landing phase high-precision and guidances command, and effectively improves carrier rocket grade and hangs down
The guidance precision that straight gyrus is received.
Although the present invention has been disclosed in the preferred embodiment as above, it is not intended to limit the invention, any to be familiar with this
The people of technology can do various changes and modification, therefore protection of the invention without departing from the spirit and scope of the present invention
Range should subject to the definition of the claims.
Claims (2)
1. VTOL carrier rocket grade landing phase precise perpendicularity soft landing quartic polynomial method of guidance, which is characterized in that
The method of guidance includes:
Step 1: VTOL carrier rocket grade is carried out real-time measurement and obtains rocket grade to work as using navigation system on arrow
Front position and velocity vector, after the rocket grade drops to landing field flying overhead program predetermined altitude, rocket vector hair
Motivation ignition operation；
Step 2: rocket grade movement side is established under earth axes of the drop point site as origin presetting using target landing field
Journey；
Step 3: it according to the target drop point site of vertical soft landing and rocket grade current location and speed, solves ground and sits
Mark is the acceleration instruction of lower quartic polynomial guidance；
Step 4: the acceleration instruction that quartic polynomial guides is converted to by pushing away for rocket vector engine by coordinate system conversion
The instruction of power size and pitch command and yaw angle instruct；
The rocket grade established under earth axes of the drop point site as origin fortune is being preset using target landing field described in step 2
Dynamic equation are as follows:
Wherein, r is the sub- level position vector of rocket,For the derivative of position vector r；V is the sub- step velocity vector of rocket,For speed arrow
Measure the derivative of v；Acceleration a=u+g, u be thrust acceleration vector sum aerodynamic force acceleration and, g is that gravity accelerates
Degree；
Drop point site and sub- grade current location and speed are preset according to the target landing field of vertical soft landing described in step 3, asked
Solve the acceleration instruction that quartic polynomial guides under earth axes method particularly includes:
Step 1: providing according to the output of carrier rocket grade navigation system real-time measurement and presetting drop point position with target landing field
The rocket grade current location vector r being set in the earth axes of origin0With velocity vector v0；
Step 2: presetting position vector of the drop point site under coordinate system according to the target landing field of the vertical soft landing of rocket grade
rf=[0,0,0]T, vertical soft landing velocity vector v when requiring to landf=[0,0,0]TAnd rocket grade terminal acceleration af=
[0,am,0]T, determine that the acceleration acted in rocket grade has following polynomial form:
A (t)=a0+a1t+a2t2 (2)
Wherein, a0For the current acceleration of rocket grade, a1And a2For unknown constant；
Step 3: determining that the residual non-uniformity of default drop point is VTOL rocket grade from current location to target landing field
tgo, then rocket grade terminal acceleration afExpression formula conversion are as follows:
Step 4: formula (3) is updated in formula (1), speed vector sum rocket when vertical soft landing requirement is landed can get
The expression formula that the target landing field of the vertical soft landing of sub- grade presets position vector of the drop point site under coordinate system is as follows:
Step 5: the acceleration that formula (3), formula (4) and formula (5) progress simultaneous can acquire current time rocket is referred to
It enables, the acceleration instruction of the current time rocket are as follows:
Step 6: obtaining according to method for optimally controlling about residual non-uniformity tgoMultinomial be
Solving equation (8) can be obtained residual non-uniformity tgo；
Step 7: residual non-uniformity t can be enabled in order to eliminate the singular problem of landing terminalgoIt is protected landing in for the previous period
Hold constant value；Work as tgoRemaining time immobilizes when≤2s or height h≤10m；Rocket grade is solved under earth axes
Acceleration instructs
U=a0-g (8)
Wherein, g is acceleration of gravity.
2. method of guidance according to claim 1, which is characterized in that multinomial by four times by coordinate system conversion described in step 4
The acceleration instruction of formula guidance is converted to the thrust command of rocket vector engine and the tool of pitch command and yaw angle instruction
Body method are as follows:
Step 1: it determines from using target landing field and presets drop point site as the earth axes of origin to rocket grade body coordinate system
Transition matrix be
It is in formulaPitch angle, ψ are yaw angle, and γ is roll angle；
Step 2: determine that thrust of the rocket grade under body coordinate system is
In formula, P0For motor power size；
Step 3: rocket grade is guidanceed command into u setting are as follows:
Wherein, ux、uyAnd uzRespectively guidanceing command in transmitting is the component of x-axis, y-axis and z-axis；
Step 4: determine that rocket grade is worked as using thruster vector control during landing phase vertical soft landing according to rocket grade
The relationship of preceding quality, rocket grade guidanceed command with the transition matrix, rocket grade between the thrust under body coordinate system
Are as follows:
M × u=CTP (12)
I.e.
Wherein, m is rocket grade current Quality, and each equation in Simultaneous Equations (13) can obtain
Wherein P0It is controlled for rocket engine thrust size, as the thrust command of rocket vector engine；It is respectively with ψ
Pitch command and yaw angle instruction, are used for rocket grade gesture stability.
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| CN112046775A (en) * | 2019-06-06 | 2020-12-08 | 宋延军 | Vertical soft landing auxiliary system and landing method for jet aircraft |
| CN110542423B (en) * | 2019-07-23 | 2021-06-11 | 北京控制工程研究所 | Moon soft landing vertical approach obstacle avoidance guidance method |
| CN110989650B (en) * | 2019-12-30 | 2023-10-27 | 航天科工火箭技术有限公司 | Landing control method and device based on rocket return |
| CN111272173A (en) * | 2020-02-20 | 2020-06-12 | 哈尔滨工业大学 | Gradient solving iterative guidance method considering earth rotation and large yaw angle |
| CN111473696B (en) * | 2020-03-24 | 2021-01-26 | 北京理工大学 | Guidance rocket vertical attack guidance method based on drop point estimation |
| CN112304169B (en) * | 2020-10-28 | 2023-05-02 | 北京星际荣耀空间科技股份有限公司 | Carrier rocket guidance method and system based on thrust adjustment |
| CN112525004B (en) * | 2020-11-27 | 2022-10-18 | 中国人民解放军国防科技大学 | Method and system for determining starting point of rocket fixed-point soft landing on line |
| CN112987691B (en) * | 2021-02-25 | 2023-02-03 | 北京空间飞行器总体设计部 | Soft landing closed-loop follow-up control test method for surface of extraterrestrial celestial body |
| CN114370793A (en) * | 2021-12-31 | 2022-04-19 | 北京理工大学 | Rocket sublevel return and vertical landing guidance method |
| CN114690793B (en) * | 2022-03-28 | 2023-01-06 | 北京理工大学 | Sliding mode control-based reusable carrier rocket vertical soft landing guidance method |
| CN116594309B (en) * | 2023-07-19 | 2023-09-29 | 东方空间技术(山东)有限公司 | Rocket sublevel vertical recovery control method, computing equipment and storage medium |
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| JP2012530020A (en) * | 2009-06-15 | 2012-11-29 | ブルー オリジン エルエルシー | Space launcher offshore landing and related systems and methods |
| CN103303495B (en) * | 2013-04-11 | 2015-07-08 | 北京控制工程研究所 | Method for estimating disturbance moment in power decreasing process |
| CN106021628B (en) * | 2015-07-03 | 2019-06-18 | 中国运载火箭技术研究院 | A kind of carrier rocket vertically returns to ballistic design method |
| CN106742079B (en) * | 2016-12-29 | 2019-04-09 | 北京空间机电研究所 | A kind of reusable landing buffer device of carrier rocket |
| CN107202584B (en) * | 2017-07-06 | 2020-02-14 | 北京理工大学 | Planet accurate landing anti-interference guidance method |
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