CN109164718A - It is a kind of for detecting " simulated flight " emulation mode of rocket control system - Google Patents
It is a kind of for detecting " simulated flight " emulation mode of rocket control system Download PDFInfo
- Publication number
- CN109164718A CN109164718A CN201811225862.9A CN201811225862A CN109164718A CN 109164718 A CN109164718 A CN 109164718A CN 201811225862 A CN201811225862 A CN 201811225862A CN 109164718 A CN109164718 A CN 109164718A
- Authority
- CN
- China
- Prior art keywords
- rocket
- deviation
- control system
- flight
- emulation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
Abstract
The invention discloses a kind of for detecting " simulated flight " emulation mode of rocket control system, comprising the following steps: step 1: flying control instruction using the dynamics and kinematics model and generation of control system resolving rocket rocket body six degree of freedom；Step 2: the winged control instruction is converted into driving signal by control system, and the driving signal is for driving servo actuator；The servo actuator and modal excitation equipment collective effect, make rocket rocket body shake；Step 3: the characteristic information of rocket body is passed back in step 1, forms data closed loop；The present invention can simulate the bullet type slosh for being difficult to accurate modeling, the characteristic is further examined to improve the success rate of flight test to the influence of flight quality by introducing true rocket rocket body；It is emulated using true flight test product, cancels the development and operation work of artificial product, avoid the inconsistent of artificial product and flying product.
Description
Technical field
The present invention relates to the designs of rocket control system and test field field, and in particular to one kind is for detecting rocket control
" simulated flight " emulation mode of system processed.
Background technique
L-G simulation test is for examining control system software and hardware reliability and matching, most important two fingers of l-G simulation test
Mark, first is that " similitude ", second is that " real-time "." similitude " requires l-G simulation test object, data-driven process, core mathematics mould
Type and true operating mechanism keep high fidelity；" real-time " refers to holding space-time consistency, in true natural time ruler
Under degree, promote emulation according to objective generation process, harsh real-time simulation relative to it is sub- in real time and it is super it is real-time for have more
High authenticity；
In carrier rocket tradition development process, l-G simulation test mainly includes two classes: mathematical simulation, HWIL simulation examination
It tests.Mathematical simulation is directed to each component founding mathematical models of rocket and carries out theoretical calculation and emulation, biases toward rocket conceptual design
It navigates in the control system in stage, guide the iteration work designed with the algorithm of gesture stability.Hardware-in-loop Simulation Experimentation introduces fire
The part material object of arrow carries out the emulation in " hardware is in circuit ".Previous simulating experimental has the disadvantage that
1, from the confidence level of proof of algorithm, the rocket body elasticity of the biggish carrier rocket of slenderness ratio is shaken special in mathematical simulation
Property be difficult to Accurate Model, elasticity, which is shaken, to seriously affect flight quality in critical flight phase especially removal process to rocket,
Even result in rocket self-destruction out of control.The confidence level of mathematical simulation needs to improve, or carries out supplement verification with other emulation modes.
2, from the consistency for participating in the experiment equipment, the equipment that HWIL simulation introduces is the special sample with emulation, and non-real
The product to fly in fact, simulation result confidence level are to be improved.Since manufacture claim, technique class requirement are inconsistent, test products
Poor with the consistency of flying product, i.e. the similitude of simulation process and practical object is not high.This be also simulation result often with
One of the main reason for flight test actual result differs greatly.
3, from the economy of experimentation cost, the Hardware-in-loop Simulation Experimentation of carrier rocket needs individually to purchase an a full set of emulation
Product is adopted including but not limited to inertial measurement cluster, servo mechanism and its loading equipemtn, flight control system, third party's data
Collect unit etc., it is with high costs, and as rocket type spectrum changes, the reusability of these equipment is very low, causes huge one
Secondary property cost burden.So needing to design a kind of simulating experimental of low cost.
Summary of the invention
To solve the above problems, the present invention provides a kind of for detecting " simulated flight " emulation side of rocket control system
Method；By the way that the elastic slosh of rocket rocket body to be closed into l-G simulation test process, with the real data of rocket elasticity shaking
Based on, avoid the problem of modeling inaccuracy；And method of comparative analysis is used, the mathematical model of theoretical calculation is verified；It can be real
Existing l-G simulation test and each single machine product of live flying are consistent；It reduces the cost of emulation experiment equipment and improves emulation
Test the reusable rate of capital equipment.
To achieve the above object, the technical scheme adopted by the invention is as follows: it is a kind of for detect rocket control system " simulation
Flight " emulation mode, comprising the following steps:
Step 1: fly control using the dynamics and kinematics model and generation of control system resolving rocket rocket body six degree of freedom
Instruction；
Step 2: the winged control instruction is converted into driving signal by control system, and the driving signal is watched for driving
Take executing agency；The servo actuator and modal excitation equipment collective effect, make rocket rocket body shake；
Step 3: the characteristic information of rocket body is passed back in step 1, forms data closed loop.
As a preferred technical solution of the invention: the control system includes flight control combination, signal forwarding
Device and servo integrally control device；The flight control combination includes Flight Control Software, for resolving rocket rocket body six degree of freedom
Dynamics and kinematics model.
As a preferred technical solution of the invention: the winged control instruction passes through signal retransmission unit and the comprehensive control of servo
Device is converted into driving signal；The signal retransmission unit includes timing transponder and integrated controller etc., for referring to winged control
Order translates into executable digital command and is distributed to servo integrally control device；The servo integrally control device includes controller and driving
Device translates into the driving signal of voltage/current for that will receive digital command.
As a preferred technical solution of the invention: the characteristic information of the rocket body is returned by signal pickup assembly
Into step 1；The signal pickup assembly includes being used for mode measuring device, inertial measuring unit and signal processing unit；Institute
Mode measuring device, inertial measuring unit are stated for carrying out data acquisition；The signal processing unit after handling acquisition for containing
Noisy data, and available rocket body characteristic information is generated, pass back to formation data closed loop in step 1.
As a preferred technical solution of the invention: further including step 4: will be typical real using mathematical simulation method
It tests deviation to be injected into step 1, and whole test use-cases is completed into traversal emulation, obtain test base-line data；According to " field
Mouthful " test method(s), choose the test use-case progress l-G simulation test of performance bounds.
As a preferred technical solution of the invention: the model experiment deviation includes that polarity deviation E1, precision are inclined
Poor E2, environmental deviation E3, installation deviation E4；The total number of combination deviation is set as E_total, then is had:
As a preferred technical solution of the invention: the polarity deviation E1 includes rocket body quality center of mass deviation, flies
Row posture position deviation；The accuracy error E2 includes velocity deviation, angular speed deviation, acceleration bias；The environmental deviation
E3 includes atmosphere deviation, wind field deviation, thrust deflexion, aerodynamic force deviation, and the installation deviation E4 includes device installation deviation, is used to
Group deviation, resilient bias.
As a preferred technical solution of the invention: the control system is connected with emulation real-time monitoring system；
The emulation real-time monitoring system is formed by upper and lower computer framework, is provided with RTOS operating system, the acquisition for real time data
With monitoring.
As a preferred technical solution of the invention: the flight control combination with passing through reserved arrow communication interface
It is connected with emulation real-time monitoring system；The signal retransmission unit, servo integrally control device by spare RS422 interface and are imitated
True real-time monitoring system is connected；It is provided with acquisition device in the emulation real-time monitoring system, executes machine for obtaining servo
The practical swash angle position of structure.
The invention has the following advantages: can simulate by introducing true rocket rocket body and be difficult to accurate modeling
Bullet type slosh, further examine the characteristic to improve the success rate of flight test to the influence of flight quality；Using true
Flight test product emulated, cancel artificial product development and operation work, avoid artificial product and flying product
It is inconsistent；L-G simulation test process is reconstructed, Hardware-in-loop Simulation Experimentation cost is saved.
Detailed description of the invention
Fig. 1 is structure of the invention flow diagram
Specific embodiment
In order to which objects and advantages of the present invention are more clearly understood, the present invention is carried out with reference to embodiments further
It is described in detail.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to limit this hair
It is bright.
As shown in Figure 1, " simulated flight " emulation that the embodiment of the invention provides a kind of for detecting rocket control system
Method, comprising the following steps:
Step 1: fly control using the dynamics and kinematics model and generation of control system resolving rocket rocket body six degree of freedom
Instruction；Control system includes flight control combination, signal retransmission unit and servo integrally control device；Flight control combination includes flight
Software is controlled, for resolving the dynamics and kinematics model of rocket rocket body six degree of freedom；
Step 2: fly control instruction by control system and be converted into driving signal, driving signal is for driving servo to execute machine
Structure；Servo actuator and modal excitation equipment collective effect, make rocket rocket body shake；Fly control instruction to forward by signal
Device and servo integrally control device are converted into driving signal；Signal retransmission unit includes timing transponder and integrated controller etc., is used
In winged control instruction translation at executable digital command and is distributed to servo integrally control device；Servo integrally control device include controller and
Driver translates into the driving signal of voltage/current for that will receive digital command；
Step 3: the characteristic information of rocket body is passed back in step 1, and the characteristic information of rocket body passes through signal pickup assembly
Pass back in step 1；Signal pickup assembly includes being used for mode measuring device, inertial measuring unit and signal processing unit；Mould
State measuring device, inertial measuring unit are for carrying out data acquisition；Signal processing unit is for noise-containing after processing acquisition
Data, and available rocket body characteristic information is generated, pass back to formation data closed loop in step 1；Data are to be flown control combination insertion
It is driven in real time in formula, simulation step length is Millisecond.It is emulated using the rocket entity after general assembly, is acted in modal excitation
Lower rocket body generates shaking, and the truthful data that rocket body elasticity is shaken is closed into rocket six freely by High Precise Data Acquisition System
In the data loop of " simulated flight " l-G simulation test of degree, the practical control ability of control system is examined.Thoroughly mathematics is avoided to build
Mould inaccuracy leads to the incredible problem of simulation result
Step 4: being directed to control system experimental bias in need of consideration, using mathematical simulation method by model experiment deviation
It is injected into step 1, and whole test use-cases is completed into traversal emulation, obtain test base-line data；According to " field mouthful " test
Method, the test use-case for choosing performance bounds carry out l-G simulation test；Model experiment deviation include polarity deviation E1, accuracy error E2,
Environmental deviation E3, installation deviation E4；The total number of combination deviation is set as E_total, then is had:Polarity deviation E1 includes rocket body quality center of mass deviation, flight attitude position deviation；Essence
Spending deviation E2 includes velocity deviation, angular speed deviation, acceleration bias；Environmental deviation E3 includes atmosphere deviation, wind field deviation, pushes away
Power deviation, aerodynamic force deviation, installation deviation E4 include device installation deviation, used group deviation, resilient bias；
Emulation real-time monitoring system is attached with each product of control system, main connection type include RS422 with
Ethernet；Emulation real-time monitoring system is formed by upper and lower computer framework, is provided with Real-TimeOperation System, i.e.,
RTOS operating system for the acquisition and monitoring of real time data, and provides the function of ex-post analysis；Flight control combination passes through pre-
The arrow stayed communication interface with emulation real-time monitoring system be connected；Signal retransmission unit, servo integrally control device pass through spare
RS422 interface is connected with emulation real-time monitoring system；It is provided with acquisition device in emulation real-time monitoring system, is watched for obtaining
Take the practical swash angle position of executing agency, such as the data of the linear transducer by capture setting on servo actuator come
Obtain swash angle position；For completion general assembly, always the carrier rocket surveyed passes through signal processing unit, emulation before flight test
Real-time monitoring system connects each product of the control system of rocket to form closed loop, and connection status and true state of flight are kept
Unanimously, guarantee that simulation process has the basis of authenticity；It is emulated using the rocket entity after general assembly, is made in modal excitation
Shaking is generated with lower rocket body, the truthful data that rocket body elasticity is shaken is closed into certainly by rocket six by High Precise Data Acquisition System
In data loop by " simulated flight " l-G simulation test spent, the practical control ability of control system is examined.Thoroughly avoid mathematics
Modeling inaccuracy leads to the incredible problem of simulation result；Traditional l-G simulation test process is reconstructed, half material object is phased out, it is complete
Carry out " simulated flight " examination at the all-real object product for after the performance test of single machine and after relevant mathematical simulation, directlying adopt rocket
It tests, shares a set of equipment with flight test, avoid the special demand for developing emulator, reduce costs spending.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the principle of the present invention, it can also make several improvements and retouch, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (9)
1. a kind of for detecting " simulated flight " emulation mode of rocket control system, which comprises the following steps:
Step 1: fly control using the dynamics and kinematics model and generation of control system resolving rocket rocket body six degree of freedom and refer to
It enables；
Step 2: the winged control instruction is converted into driving signal by control system, and the driving signal is for driving servo to hold
Row mechanism；The servo actuator and modal excitation equipment collective effect, make rocket rocket body shake；
Step 3: the characteristic information of rocket body is passed back in step 1, forms data closed loop.
2. according to claim 1 a kind of for detecting " simulated flight " emulation mode of rocket control system, feature
Be: the control system includes flight control combination, signal retransmission unit and servo integrally control device；The flight control combination
Comprising Flight Control Software, for resolving the dynamics and kinematics model of rocket rocket body six degree of freedom.
3. according to claim 1 a kind of for detecting " simulated flight " emulation mode of rocket control system, feature
Be: the winged control instruction is converted into driving signal by signal retransmission unit and servo integrally control device；The signal forwarding dress
It sets including timing transponder and integrated controller etc., for winged control instruction translation at executable digital command and to be distributed to servo
Integrally control device；The servo integrally control device includes controller and driver, translates into voltage/electricity for that will receive digital command
The driving signal of stream.
4. according to claim 1 a kind of for detecting " simulated flight " emulation mode of rocket control system, feature
Be: the characteristic information of the rocket body is passed back in step 1 by signal pickup assembly；The signal pickup assembly includes using
In mode measuring device, inertial measuring unit and signal processing unit；The mode measuring device, inertial measuring unit be used for into
The acquisition of row data；The signal processing unit generates available rocket body characteristic for noise-containing data after processing acquisition
Information passes back to formation data closed loop in step 1.
5. according to claim 1 a kind of for detecting " simulated flight " emulation mode of rocket control system, feature
It is: further includes step 4: model experiment deviation being injected into step 1 using mathematical simulation method, and by whole test
Use-case completes traversal emulation, obtains test base-line data；According to " field mouthful " test method(s), the test use-case for choosing performance bounds is carried out
L-G simulation test.
6. according to claim 5 a kind of for detecting " simulated flight " emulation mode of rocket control system, feature
Be: the model experiment deviation includes polarity deviation E1, accuracy error E2, environmental deviation E3, installation deviation E4；Setting combination
The total number of deviation is E_total, then has:
7. according to claim 6 a kind of for detecting " simulated flight " emulation mode of rocket control system, feature
Be: the polarity deviation E1 includes rocket body quality center of mass deviation, flight attitude position deviation；The accuracy error E2 includes speed
Spend deviation, angular speed deviation, acceleration bias；The environmental deviation E3 includes atmosphere deviation, wind field deviation, thrust deflexion, gas
Power deviation, the installation deviation E4 include device installation deviation, used group deviation, resilient bias.
8. according to any one of claims 1 to 7 a kind of for detecting " simulated flight " emulation side of rocket control system
Method, it is characterised in that: the control system is connected with emulation real-time monitoring system；The emulation real-time monitoring system is by upper and lower
Position rack structure forms, and is provided with RTOS operating system, the acquisition and monitoring for real time data.
9. according to claim 1 a kind of for detecting " simulated flight " emulation mode of rocket control system, feature
Be: by reserved arrow communication interface is connected with emulation real-time monitoring system for the flight control combination；The signal
Retransmission unit, servo integrally control device are connected by spare RS422 interface with emulation real-time monitoring system；The emulation is real-time
Acquisition device is provided in monitoring system, for obtaining the practical swash angle position of servo actuator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811225862.9A CN109164718A (en) | 2018-10-22 | 2018-10-22 | It is a kind of for detecting " simulated flight " emulation mode of rocket control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811225862.9A CN109164718A (en) | 2018-10-22 | 2018-10-22 | It is a kind of for detecting " simulated flight " emulation mode of rocket control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109164718A true CN109164718A (en) | 2019-01-08 |
Family
ID=64878716
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811225862.9A Withdrawn CN109164718A (en) | 2018-10-22 | 2018-10-22 | It is a kind of for detecting " simulated flight " emulation mode of rocket control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109164718A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109798902A (en) * | 2019-03-11 | 2019-05-24 | 北京星际荣耀空间科技有限公司 | One kind being suitable for carrier rocket and enters the orbit modified interative guidance method |
| CN109960159A (en) * | 2019-04-03 | 2019-07-02 | 西安飞机工业（集团）有限责任公司 | A kind of large transport airplane actuating system simulation model |
| CN110488862A (en) * | 2019-08-02 | 2019-11-22 | 南京理工大学 | A kind of sub- grade integration flight control system of rocket one |
| CN112147915A (en) * | 2020-09-12 | 2020-12-29 | 中国运载火箭技术研究院 | Aircraft controller dynamic characteristic verification method, aircraft controller dynamic characteristic verification equipment and storage medium |
| CN113411410A (en) * | 2021-08-19 | 2021-09-17 | 北京中天星控科技开发有限公司 | Inertial navigation equipment testing method, communication server, communication device and storage medium |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101979277A (en) * | 2010-09-01 | 2011-02-23 | 南京航空航天大学 | Full-object verification platform and working method of satellite magnetic detection and control system |
| CN103344437A (en) * | 2013-07-19 | 2013-10-09 | 华北电力大学 | Semi-physical real-time simulation platform for wind generating set |
| WO2014204635A1 (en) * | 2013-06-17 | 2014-12-24 | Siemens Aktiengesellschaft | Cyber-physical systems programmable logic controller |
| CN107065594A (en) * | 2017-01-12 | 2017-08-18 | 上海航天控制技术研究所 | A kind of carrier rocket six degree of freedom distributed semi physical simulation method and system |
| CN107132771A (en) * | 2017-03-31 | 2017-09-05 | 北京蓝箭空间科技有限公司 | A kind of carrier rocket flight quality efficient emulation verification method |
-
2018
- 2018-10-22 CN CN201811225862.9A patent/CN109164718A/en not_active Withdrawn
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101979277A (en) * | 2010-09-01 | 2011-02-23 | 南京航空航天大学 | Full-object verification platform and working method of satellite magnetic detection and control system |
| WO2014204635A1 (en) * | 2013-06-17 | 2014-12-24 | Siemens Aktiengesellschaft | Cyber-physical systems programmable logic controller |
| CN103344437A (en) * | 2013-07-19 | 2013-10-09 | 华北电力大学 | Semi-physical real-time simulation platform for wind generating set |
| CN107065594A (en) * | 2017-01-12 | 2017-08-18 | 上海航天控制技术研究所 | A kind of carrier rocket six degree of freedom distributed semi physical simulation method and system |
| CN107132771A (en) * | 2017-03-31 | 2017-09-05 | 北京蓝箭空间科技有限公司 | A kind of carrier rocket flight quality efficient emulation verification method |
Non-Patent Citations (1)
| Title |
|---|
| 张婷: "基于HLA的姿态控制系统测试仿真设计与实现", 《中国优秀硕士学位论文全文数据库 工程科技Ⅱ辑》 * |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109798902A (en) * | 2019-03-11 | 2019-05-24 | 北京星际荣耀空间科技有限公司 | One kind being suitable for carrier rocket and enters the orbit modified interative guidance method |
| CN109798902B (en) * | 2019-03-11 | 2020-09-22 | 北京星际荣耀空间科技有限公司 | Iterative guidance method suitable for carrier rocket in-orbit correction |
| CN109960159A (en) * | 2019-04-03 | 2019-07-02 | 西安飞机工业（集团）有限责任公司 | A kind of large transport airplane actuating system simulation model |
| CN110488862A (en) * | 2019-08-02 | 2019-11-22 | 南京理工大学 | A kind of sub- grade integration flight control system of rocket one |
| CN112147915A (en) * | 2020-09-12 | 2020-12-29 | 中国运载火箭技术研究院 | Aircraft controller dynamic characteristic verification method, aircraft controller dynamic characteristic verification equipment and storage medium |
| CN112147915B (en) * | 2020-09-12 | 2022-11-04 | 中国运载火箭技术研究院 | Aircraft controller dynamic characteristic verification method, aircraft controller dynamic characteristic verification equipment and storage medium |
| CN113411410A (en) * | 2021-08-19 | 2021-09-17 | 北京中天星控科技开发有限公司 | Inertial navigation equipment testing method, communication server, communication device and storage medium |
| CN113411410B (en) * | 2021-08-19 | 2021-11-23 | 北京中天星控科技开发有限公司 | Inertial navigation equipment testing method, communication server, communication device and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109164718A (en) | It is a kind of for detecting " simulated flight " emulation mode of rocket control system | |
| CN109634139A (en) | Hypersonic aircraft navigation and control system semi-matter simulating system and method | |
| CN108228467A (en) | A kind of embedded flying-controlled box algorithm fast verification method and system | |
| CN107065594A (en) | A kind of carrier rocket six degree of freedom distributed semi physical simulation method and system | |
| Salas | Digital flight: The last CFD aeronautical grand challenge | |
| CN109238636A (en) | A kind of stage separation wind tunnel free flight test model separation trace predicating method | |
| CN104950688B (en) | Distributed Transfer Alignment semi-matter simulating system and its method | |
| Saderla et al. | Parameter estimation of unmanned flight vehicle using wind tunnel testing and real flight data | |
| Saderla et al. | Longitudinal parameter estimation from real flight data of unmanned cropped delta flat plate configuration | |
| CN108446461A (en) | Aircraft flutter analysis grid model modeling method | |
| CN108388741B (en) | Aircraft flutter analysis grid model Walsh modeling method | |
| CN114371633A (en) | Semi-physical simulation device, system and method | |
| Hangal et al. | Distributed hardware-in-loop simulations for multiple autonomous aerial vehicles | |
| Black | High-speed store separation-Correlation between wind-tunnel and flight-test data. | |
| CN108303897A (en) | Aircraft flutter analysis grid model Laguerre modeling method | |
| Chaudhuri et al. | Hardware in loop simulation for missile guidance and control systems | |
| CN108398231B (en) | Aircraft flutter analysis grid model Hartley modeling method | |
| CN108733574A (en) | A kind of comprehensive exploitation and test device for unmanned aerial vehicle (UAV) control algorithm | |
| CN108399297B (en) | Aircraft flutter analysis grid model Legendre's modeling method | |
| CN108387360B (en) | Aircraft flutter analysis grid model Chebyshev's modeling method | |
| CN108446462B (en) | Aircraft flutter analysis grid model Emmett modeling method | |
| Gal-Or | Novel, Post-Stall, Thrust-Vectored F-15 RPVs: Laboratory and Flight Tests | |
| Goppert | An adaptable, low cost test-bed for unmanned vehicle systems research | |
| Sorensen | Hardware-In-The-Loop Simulation for Verification of Cubesat Attitude Determination and Control Subsystems | |
| Yang | Study of Frisbee Flight and Rebound Dynamics Based on Frame Conversion and Vector Transformation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 100045 1-14-214, 2nd floor, 136 Xiwai street, Xicheng District, Beijing Applicant after: Beijing Star glory Space Technology Co.,Ltd. Address before: 100176 Beijing Daxing District Beijing economic and Technological Development Zone, 9 South of Shing Sheng 1 1 3 story 329 Applicant before: BEIJING XINGJIRONGYAO SPACE TECHNOLOGY Co.,Ltd. |
|
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20190108 |