CN109484676A - A kind of equivalent gesture stability processing method of the online trajectory planning of VTOL rocket - Google Patents
A kind of equivalent gesture stability processing method of the online trajectory planning of VTOL rocket Download PDFInfo
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- CN109484676A CN109484676A CN201811528445.1A CN201811528445A CN109484676A CN 109484676 A CN109484676 A CN 109484676A CN 201811528445 A CN201811528445 A CN 201811528445A CN 109484676 A CN109484676 A CN 109484676A
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- 238000013439 planning Methods 0.000 title claims abstract description 44
- 238000003672 processing method Methods 0.000 title claims abstract description 17
- 230000001133 acceleration Effects 0.000 claims description 17
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 238000013016 damping Methods 0.000 claims description 3
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 230000005484 gravity Effects 0.000 claims description 3
- 230000009466 transformation Effects 0.000 claims description 3
- 239000011159 matrix material Substances 0.000 claims description 2
- 238000004088 simulation Methods 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 9
- 230000008569 process Effects 0.000 abstract description 6
- 230000004044 response Effects 0.000 abstract description 5
- 230000008859 change Effects 0.000 abstract description 2
- 239000004519 grease Substances 0.000 abstract description 2
- 238000004064 recycling Methods 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 3
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
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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
- B64G1/242—Orbits and trajectories
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
- B64G1/244—Spacecraft control systems
- B64G1/245—Attitude control algorithms for spacecraft attitude control
Abstract
The present invention relates to a kind of equivalent gesture stability processing methods of online trajectory planning of VTOL rocket, a response process is also required to by engine pivot angle adjustment rocket body posture, therefore this adjustment process is introduced into online trajectory planning x, in the dynamics equality constraint in the direction z, gesture stability circuit can be embodied in indirectly in online trajectory planning algorithm, it can solve gesture stability operating lag and lead to x, the problem of the direction z thrust-vector component inaccuracy, so that whole control motion planning better effect, helps to improve position precision when rocket landing.By to uxAnd uzChange rate constrained, and then the change rate of attitude angle can be constrained, ensure that the gesture stability of rocket can be timely responded to.At the end of close to flight, to uxAnd uzFinal states equality constraints are carried out, the vertical grease it in recycling of rocket is enabled to.
Description
Technical field
The present invention relates to a kind of equivalent gesture stability processing methods of online trajectory planning of VTOL rocket, belong to delivery
The online planning technology field in the track of device.
Background technique
Online trajectory planning techniques be during a rocket flight in real time one rocket motion track of planning meet it is various
The technology of equation and inequality constraints condition.It is reused in the flight control in the section of rocket whereabouts in VTOL, online rail
The introducing of mark planning technology can solve the uncertain problem that rocket starts drop-off positions.In existing trajectory planning problem description
Dynamics equality constraint is typically just selected thrust vectoring T in establishment process as quantity of state, then by vector in coordinate
It is lower x, the component vector T in tri- directions y, zx,Ty,TzThe differential equation is constructed respectively respectively as quantity of state.But this building
Mode can be generated shaped like Tx 2+Ty 2+Tz 2=T2Nonlinear equation so that calculating is more complicated, and this building mode is unfavorable for
Tri- direction subchannel acceleration differential equation of X, Y, Z, is also unfavorable for X, tri- direction subchannel acceleration relevant equations of Y, Z with
Inequality constraints description.
And when reusing rocket vertical landing section flight for VTOL, the position adjustment of transverse and longitudinal x, the direction z are main
Make thrust vectoring in x by engine pivot angle adjustment rocket body posture, there is certain thrust component in the direction z.And rely on engine
Pivot angle adjustment rocket body posture is also required to a response process, therefore this adjustment process is introduced online trajectory planning x, the direction z
In dynamics equality constraint, gesture stability circuit can be embodied in indirectly in online trajectory planning algorithm, can solve posture
Control response postpones and leads to x, the problem of the direction z thrust-vector component inaccuracy, so that whole control motion planning effect is more
It is good, help to improve position precision when rocket landing.
Summary of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of online trajectory plannings of VTOL rocket
Equivalent gesture stability processing method reuses the equivalent gesture stability circuit of addition of the online trajectory planning of rocket in VTOL
Link solves the engineering of gesture stability operating lag so that gesture stability circuit is embodied in indirectly in online trajectory planning algorithm
Problem, so that whole control motion planning better effect, improves the position control that the direction rocket transverse and longitudinal x, z is reused in VTOL
Precision processed.
The object of the invention is achieved by following technical solution:
A kind of equivalent gesture stability processing method for reusing the online trajectory planning of rocket for VTOL, packet are provided
Include following steps:
1) transverse and longitudinal x, z directional dynamics model in rocket horizontal plane is constructed；
2) the equivalent second-order model in gesture stability circuit is constructed；
3) the equivalent second-order model in gesture stability circuit is converted into dynamic differential equation form, fills into kinetic model
In；
4) the acceleration a of transverse and longitudinal direction generation is added in kinetic modelx,azThe differential equation；
5) building includes the online trajectory planning dynamics equality constraint equation of the equivalent equivalent second-order model in attitude control circuit；
6) quantity of state is obtained in real time, passes through online trajectory planning dynamics equality constraint equation Real-time solution control amount U；
7) it obtains thrust acceleration caused by vertical direction and instructs uy, calculate pitching, yaw, rotating direction program angle
Instruction instructs control rocket posture according to program angle.
Preferably, rocket transverse and longitudinal directional dynamics model is as follows:
Wherein the displacement in transverse and longitudinal direction is x, z, the speed v that transverse and longitudinal direction generates in horizontal plane in horizontal planex,vy, horizontal plane
The acceleration that interior transverse and longitudinal direction generates is ax,az。
Preferably, the equivalent second-order model in gesture stability circuit is as follows:
ux,uzFor the instruction of thrust acceleration caused by transverse and longitudinal direction in horizontal plane, k is equivalent steady state gain, and w is equivalent
Frequency, ξ are Equivalent damping coefficient, and s is transformation operator.
Preferably, the real gain of engine is measured as k value, and true corresponding frequencies are as w, true damped coefficient conduct
ξ value.
Preferably, rocket HWIL simulation is carried out, according to the tracing deviation of gesture stability program angle, adjusts the value of k, w, ξ,
Reduce the tracing deviation of gesture stability program angle.
Preferably, the dynamic differential equation form after conversion is as follows:
Preferably, the acceleration a of transverse and longitudinal direction generation is added in kinetic modelx,azDifferential equation form it is as follows:
Preferably, line tracking plans dynamics equality constraint equation are as follows:
Wherein quantity of stateControl amount U=[ux uz] ' A and B are respectively
Coefficient before quantity of state and control amount.
Preferably, A, B matrix are as follows:
Preferably, calculating pitching, yaw, the program angle instruction of rotating direction are as follows:
γcx=0,
Wherein g is acceleration of gravity.
The invention has the following advantages over the prior art:
(1) present invention is also required to a response process by engine pivot angle adjustment rocket body posture, therefore this was adjusted
Journey introduces online trajectory planning x, in the dynamics equality constraint in the direction z, gesture stability circuit can be embodied in indirectly online
In trajectory planning algorithm, it can solve gesture stability operating lag and lead to x, the problem of the direction z thrust-vector component inaccuracy,
So that whole control motion planning better effect, helps to improve position precision when rocket landing.
(2) existing using thrust vectoring T as quantity of state, it can not individually constrain uxAnd uzAnd posture conversion is carried out, the present invention is logical
It crosses u individuallyxAnd uzSize constrained as quantity of state amplitude, and then the amplitude range of attitude angle can be directly controlled, kept away
Exempt from attitude angle instruction diverging, ensure that the stability of rocket gesture stability.
(3) present invention is by uxAnd uzChange rate constrained, and then can the change rate to attitude angle carry out about
Beam ensure that the gesture stability of rocket can be timely responded to.
(4) at the end of close to flight, to uxAnd uzFinal states equality constraints are carried out, the vertical grease it in of rocket is enabled to
Recycling.
Detailed description of the invention
Fig. 1 is the equivalent gesture stability processing method scheme schematic diagram of the online trajectory planning of VTOL rocket of the present invention.
Specific embodiment
The technical scheme is that reusing the center of mass motion of the online trajectory planning of rocket in existing VTOL
The control instruction in the direction transverse and longitudinal x, z introduces gesture stability response characteristic in decoupling description.First the description of gesture stability characteristic is changed to
Dynamic differential equation form is then incorporated into the online trajectory planning dynamics equation differential equation, as shown in Figure 1.
The specific implementation steps are as follows:
1) transverse and longitudinal x, z directional dynamics model in the online trajectory planning horizontal plane of rocket is constructed
According to launch inertial coordinate system origin in launch point o, ox axis is directed toward transmitting aiming side in launch point horizontal plane
To；Oy axis is pointed up perpendicular to launch point horizontal plane, and oz axis constitutes right-handed coordinate system perpendicular to the face xoy.
If the displacement in rocket motion direction is x, z, the speed v that the direction of motion generatesx,vy, the acceleration of direction of motion generation
For ax,az.Then can construction force equation it is as follows:
2) the equivalent second-order model in gesture stability circuit is constructed
If thrust command caused by transverse and longitudinal direction is ux,uz, due to uy+ g is much larger than ux,uz, thrust command can be used
For ux,uzEquivalent attitude angle.It is convenient to make to derive, herein by thrust command ux,uzIt is defined as acceleration form, true thrust
Instruction multiplied by quality coefficient.The gesture stability circuit equivalent model that the present invention selects is second-order model, wherein equivalent steady state
Gain is k, and equivalent frequency w, Equivalent damping coefficient ξ, s are transformation operator, then transmission function is as follows:
3) the dynamic differential equation form of the equivalent second-order model in gesture stability circuit is obtained
4) a is added in kinetic modelx,azThe differential equation
5) building includes the online trajectory planning dynamics equality constraint equation in equivalent attitude control circuit
If quantity of state φ and control amount U are respectively
It can then obtain that the online trajectory planning dynamic differential equation comprising engine characteristics is as follows, and wherein A and B are respectively
Coefficient before quantity of state and control amount.
6) quantity of state φ is obtained in real time, passes through online trajectory planning dynamics equality constraint equation Real-time solution control amount U.
The constraint of each quantity of state and control amount is set, ensure that ability of the rocket gesture stability without departing from rocket itself
Range.
7) u is obtainedy, calculate pitching, yaw, the program angle instruction of rotating direction:
γcx=0.
G is acceleration of gravity.Control rocket posture is instructed according to program angle.uyIt calculates and obtains in engine characteristics circuit
, gesture stability circuit directly uses the parameter.
By to uxAnd uzConstraint, and then constrain the program angle of pitching and yaw direction instruct.
The above, optimal specific embodiment only of the invention, but scope of protection of the present invention is not limited thereto,
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should be covered by the protection scope of the present invention.
The content that description in the present invention is not described in detail belongs to the well-known technique of professional and technical personnel in the field.
Claims (10)
1. a kind of equivalent gesture stability processing method of the online trajectory planning of VTOL rocket, which is characterized in that including as follows
Step:
1) transverse and longitudinal x, z directional dynamics model in rocket horizontal plane is constructed；
2) the equivalent second-order model in gesture stability circuit is constructed；
3) the equivalent second-order model in gesture stability circuit is converted into dynamic differential equation form, filled into kinetic model；
4) the acceleration a of transverse and longitudinal direction generation is added in kinetic modelx,azThe differential equation；
5) building includes the online trajectory planning dynamics equality constraint equation of the equivalent equivalent second-order model in attitude control circuit；
6) quantity of state is obtained in real time, passes through online trajectory planning dynamics equality constraint equation Real-time solution control amount U；
7) it obtains thrust acceleration caused by vertical direction and instructs uy, pitching, yaw, the program angle instruction of rotating direction are calculated,
Control rocket posture is instructed according to program angle.
2. the equivalent gesture stability processing method of the online trajectory planning of VTOL rocket as described in claim 1, feature
It is, rocket transverse and longitudinal directional dynamics model is as follows:
Wherein the displacement in transverse and longitudinal direction is x, z, the speed v that transverse and longitudinal direction generates in horizontal plane in horizontal planex,vy, horizontal in horizontal plane
The acceleration that longitudinal direction generates is ax,az。
3. the equivalent gesture stability processing method of the online trajectory planning of VTOL rocket as claimed in claim 2, feature
It is, the equivalent second-order model in gesture stability circuit is as follows:
ux,uzFor the instruction of thrust acceleration caused by transverse and longitudinal direction in horizontal plane, k is equivalent steady state gain, and w is equivalent frequency,
ξ is Equivalent damping coefficient, and s is transformation operator.
4. the equivalent gesture stability processing method of the online trajectory planning of VTOL rocket as claimed in claim 3, feature
It is, measures the real gain in attitude control circuit as k value, actual frequency is as w, and true damped coefficient is as ξ value.
5. the equivalent gesture stability processing method of the online trajectory planning of VTOL rocket as claimed in claim 4, feature
It is, carries out rocket HWIL simulation, according to the tracing deviation of gesture stability program angle, adjusts the value of k, w, ξ, reduce posture control
The tracing deviation of program angle processed.
6. the equivalent gesture stability processing method of the online trajectory planning of VTOL rocket as claimed in claim 3, feature
It is, the dynamic differential equation form after conversion is as follows:
7. the equivalent gesture stability processing method of the online trajectory planning of VTOL rocket as claimed in claim 6, feature
It is, the acceleration a of transverse and longitudinal direction generation is added in kinetic modelx,azDifferential equation form it is as follows:
8. the equivalent gesture stability processing method of the online trajectory planning of VTOL rocket as claimed in claim 7, feature
It is, line tracking plans dynamics equality constraint equation are as follows:
Wherein quantity of stateControl amount U=[ux uz] ' A and B is respectively quantity of state
With the coefficient before control amount.
9. the equivalent gesture stability processing method of the online trajectory planning of VTOL rocket as claimed in claim 8, feature
It is, A, B matrix are as follows:
10. the equivalent gesture stability processing method of the online trajectory planning of VTOL rocket as claimed in claim 9, feature
It is, calculating pitching, yaw, the program angle instruction of rotating direction are as follows:
γcx=0,
Wherein g is acceleration of gravity.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811528445.1A CN109484676B (en) | 2018-12-13 | 2018-12-13 | Equivalent attitude control processing method for vertical take-off and landing rocket online trajectory planning |
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| CN201811528445.1A CN109484676B (en) | 2018-12-13 | 2018-12-13 | Equivalent attitude control processing method for vertical take-off and landing rocket online trajectory planning |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110989650A (en) * | 2019-12-30 | 2020-04-10 | 航天科工火箭技术有限公司 | Landing control method and device based on rocket return |
| CN112462794A (en) * | 2020-11-09 | 2021-03-09 | 航天科工火箭技术有限公司 | Demonstration and verification rocket hovering guidance method and system |
| CN112859869A (en) * | 2021-01-20 | 2021-05-28 | 中车青岛四方机车车辆股份有限公司 | Vehicle path tracking method, device, controller, vehicle and medium |
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| EP0856784B1 (en) * | 1997-01-31 | 2001-08-08 | Astrium GmbH | Method and device for the on-board determination of a satellite s position |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110989650A (en) * | 2019-12-30 | 2020-04-10 | 航天科工火箭技术有限公司 | Landing control method and device based on rocket return |
| 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 |
| CN112462794A (en) * | 2020-11-09 | 2021-03-09 | 航天科工火箭技术有限公司 | Demonstration and verification rocket hovering guidance method and system |
| CN112462794B (en) * | 2020-11-09 | 2024-03-26 | 航天科工火箭技术有限公司 | Demonstration verification rocket hover guidance method and system |
| CN112859869A (en) * | 2021-01-20 | 2021-05-28 | 中车青岛四方机车车辆股份有限公司 | Vehicle path tracking method, device, controller, vehicle and medium |
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