CN109407551A - A kind of pair of carrier rocket jointly controls the method that section carries out Hardware-in-loop Simulation Experimentation - Google Patents
A kind of pair of carrier rocket jointly controls the method that section carries out Hardware-in-loop Simulation Experimentation Download PDFInfo
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- CN109407551A CN109407551A CN201811529697.6A CN201811529697A CN109407551A CN 109407551 A CN109407551 A CN 109407551A CN 201811529697 A CN201811529697 A CN 201811529697A CN 109407551 A CN109407551 A CN 109407551A
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- 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
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Abstract
The invention discloses a kind of pair of carrier rockets to jointly control the method that section carries out Hardware-in-loop Simulation Experimentation, include: linearity range control system and non-linear section control system are subjected to time synchronizing, when so that linearity range control system controlling the servo-system of rocket body model, non-linear section control system is also controlled in the attitude control jet pipe to rocket body model；Simulation calculation is carried out to rocket body model, simulation calculation includes: that the disturbance torque that attitude control jet pipe generates is added in Linear Control model and is resolved to obtain the first attitude error to it, and the disturbance torque that servo-system generates is added in Nonlinear Control Model and is settled accounts to obtain the second attitude error to it；The proportionality coefficient for the control moment that first and second attitude errors generate respectively according to the servo-system and attitude control jet pipe is combined superposition, to obtain the attitude error at current time.The present invention is realized to the purpose for carrying out Hardware-in-loop Simulation Experimentation in the carrier rocket for jointly controlling section.
Description
Technical field
The present invention relates to semi-true object emulation technology field, in particular to a kind of pair of carrier rocket jointly controls section and carries out half in fact
The method of object l-G simulation test.
Background technique
Carrier rocket is generally three-stage rocket, can be by delivery fire according to the variation of characteristic during carrier rocket flight
The flight course of arrow is divided into following several inflight phases: level-one, second level and three-level powered phase and coasting-flight phase；To adapt to different fly
The requirement of row section needs to correspond to using different attitude control systems to carrier rocket progress gesture stability.
Specifically, can be according to the variation of characteristic during carrier rocket flight and the difference of executing agency, by delivery fire
The attitude control system of arrow is divided into the gesture stability of level-one, second level and three-level powered phase (linearity range), coasting-flight phase (non-linear section)
System.Wherein the attitude control system of level-one, second level and three-level powered phase is effectively right using the control method of oscillating engine
The interference effect that the elimination carrier rocket answered generates in each inflight phase, quickly and properly realizes control carrier rocket
Posture.It is (typical non-linear using the method for gesture stability jet pipe control posture for the attitude control system of non-linear section
The method of switch control) eliminate the Nonlinear perturbations that the carrier rocket is generated in the coasting-flight phase inflight phase.
As shown in Figure 1, the control method of oscillating engine comprises the following processes: by linearity range attitude control system
The attitude motion state of attitude angle or attitude angular velocity measuring device real-time measurement carrier rocket obtains attitude angle and attitude angle speed
Signal is spent, the signal synthesis of the attitude angle measured and attitude angular velocity signal in linearity range attitude control system is filled with comprehensive
Middle progress signal synthesis is set, and comprehensive by the corrective network in linearity range attitude control system or attitude controller progress
It closes, generates attitude control signal, above-mentioned attitude control signal is conveyed directly to the dress of the control in linearity range attitude control system
(servo-system) is set, the engine wobble of servo-system is driven, generates control moment, gesture stability is carried out to carrier rocket.
As shown in Fig. 2, the method that the nonlinear Control of carrier rocket generally uses nonlinear switching to control, controls the fortune
The jet pipe for carrying rocket works in the form of " just open-closing-bearing and opening ".By taking pitch channel as an example, attitude control jet pipe control section
(nonlinear Control section) attitude dynamic equations are as follows:
In formula: I is switch control symbol,For pitch attitude angular displacement,For pitch attitude angular speed, α0For attitude angle
Channel static magnifying coefficient, α1For attitude angular rate channel dynamic amplification coefficient.
Formula 1 describes attitude control jet pipe control period rocket body attitude dynamics characteristic, satellite and the rocket segregation section, discharge section and slides
Section, propellant sloshing is considered during having axial load factor, only considers rigid motion during no axial load factor.To sum up, when delivery fire
When arrow is in nonlinear inflight phase, carrier rocket posture can be controlled using attitude control jet pipe.
The study found that the three-level of carrier rocket is started in carrier rocket after the flight course for having executed three-level powered phase
Organ's machine, in 5s period after its shutdown, i.e. the attitude motion of carrier rocket is by linearity range attitude control system
Control mechanism servo-system carries out joint gesture stability with non-linear section attitude control system control attitude control jet pipe, this control
Stage is referred to as to jointly control section.
As shown in figure 3, in figure, tk31 indicates the three-level engine cutoff time which show a section timing diagram is jointly controlled,
T- " 0 "-III indicates the three-level powered phase control system finishing control time, and T-ZK-T1 indicates that three-level coasting-flight phase control access is connected
Time.
After three-level boosting flight section, three-level engine cutoff, the three-level powered phase control system after it shuts down 5s
System finishing control, i.e. servo mechanism are zeroed.Three-level engine cutoff, after it shuts down 1s, three-level coasting-flight phase control access is connected,
Therefore within this 4s time of T-ZK-T1 to T- " 0 "-III, carrier rocket is by linearity range control system control mechanism servo-system
Combine with both non-linear section control system control mechanism attitude control jet pipes and carry out gesture stability, and carrier rocket is combined and is controlled
The inflight phase of section processed cannot achieve the control effect to joint control section using the Method of Hardware of existing segmented
Fruit and caused attitude disturbance carry out l-G simulation test or are examined.
Summary of the invention
The object of the present invention is to provide a kind of pair of carrier rockets to jointly control the method that section carries out Hardware-in-loop Simulation Experimentation, real
The now effect by being controlled using attitude angle on the basis of the configuration of existing Hardware-in-the-Loop Simulation in Launch Vehicle pilot system
The mode that fruit carries out linear superposition reaches the section that jointly controls to Liang Zhong executing agency while under acting on and carries out HWIL simulation examination
The purpose tested.
In order to achieve the goal above, the invention is realized by the following technical scheme:
A kind of pair of carrier rocket jointly controls the method that section carries out Hardware-in-loop Simulation Experimentation, includes following procedure: will be linear
Section control system and non-linear section control system carry out time synchronizing, so that the linearity range control system is to rocket body model
Servo-system when being controlled, the non-linear section control system is also controlled in the attitude control jet pipe to rocket body model；It is right
The rocket body model carries out simulation calculation, and the simulation calculation includes: that the disturbance torque that the attitude control jet pipe generates is added to
In Linear Control model and it is resolved to obtain the first attitude error, the disturbance torque that servo-system generates is added to
In Nonlinear Control Model and it is settled accounts to obtain the second attitude error；By the first and second attitude errors root
The proportionality coefficient of the control moment generated respectively according to the servo-system and attitude control jet pipe is combined superposition, when obtaining current
The attitude error at quarter.
Further, the Linear Control model is the first linear control dynamics equation:
In formula, ωX1、ωy1、ωz1For linear dynamics solution of equation calculate rocket body model attitude angular speed,ψ1、γ1
Respectively pitching, the yaw, the posture angular displacement of rotating direction of linear dynamics solution of equation calculating,δψ、δγRespectively control
Pitching, yaw, rotating direction servo-system in engine pivot angle, JcFor rocket body model rotation inertia, d30、b3、b30For control
Torque coefficient processed, M 'rX、M′rY、M′rZRespectively pitching, yaw, the disturbance torque for rolling three directions；
The disturbance torque that the attitude control jet pipe generates are as follows:
In formula, M1、M2、M3Respectively attitude control jet pipe is in pitching, yaw, the disturbance torque for rolling the generation of three directions；
Kψ、KγRespectively control pitching, yaw, rotating direction attitude control nozzle switch signal,b3ψ、d3γRespectively pitching, partially
The control moment coefficient of boat, rotating direction；
The the second Linear Control kinetics equation obtained after the disturbance torque that superposition attitude control jet pipe generates are as follows:
It is calculated using the second Linear Control kinetics equation, obtains first attitude error.
Further, the Nonlinear Control Model is the first nonlinear Control kinetics equation
In formula, ωX2、ωy2、ωz2For solutions of dynamics calculate rocket body model attitude angular speed,ψ2、
γ2Respectively pitching, the yaw, the posture angular displacement of rotating direction of solutions of dynamics calculating,Kψ、KγRespectively
For control pitching, yaw, rotating direction attitude control nozzle switch signal, determined by the working condition of attitude control engine, i.e., positive appearance
+ 1, negative attitude control jet pipe is taken to take -1, attitude control jet pipe to take 0 when not working when working when control jet pipe work, M 'rX1、M′rY1、M′rZ1Respectively
For pitching, yaw, roll three directions disturbance torque,b3ψ、d3γRespectively pitching, yaw, rotating direction control force
Moment coefficient；The disturbance torque that servo-system generates are as follows:
The disturbance torque that superposition servo-system generates obtains the second nonlinear Control kinetics equation:
Using the second nonlinear Control kinetics equation carry out that second attitude error is calculated.
Further, the step of carrying out linear superposition to first and second attitude error further comprises:
At the same emulation moment, the pitch orientation control moment size that engine pivot angle generates isAttitude control spray
Pipe generate pitch orientation control moment size beThe proportionality coefficient of two kinds of control mode control moments isThen the pitch attitude angular displacement superposition value of two kinetics equations generation is Enter the pitch attitude angular displacement value of the rocket body model of measurement equation；
At the same emulation moment, the yaw direction control moment size that engine pivot angle generates isAttitude control
The yaw direction control moment size that jet pipe generates is Kψb3ψ, the proportionality coefficient of two kinds of control mode control moments isThen the yaw-position angular displacement superposition value of two kinetics equations generation is
ψ is the yaw-position angular displacement value for entering the rocket body model of measurement equation；
At the same emulation moment, the rotating direction control moment size that engine pivot angle generates isAttitude control
The rotating direction control moment size that jet pipe generates is d3γKγ, the proportionality coefficient of two kinds of control mode control moments isThen the roll attitude angular displacement superposition value of two kinetics equations generation is
γ is the roll attitude angular displacement value for entering the rocket body model of measurement equation.
The present invention has following technical effect that
The present invention is by carrying out time synchronizing for linearity range control system and non-linear section control system, so that linearly
When section control system controls the servo-system of rocket body model, non-linear section control system is also in the attitude control to rocket body model
Jet pipe is controlled；Simulation calculation is carried out to rocket body model, simulation calculation includes: the disturbance torque superposition for generating attitude control jet pipe
Into Linear Control model and it is resolved to obtain the first attitude error, the disturbance torque that servo-system is generated is superimposed
Into Nonlinear Control Model and it is settled accounts to obtain the second attitude error；By the first and second attitude errors according to
The proportionality coefficient for the control moment that the servo-system and attitude control jet pipe generate respectively is combined superposition, to obtain current time
Attitude error, and then realize in jointly control section carrier rocket carry out Hardware-in-loop Simulation Experimentation purpose.
Detailed description of the invention
Fig. 1 is the main composition block diagram of carrier rocket linearity range attitude control system in the prior art；
Fig. 2 is the main composition block diagram of carrier rocket non-linear section attitude control system in the prior art；
Fig. 3 jointly controls a section timing diagram to be in the prior art；
Fig. 4 jointly controls the method that section carries out Hardware-in-loop Simulation Experimentation to carrier rocket for what is provided in the embodiment of the present invention
Schematic illustration；
Fig. 5 jointly controls the method that section carries out Hardware-in-loop Simulation Experimentation to carrier rocket for what is provided in the embodiment of the present invention
Flow diagram.
Specific embodiment
The study found that is, delivery is fiery in 5s period after carrier rocket flight powered phase engine cutoff
Both execution machines of arrow is controlled by linearity range control system the attitude control jet pipe of servo-system and non-linear section control system control
Structure joint progress gesture stability jointly controls section, and it is real that half can not be carried out to it using the semi-physical simulation experiment system of segmented
Object l-G simulation test can not carry out l-G simulation test to the control effect and caused attitude disturbance for combining control section or examine
Core.
In view of the above-mentioned problems, the present invention, which provides a kind of pair of carrier rocket, jointly controls the side that section carries out Hardware-in-loop Simulation Experimentation
Method realizes the HWIL simulation for jointly controlling section in such a way that the effect for taking attitude angle to control carries out linear superposition.
The present invention is further elaborated by the way that a preferable specific embodiment is described in detail below in conjunction with attached drawing.
Referring to figs. 1 and 2, a kind of pair of carrier rocket provided in this embodiment jointly controls section progress HWIL simulation
The method of test includes following procedure: closed loop semi-matter simulating system is built, when carrier rocket is controlled by linearity range control system
Servo-system and non-linear section control system control both executing agencies of attitude control jet pipe joint carry out gesture stability when, build
The rocket body model of vertical carrier rocket simultaneously carries out parallel independent resolving to it.
Specifically, the linearity range control system and the non-linear section control system are carried out at time synchronization first
Reason, when so that the linearity range control system controlling the servo-system, the non-linear section control system is also right
The attitude control jet pipe is controlled.
The distracter that attitude control jet pipe generates is added in Linear Control model, the interference that servo mechanism generates is added to
In Nonlinear Control Model.
Further, the disturbance torque that the servo-system generates is added in the first nonlinear Control kinetics equation
It carries out that the second nonlinear Control kinetics equation is calculated, and is counted using the second nonlinear Control kinetics equation
Calculation obtains the first attitude error.
The disturbance torque that the attitude control jet pipe generates is added in the first linear control dynamics equation and calculate
To the second Linear Control kinetics equation, and using the second Linear Control kinetics equation carry out that the second posture is calculated
Angle error.
Further, the described first linear control dynamics equation are as follows:
In formula,δψ、δγRespectively control pitching, yaw, rotating direction servo-system in engine pivot angle,
ωX1、ωy1、ωz1For the rocket body model attitude angular speed that linear dynamics solution of equation calculates, JcFor rocket body model rotation inertia,
d30、b3、b30For control moment coefficient,ψ1、γ1Respectively pitching, the yaw, rotating direction of linear dynamics solution of equation calculating
Posture angular displacement, M 'rX、M′rY、M′rZRespectively pitching, yaw, the disturbance torque for rolling three directions.
Attitude control jet pipe corresponds to Linear Control dynamics, the disturbance torque generated are as follows:
In formula, M1、M2、M3For attitude control jet pipe generate disturbance torque,Kψ、KγRespectively control pitching, yaw, rolling
The attitude control nozzle switch signal in direction, is determined by the working condition of attitude control engine, i.e., takes+1, negative appearance when positive attitude control jet pipe works
- 1, attitude control jet pipe is taken to take 0 when not working when control jet pipe work,b3ψ、d3γRespectively pitching, yaw, the control of rotating direction
Torque coefficient.
The the second Linear Control kinetics equation obtained after the disturbance torque that superposition attitude control jet pipe generates are as follows:
It is calculated using the formula (4), obtains the first attitude error are as follows:ψ1、γ1。
The first nonlinear Control kinetics equation are as follows:
In formula, ωX2、ωy2、ωz2For solutions of dynamics calculate rocket body model attitude angular speed,ψ2、
γ2Respectively pitching, the yaw, the posture angular displacement of rotating direction of solutions of dynamics calculating,Kψ、KγRespectively
For control pitching, yaw, rotating direction attitude control nozzle switch signal, determined by the working condition of attitude control engine, i.e., positive appearance
+ 1, negative attitude control jet pipe is taken to take -1, attitude control jet pipe to take 0 when not working when working when control jet pipe work.For different rockets, attitude control
Distribution engine may be different, but its working condition is similar.M′rX1、M′rY1、M′rZ1Respectively three pitching, yaw, rolling sides
To disturbance torque.Servo-system (the engine pivot angle specially in servo-system) does nonlinear Control dynamics generation
Disturb torque are as follows:
The disturbance torque that superposition engine pivot angle generates obtains the second nonlinear Control kinetics equation are as follows:
It carries out that second attitude error is calculated using the formula (7) are as follows:ψ2、γ2。
The control moment that first and second attitude error is generated respectively according to attitude control jet pipe and servo-system
Ratio is overlapped measuring system input value of the attitude error for combining and obtaining as the current emulation moment.The measurement later
New attitude error data are carried out data output processing by system, and emulation terminates.
Linear superposition is carried out to the first and second attitude errors according to the control moment size that two kinds of control modes generate,
Specific stacked system are as follows:
At same emulation moment (same emulation cycle), the pitch orientation control moment size that engine pivot angle generates isAttitude control jet pipe generate pitch orientation control moment size beThe ratio of two kinds of control mode control moments
Coefficient isThen the pitch attitude angular displacement superposition value of two kinetics equations generation is Enter the pitch attitude angular displacement value of the rocket body model of measurement equation.
At the same emulation moment, the yaw direction control moment size that engine pivot angle generates isAttitude control
The yaw direction control moment size that jet pipe generates is Kψb3ψ, the proportionality coefficient of two kinds of control mode control moments isThen the yaw-position angular displacement superposition value of two kinetics equations generation isψ
Enter the yaw-position angular displacement value of the rocket body model of measurement equation.
At the same emulation moment, the rotating direction control moment size that engine pivot angle generates isAttitude control
The rotating direction control moment size that jet pipe generates is d3γKγ, the proportionality coefficient of two kinds of control mode control moments isThen the roll attitude angular displacement superposition value of two kinetics equations generation is
γ is the roll attitude angular displacement value for entering the rocket body model of measurement equation.
After the completion of carrying out linear superposition to the first and second attitude errors, attitude error enters rocket body attitude measurement system
System, exports the measured value for attitude error:
In formula,For the measured value of attitude error, G (s) is the transmission function of measurement links.
After the measured value of attitude error enters rocket body attitude control system, the line that servo-system is controlled is carried out respectively
Property control and nonlinear Control of the attitude control jet pipe as executing agency, with servo-system Linear Control output are as follows:
In formula, a0、a0γRespectively pitching (yaw), roll channel static magnifying coefficient, GSFIt (s) is servo-system
Transmission function.
In conclusion working as servo-system and non-linear section control system control that carrier rocket is controlled by linearity range control system
When both executing agencies of the attitude control jet pipe of system joint carries out gesture stability, the present invention is by generating above two executing agency
Distracter be introduced into rocket body simultaneously and resolve in model, and the rocket body model of the carrier rocket is carried out parallel independent to resolve difference
Obtain two kinds of attitude errors.The ratio of the control moment generated respectively according to attitude control jet pipe and servo-system is to above two appearance
State angle error is overlapped the new attitude error that combination obtains, and using new attitude error as the current emulation moment
Measuring system input value, new attitude error data are carried out data output processing, this emulation week by the measuring system later
Phase emulation terminates, and recycles into next emulation cycle.Jointly control to solve original HWIL simulation scheme and can not achieve
The problem of section HWIL simulation.
It is discussed in detail although the contents of the present invention have passed through above preferred embodiment, but it should be appreciated that above-mentioned
Description is not considered as limitation of the present invention.After those skilled in the art have read above content, for of the invention
A variety of modifications and substitutions all will be apparent.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (4)
1. a kind of pair of carrier rocket jointly controls the method that section carries out Hardware-in-loop Simulation Experimentation, which is characterized in that include following mistake
Journey: linearity range control system and non-linear section control system are subjected to time synchronizing, so that the linearity range control system
When controlling the servo-system of rocket body model, the non-linear section control system also the attitude control jet pipe to rocket body model into
Row control；
Simulation calculation is carried out to the rocket body model, the simulation calculation includes:
The disturbance torque that the attitude control jet pipe generates is added in Linear Control model and it is resolved to obtain the first appearance
The disturbance torque that servo-system generates is added in Nonlinear Control Model and is settled accounts to obtain second to it by state angle error
Attitude error；
The control moment that first and second attitude error is generated respectively according to the servo-system and attitude control jet pipe
Proportionality coefficient is combined superposition, to obtain the attitude error at current time.
2. jointly controlling the method that section carries out Hardware-in-loop Simulation Experimentation to carrier rocket as described in claim 1, feature exists
In the Linear Control model is the first linear control dynamics equation:
In formula, ωX1、ωy1、ωz1For linear dynamics solution of equation calculate rocket body model attitude angular speed,γ1Respectively
Pitching, the yaw, the posture angular displacement of rotating direction calculated for linear dynamics solution of equation,δψ、δγRespectively control is bowed
It faces upward, yaw, the engine pivot angle in the servo-system of rotating direction, JcFor rocket body model rotation inertia, d30、b3、b30For control
Torque coefficient, M 'rX、M′rY、M′rZRespectively pitching, yaw, the disturbance torque for rolling three directions；
The disturbance torque that the attitude control jet pipe generates are as follows:
In formula, M1、M2、M3Respectively attitude control jet pipe is in pitching, yaw, the disturbance torque for rolling the generation of three directions；Kψ、Kγ
Respectively control pitching, yaw, rotating direction attitude control nozzle switch signal,b3ψ、d3γRespectively pitching, yaw, rolling
The control moment coefficient in direction；
The the second Linear Control kinetics equation obtained after the disturbance torque that superposition attitude control jet pipe generates are as follows:
It is calculated using the second Linear Control kinetics equation, obtains first attitude error.
3. jointly controlling the method that section carries out Hardware-in-loop Simulation Experimentation to carrier rocket as claimed in claim 2, feature exists
In the Nonlinear Control Model is the first nonlinear Control kinetics equation
In formula, ωX2、ωy2、ωz2For solutions of dynamics calculate rocket body model attitude angular speed,ψ2、γ2Point
Not Wei solutions of dynamics calculate pitching, yaw, the posture angular displacement of rotating direction,Kψ、KγRespectively control
Pitching processed, yaw, rotating direction attitude control nozzle switch signal, determined by the working condition of attitude control engine, i.e., positive attitude control spray
Pipe takes+1, negative attitude control jet pipe to take -1, attitude control jet pipe to take 0 when not working when working when working, M 'rX1、M′rY1、M′rZ1Respectively bow
The disturbance torque in three directions is faced upward, yaws, rolling,b3ψ、d3γRespectively pitching, yaw, rotating direction control moment system
Number；The disturbance torque that servo-system generates are as follows:
The disturbance torque that superposition servo-system generates obtains the second nonlinear Control kinetics equation:
Using the second nonlinear Control kinetics equation carry out that second attitude error is calculated.
4. jointly controlling the method that section carries out Hardware-in-loop Simulation Experimentation to carrier rocket as claimed in claim 3, feature exists
In, to first and second attitude error carry out linear superposition the step of further comprise:
At the same emulation moment, the pitch orientation control moment size that engine pivot angle generates isAttitude control jet pipe produces
Raw pitch orientation control moment size isThe proportionality coefficient of two kinds of control mode control moments isThen the pitch attitude angular displacement superposition value of two kinetics equations generation is Enter the pitch attitude angular displacement value of the rocket body model of measurement equation；
At the same emulation moment, the yaw direction control moment size that engine pivot angle generates isAttitude control jet pipe produces
Raw yaw direction control moment size is Kψb3ψ, the proportionality coefficient of two kinds of control mode control moments is
Then the yaw-position angular displacement superposition value of two kinetics equations generation isψ enters measurement
The yaw-position angular displacement value of the rocket body model of equation；
At the same emulation moment, the rotating direction control moment size that engine pivot angle generates isAttitude control jet pipe produces
Raw rotating direction control moment size is d3γKγ, the proportionality coefficient of two kinds of control mode control moments is
Then the roll attitude angular displacement superposition value of two kinetics equations generation isγ enters measurement side
The roll attitude angular displacement value of the rocket body model of journey.
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