CN110104218B - Pre-deflection angle nonlinear compensation method and device for rocket engine frame deformation angle - Google Patents
Pre-deflection angle nonlinear compensation method and device for rocket engine frame deformation angle Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
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Abstract
The invention provides a pre-deflection angle nonlinear compensation method and device for a rocket engine frame deformation angle. The method comprises the following steps: determining a first time parameter and a second time parameter in the takeoff process of the rocket; the first time parameter is the time taken for the thrust after the ignition of the engine to rise to 90% of the rated thrust; the second time parameter is the time taken for reducing the thrust after the engine is shut down to 10% of the rated thrust; determining a frame deformation angle of an engine in the takeoff process of the rocket; determining a frame deformation angle compensation angle of the engine according to the frame deformation angle of the engine; calculating a pre-deflection angle nonlinear compensation angle of the frame deformation angle by taking the ignition moment of the engine as an initial time zero point according to the shutdown time of the engine, the determined first time parameter, the determined second time parameter and the frame deformation angle compensation angle of the engine; the calculated pre-deflection angle nonlinear compensation angle is executed through a servo mechanism control instruction, and the attitude control accuracy of the rocket is effectively improved.
Description
Technical Field
The invention relates to the technical field of rocket attitude control, in particular to a pre-deflection angle nonlinear compensation method and device for a rocket engine frame deformation angle.
Background
Rocket take-off is often disturbed by various factors, including deviation of the rocket center of gravity from the projectile longitudinal axis, engine thrust imbalance, gravity turning, crosswind, etc. After the engine is ignited, the engine mounting frame inevitably deforms under the action of thrust, and the deformation angle of the frame brings interference to the posture control of the rocket, so that the posture angle deviation of the rocket is increased, and the posture control accuracy of the rocket is reduced. If the attitude of the rocket deviates from the preset attitude seriously during takeoff and flies at a larger inclination angle, the flight height of the rocket is reduced greatly, and the landing point of the rocket is far away from the launching point. Therefore, the attitude control of the rocket is important.
Disclosure of Invention
The embodiment of the invention provides a pre-deflection angle nonlinear compensation method and device for a rocket engine frame deformation angle, which are used for improving the attitude control accuracy of a rocket.
In order to achieve the above purpose, the embodiment of the invention adopts the following technical scheme:
in a first aspect, an embodiment of the present invention provides a method for nonlinear compensation of a pre-deflection angle of a rocket engine frame deformation angle, including:
determining a first time parameter and a second time parameter in the takeoff process of the rocket; the first time parameter is: the time for increasing the thrust after the ignition of the engine to 90% of the rated thrust by taking the ignition time of the engine as an initial time point; the second time parameter is: the time for reducing the thrust after the engine is shut down to 10% of the rated thrust by taking the engine shut-down time as an initial time point;
determining a frame deformation angle of an engine in the takeoff process of the rocket;
determining a frame deformation angle compensation angle of the engine according to the frame deformation angle of the engine;
calculating a pre-deflection angle nonlinear compensation angle of a rocket engine frame deformation angle in the rocket flight process by taking the ignition moment of the engine as an initial time zero point and according to the shutdown time of the engine, the determined first time parameter, the determined second time parameter and the determined frame deformation angle compensation angle of the engine;
and executing the calculated pre-deflection angle nonlinear compensation angle through a servo mechanism control command.
In a first possible implementation manner of the first aspect, the calculation formula, with the engine ignition time as an initial time zero point, calculates the pre-bias angle nonlinear compensation angle for the rocket engine frame deformation angle in the rocket flight process according to the engine shutdown time, the determined first time parameter, the determined second time parameter, and the determined frame deformation angle compensation angle of the engine, is as follows:
in the formula, t1Is a first time parameter, t2As a second time parameter, δ0Compensating the angle for the frame deformation angle of the engine by taking the ignition moment of the engine as the starting time zero point, t as the time variable in the rocket flight process, and tkFor the off-time of the engine, deltabcThe method is used for carrying out nonlinear compensation on the pre-deflection angle of the rocket engine frame deformation angle in the rocket flying process.
With reference to the first aspect or the first possible implementation manner of the first aspect, in a second possible implementation manner, the executing, by a servo control instruction, the calculated pre-deviation angle nonlinear compensation angle includes:
updating the control instruction of each servo mechanism device, wherein the updating calculation formula is as follows:
δi_bc＝δi±δbc
where i is the number variable of the servomechanism equipment, deltaiFor the original control command, δ, of the i-th servomechanism apparatusbcThe pre-deflection angle nonlinear compensation angle delta of the rocket engine frame deformation angle in the rocket flight processi_bcFor the control instruction after the ith servo mechanism equipment is updated, the plus or minus number in the formula is determined according to the installation mode of the servo mechanism equipment;
and sending the updated control command of the servo mechanism equipment to the corresponding servo mechanism equipment for execution.
In a third possible implementation manner of the first aspect, the determining the first time parameter and the second time parameter during the takeoff of the rocket specifically includes: determining a first time parameter and a second time parameter in the takeoff process of the rocket through an engine test run;
the method for determining the frame deformation angle of the engine in the rocket takeoff process specifically comprises the following steps: and determining the frame deformation angle of the engine in the takeoff process of the rocket through an engine test run.
With reference to the first aspect, or the first possible implementation manner of the first aspect, or the second possible implementation manner of the first aspect, or the third possible implementation manner of the first aspect, in a fourth possible implementation manner, the determining a frame deformation angle compensation angle of the engine according to a frame deformation angle of the engine specifically includes: and enabling the frame deformation angle compensation angle of the engine to be half of the frame deformation angle of the engine.
In a second aspect, an embodiment of the present invention provides a pre-deflection angle nonlinear compensation apparatus for a rocket engine frame deflection angle, including:
the parameter determining module is used for determining a first time parameter and a second time parameter in the takeoff process of the rocket; the first time parameter is: the time for increasing the thrust after the ignition of the engine to 90% of the rated thrust by taking the ignition time of the engine as an initial time point; the second time parameter is: the time for reducing the thrust after the engine is shut down to 10% of the rated thrust by taking the engine shut-down time as an initial time point;
the parameter determination module is also used for determining the frame deformation angle of the engine in the rocket takeoff process;
the parameter determining module is also used for determining a frame deformation angle compensation angle of the engine according to the frame deformation angle of the engine;
the calculation module is used for calculating a pre-deflection angle nonlinear compensation angle of a rocket engine frame deformation angle in the rocket flight process by taking the ignition moment of the engine as an initial time zero point and according to the shutdown time of the engine, the determined first time parameter, the determined second time parameter and the determined frame deformation angle compensation angle of the engine;
and the control instruction execution module is used for executing the calculated pre-deflection angle nonlinear compensation angle through a servo mechanism control instruction.
In a first possible implementation manner of the second aspect, the calculation module calculates the pre-bias angle nonlinear compensation angle for the rocket engine frame deformation angle in the rocket flight process by using the engine ignition time as an initial time zero point and according to the shutdown time of the engine, the determined first time parameter, the determined second time parameter and the determined frame deformation angle compensation angle of the engine, and the calculation formula is as follows:
in the formula, t1Is a first time parameter, t2As a second time parameter, δ0Compensating the angle for the frame deformation angle of the engine by taking the ignition moment of the engine as the starting time zero point, t as the time variable in the rocket flight process, and tkFor the off-time of the engine, deltabcThe method is used for carrying out nonlinear compensation on the pre-deflection angle of the rocket engine frame deformation angle in the rocket flying process.
With reference to the second aspect or the first possible implementation manner of the second aspect, in a second possible implementation manner, the executing module of the control command executes the calculated pre-deviation angle nonlinear compensation angle through a servo control command, and the executing module of the control command includes:
updating the control instruction of each servo mechanism device, wherein the updating calculation formula is as follows:
δi_bc＝δi±δbc
where i is the number variable of the servomechanism equipment, deltaiFor the original control command, δ, of the i-th servomechanism apparatusbcThe pre-deflection angle nonlinear compensation angle delta of the rocket engine frame deformation angle in the rocket flight processi_bcFor the control instruction after the ith servo mechanism equipment is updated, the plus or minus number in the formula is determined according to the installation mode of the servo mechanism equipment;
and sending the updated control command of the servo mechanism equipment to the corresponding servo mechanism equipment for execution.
In a third possible implementation manner of the second aspect, the parameter determining module determines a first time parameter and a second time parameter in a takeoff process of the rocket, and specifically includes: determining a first time parameter and a second time parameter in the takeoff process of the rocket through an engine test run;
the parameter determination module determines the frame deformation angle of the engine in the rocket takeoff process, and specifically comprises the following steps: and determining the frame deformation angle of the engine in the takeoff process of the rocket through an engine test run.
With reference to the second aspect, or the first possible implementation manner of the second aspect, or the second possible implementation manner of the second aspect, or the third possible implementation manner of the second aspect, in a fourth possible implementation manner, the control instruction execution module determines the frame deformation angle compensation angle of the engine according to the frame deformation angle of the engine, and specifically includes: and enabling the frame deformation angle compensation angle of the engine to be half of the frame deformation angle of the engine.
According to the technical scheme provided by the embodiment of the invention, a first time parameter and a second time parameter in the takeoff process of the rocket are determined; the first time parameter is: the time for increasing the thrust after the ignition of the engine to 90% of the rated thrust by taking the ignition time of the engine as an initial time point; the second time parameter is: the time for reducing the thrust after the engine is shut down to 10% of the rated thrust by taking the engine shut-down time as an initial time point; determining a frame deformation angle of the engine in the takeoff process of the rocket, and determining a frame deformation angle compensation angle of the engine according to the frame deformation angle of the engine; further taking the ignition moment of the engine as an initial time zero point, and calculating a pre-deflection angle nonlinear compensation angle of the rocket engine frame deformation angle in the rocket flight process according to the shutdown time of the engine, the determined first time parameter, the determined second time parameter and the determined frame deformation angle compensation angle of the engine; and finally, the calculated pre-deflection angle nonlinear compensation angle is executed through a servo mechanism control instruction, so that the attitude control accuracy of the rocket is effectively improved.
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In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a flow chart of a method for nonlinear compensation of pre-deflection angles of rocket engine frame deflection angles according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a pre-deflection angle non-linear compensation curve of a deformation angle of an engine frame according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a pre-deflection angle nonlinear compensation device for a rocket engine frame deflection angle provided by an embodiment of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to improve the accuracy of controlling the rocket attitude, especially to ensure that the rocket safely flies out of a launching tower in a takeoff section, the method adopts a frame deformation angle active compensation technology, and can reduce the rocket attitude deviation caused by the frame deformation angle of an engine by superposing a compensation angle on a servo mechanism instruction. Fig. 1 is a flowchart of a method for nonlinear compensation of pre-deflection angle of rocket engine frame deformation angle according to an embodiment of the present invention, where the method may be implemented by a compensation device, and the compensation device may be implemented in a software manner and configured in a servo mechanism device. As shown in fig. 1, the method of the present embodiment may include the following.
S101, determining a first time parameter and a second time parameter in the takeoff process of the rocket; the first time parameter is: the time for increasing the thrust after the ignition of the engine to 90% of the rated thrust by taking the ignition time of the engine as an initial time point; the second time parameter is: and taking the shutdown moment of the engine as the starting time point, and reducing the thrust after the shutdown of the engine to 10% of the rated thrust.
In a specific application, the first time parameter and the second time parameter in the takeoff process of the rocket can be determined through an engine test run.
S102, determining a frame deformation angle of the engine in the rocket takeoff process.
In specific application, the frame deformation angle of the engine in the rocket takeoff process can be determined through an engine test run.
S103, determining a frame deformation angle compensation angle of the engine according to the frame deformation angle of the engine.
In a specific application, the frame deformation angle compensation angle of the engine is generally half of the frame deformation angle of the engine.
And S104, calculating a pre-deflection angle nonlinear compensation angle of the rocket engine frame deformation angle in the rocket flight process by taking the ignition moment of the engine as an initial time zero point and according to the shutdown time of the engine, the determined first time parameter, the determined second time parameter and the determined frame deformation angle compensation angle of the engine.
The preferred calculation formula is:
in the formula, t1Is a first time parameter, t2As a second time parameter, δ0Compensating the angle for the frame deformation angle of the engine by taking the ignition moment of the engine as the starting time zero point, t as the time variable in the rocket flight process, and tkFor the off-time of the engine, deltabcThe method is used for carrying out nonlinear compensation on the pre-deflection angle of the rocket engine frame deformation angle in the rocket flying process.
And S105, executing the calculated pre-deflection angle nonlinear compensation angle through a servo mechanism control command.
Specifically, the control instruction of each servo mechanism device is updated, and the updating calculation formula is as follows:
δi_bc＝δi±δbc
where i is the number variable of the servomechanism equipment, deltaiFor the original control command, δ, of the i-th servomechanism apparatusbcNonlinear compensation of pre-deflection angle of rocket engine frame deformation angle in rocket flight processAngle, deltai_bcFor the control instruction after the ith servo mechanism equipment is updated, the plus or minus number in the formula is determined according to the installation mode of the servo mechanism equipment;
and then sending the updated control command of the servo mechanism equipment to the corresponding servo mechanism equipment for execution.
According to the technical scheme provided by the embodiment of the invention, a first time parameter and a second time parameter in the takeoff process of the rocket are determined; the first time parameter is: the time for increasing the thrust after the ignition of the engine to 90% of the rated thrust by taking the ignition time of the engine as an initial time point; the second time parameter is: the time for reducing the thrust after the engine is shut down to 10% of the rated thrust by taking the engine shut-down time as an initial time point; determining a frame deformation angle of the engine in the takeoff process of the rocket, and determining a frame deformation angle compensation angle of the engine according to the frame deformation angle of the engine; further taking the ignition moment of the engine as an initial time zero point, and calculating a pre-deflection angle nonlinear compensation angle of the rocket engine frame deformation angle in the rocket flight process according to the shutdown time of the engine, the determined first time parameter, the determined second time parameter and the determined frame deformation angle compensation angle of the engine; and finally, executing the calculated pre-deflection angle nonlinear compensation angle through a servo mechanism control instruction, and finally effectively improving the attitude control accuracy of the rocket. In addition, the technical scheme provided by the embodiment of the invention has simple and clear steps and is easy to realize, and the attitude deviation caused by the deformation angle of the engine frame in the flight process of the carrier rocket can be effectively reduced, so that the takeoff drift amount of the takeoff section of the rocket is effectively reduced, and the safe takeoff of the rocket is ensured.
FIG. 2 is a diagram illustrating a pre-deflection angle non-linear compensation curve of a deformation angle of an engine frame according to an embodiment of the present invention. Referring to fig. 2, the implementation steps of this application embodiment are as follows:
(1) determining a time parameter t1And t2，t1The time corresponding to the thrust after the ignition of the engine rising to 90% of the rated thrust; t is tkFor the moment of engine shutdown, t2To startThe time corresponding to the reduction of the rated thrust to 10% after the engine is shut down can be determined through the engine test run1And t2；
(2) Determining the frame deformation angle delta of the enginebxCompensation angle delta with frame deformation angle0Through engine test, the deformation angle delta of the frame can be measuredbxLet us order
(3) And calculating a linear control compensation angle of the pre-deflection angle in the rocket flying process based on a pre-deflection angle nonlinear compensation method, wherein the compensation angle is executed through a servo mechanism control instruction. The specific calculation formula is as follows: calculating a servo command in rocket flight:
wherein: deltabcThe pre-deflection angle nonlinear compensation angle for the rocket engine frame deformation angle in the rocket flight process is obtained; t is tkTime for engine shutdown; t is t1Is a first time parameter, t2Is a second time parameter; the first time parameter is: the time for increasing the thrust after the ignition of the engine to 90% of the rated thrust by taking the ignition time of the engine as an initial time point; the second time parameter is: and taking the shutdown moment of the engine as the starting time point, and reducing the thrust after the shutdown of the engine to 10% of the rated thrust.
FIG. 2 illustrates the flow of compensation for engine frame deflection angle, δbcThe change rule along with time takes the ignition time of the engine as 0 second, tkFor the moment of engine shutdown, tk+t2And finishing the compensation of the deformation angle of the frame.
(4) According to the formula
δi_bc＝δi±δbc i＝1,2,3,4
Respectively calculating control commands delta of 4 servomechanisms1_bc、δ2_bc、δ3_bc、δ4_bcAnd meanwhile, the control instruction is output to the servo mechanism, the plus sign or the minus sign in the formula is determined by the installation mode of the servo mechanism, and the direction of the deformation angle of the rack is reduced after compensation.
In the embodiment, after the engine is ignited, the engine mounting frame generates a deformation angle under the thrust action of the engine, and the compensation angle is added into the control command of the servo mechanism to actively compensate the deformation angle of the frame so as to counteract the attitude interference generated by the deformation angle of the frame.
Fig. 3 is a schematic structural diagram of a pre-deflection angle nonlinear compensation device for a rocket engine frame deflection angle provided by an embodiment of the invention. Referring to fig. 3, the pre-deflection angle nonlinearity compensation apparatus for a rocket engine mount deflection angle according to the present embodiment may include: a parameter determination module 301, a calculation module 302 and a control instruction execution module 303. The parameter determining module 301 is configured to determine a first time parameter and a second time parameter in a rocket takeoff process; the first time parameter is: the time for increasing the thrust after the ignition of the engine to 90% of the rated thrust by taking the ignition time of the engine as an initial time point; the second time parameter is: the time for reducing the thrust after the engine is shut down to 10% of the rated thrust by taking the engine shut-down time as an initial time point; the parameter determining module 301 is further configured to determine a frame deformation angle of the engine during the takeoff process of the rocket; the parameter determining module 301 is further configured to determine a frame deformation angle compensation angle of the engine according to the frame deformation angle of the engine; the calculation module 302 is configured to calculate a pre-deflection angle nonlinear compensation angle of a rocket engine frame deflection angle in the rocket flight process according to the shutdown time of the engine, the determined first time parameter, the determined second time parameter and the determined frame deflection angle compensation angle of the engine by using the engine ignition time as an initial time zero point; the control instruction execution module 303 is configured to execute the calculated pre-deflection angle nonlinear compensation angle through a servo control instruction.
The device as described above, wherein the calculating module 302 calculates the pre-deflection angle nonlinear compensation angle for the rocket engine frame deflection angle during the rocket flight process by using the engine ignition time as the starting time zero point, according to the engine shutdown time, the determined first time parameter, the determined second time parameter and the determined frame deflection angle compensation angle of the engine, and the calculation formula is as follows:
in the formula, t1Is a first time parameter, t2As a second time parameter, δ0Compensating the angle for the frame deformation angle of the engine by taking the ignition moment of the engine as the starting time zero point, t as the time variable in the rocket flight process, and tkFor the off-time of the engine, deltabcThe method is used for carrying out nonlinear compensation on the pre-deflection angle of the rocket engine frame deformation angle in the rocket flying process.
The apparatus as described above, wherein the control instruction execution module 303 executes the calculated pre-deviation angle nonlinear compensation angle through a servo control instruction, and specifically includes:
updating the control instruction of each servo mechanism device, wherein the updating calculation formula is as follows:
δi_bc＝δi±δbc
where i is the number variable of the servomechanism equipment, deltaiFor the original control command, δ, of the i-th servomechanism apparatusbcThe pre-deflection angle nonlinear compensation angle delta of the rocket engine frame deformation angle in the rocket flight processi_bcFor the control instruction after the ith servo mechanism equipment is updated, the plus or minus number in the formula is determined according to the installation mode of the servo mechanism equipment;
and sending the updated control command of the servo mechanism equipment to the corresponding servo mechanism equipment for execution.
The apparatus as described above, wherein the parameter determining module 301 determines the first time parameter and the second time parameter during the takeoff process of the rocket, and specifically may be: determining a first time parameter and a second time parameter in the takeoff process of the rocket through an engine test run;
the parameter determining module 301 determines a frame deformation angle of the engine in the rocket takeoff process, and specifically may be: and determining the frame deformation angle of the engine in the takeoff process of the rocket through an engine test run.
The apparatus as described above, wherein the control instruction execution module 303 determines the frame deformation angle compensation angle of the engine according to the frame deformation angle of the engine, and specifically may be: and enabling the frame deformation angle compensation angle of the engine to be half of the frame deformation angle of the engine.
The pre-deflection angle nonlinear compensation device for the rocket engine frame deformation angle of the embodiment can be used for executing the method of the embodiment shown in fig. 1, and the implementation principle and the technical effect to be achieved are similar, and are not described again here.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (8)
1. A pre-deflection angle nonlinear compensation method for a rocket engine frame deformation angle is characterized by comprising the following steps:
determining a first time parameter and a second time parameter in the takeoff process of the rocket; the first time parameter is: the time for increasing the thrust after the ignition of the engine to 90% of the rated thrust by taking the ignition time of the engine as an initial time point; the second time parameter is: the time for reducing the thrust after the engine is shut down to 10% of the rated thrust by taking the engine shut-down time as an initial time point;
determining a frame deformation angle of an engine in the takeoff process of the rocket;
determining a frame deformation angle compensation angle of the engine according to the frame deformation angle of the engine;
calculating a pre-deflection angle nonlinear compensation angle of a rocket engine frame deformation angle in the rocket flight process by taking the ignition moment of the engine as an initial time zero point and according to the shutdown time of the engine, the determined first time parameter, the determined second time parameter and the determined frame deformation angle compensation angle of the engine, wherein the calculation formula is as follows:
in the formula, t1Is a first time parameter, t2As a second time parameter, δ0Compensating the angle for the frame deformation angle of the engine by taking the ignition moment of the engine as the starting time zero point, t as the time variable in the rocket flight process, and tkFor the off-time of the engine, deltabcThe pre-deflection angle nonlinear compensation angle for the rocket engine frame deformation angle in the rocket flight process is obtained;
and executing the calculated pre-deflection angle nonlinear compensation angle through a servo mechanism control command.
2. The method of claim 1, wherein said calculating the pre-deflection angle nonlinear compensation angle is performed by servo control instructions, comprising:
updating the control instruction of each servo mechanism device, wherein the updating calculation formula is as follows:
δi_bc＝δi±δbc
where i is the number variable of the servomechanism equipment, deltaiFor the original control command, δ, of the i-th servomechanism apparatusbcThe pre-deflection angle nonlinear compensation angle delta of the rocket engine frame deformation angle in the rocket flight processi_bcFor the control instruction after the ith servo mechanism equipment is updated, the plus or minus number in the formula is determined according to the installation mode of the servo mechanism equipment;
and sending the updated control command of the servo mechanism equipment to the corresponding servo mechanism equipment for execution.
3. The method of claim 1, wherein the determining the first time parameter and the second time parameter during the takeoff of the rocket comprises: determining a first time parameter and a second time parameter in the takeoff process of the rocket through an engine test run;
the method for determining the frame deformation angle of the engine in the rocket takeoff process specifically comprises the following steps: and determining the frame deformation angle of the engine in the takeoff process of the rocket through an engine test run.
4. A method according to any one of claims 1-3, characterised in that the determination of the frame deformation angle compensation angle of the engine from the frame deformation angle of the engine is carried out by: and enabling the frame deformation angle compensation angle of the engine to be half of the frame deformation angle of the engine.
5. A pre-deflection angle nonlinear compensation device for a rocket engine frame deformation angle is characterized by comprising:
the parameter determining module is used for determining a first time parameter and a second time parameter in the takeoff process of the rocket; the first time parameter is: the time for increasing the thrust after the ignition of the engine to 90% of the rated thrust by taking the ignition time of the engine as an initial time point; the second time parameter is: the time for reducing the thrust after the engine is shut down to 10% of the rated thrust by taking the engine shut-down time as an initial time point;
the parameter determination module is also used for determining the frame deformation angle of the engine in the rocket takeoff process;
the parameter determining module is also used for determining a frame deformation angle compensation angle of the engine according to the frame deformation angle of the engine;
the calculation module is used for calculating a pre-deflection angle nonlinear compensation angle of a rocket engine frame deformation angle in the rocket flight process by taking the ignition moment of the engine as an initial time zero point and according to the shutdown time of the engine, the determined first time parameter, the determined second time parameter and the determined frame deformation angle compensation angle of the engine;
the calculation module takes the ignition moment of the engine as an initial time zero point, calculates the pre-deflection angle nonlinear compensation angle of the rocket engine frame deformation angle in the rocket flight process according to the shutdown time of the engine, the determined first time parameter, the determined second time parameter and the determined frame deformation angle compensation angle of the engine, and has the following calculation formula:
in the formula, t1Is a first time parameter, t2As a second time parameter, δ0Compensating the angle for the frame deformation angle of the engine by taking the ignition moment of the engine as the starting time zero point, t as the time variable in the rocket flight process, and tkFor the off-time of the engine, deltabcThe pre-deflection angle nonlinear compensation angle for the rocket engine frame deformation angle in the rocket flight process is obtained;
and the control instruction execution module is used for executing the calculated pre-deflection angle nonlinear compensation angle through a servo mechanism control instruction.
6. The apparatus of claim 5, wherein the control instruction execution module executes the calculated pre-deflection angle nonlinear compensation angle through a servo control instruction, and comprises:
updating the control instruction of each servo mechanism device, wherein the updating calculation formula is as follows:
δi_bc＝δi±δbc
where i is the number variable of the servomechanism equipment, deltaiFor the original control command, δ, of the i-th servomechanism apparatusbcThe pre-deflection angle nonlinear compensation angle delta of the rocket engine frame deformation angle in the rocket flight processi_bcFor the control instruction after the ith servo mechanism equipment is updated, the plus or minus number in the formula is determined according to the installation mode of the servo mechanism equipment;
and sending the updated control command of the servo mechanism equipment to the corresponding servo mechanism equipment for execution.
7. The apparatus of claim 5, wherein the parameter determination module determines a first time parameter and a second time parameter during a takeoff of the rocket, and specifically: determining a first time parameter and a second time parameter in the takeoff process of the rocket through an engine test run;
the parameter determination module determines the frame deformation angle of the engine in the rocket takeoff process, and specifically comprises the following steps: and determining the frame deformation angle of the engine in the takeoff process of the rocket through an engine test run.
8. The device according to any one of claims 5 to 7, wherein the control instruction execution module determines the frame deformation angle compensation angle of the engine according to the frame deformation angle of the engine, and specifically comprises: and enabling the frame deformation angle compensation angle of the engine to be half of the frame deformation angle of the engine.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910316168.6A CN110104218B (en) | 2019-04-19 | 2019-04-19 | Pre-deflection angle nonlinear compensation method and device for rocket engine frame deformation angle |
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| JP3831258B2 (en) * | 2002-01-10 | 2006-10-11 | 株式会社山武 | Feedback control method and feedback control apparatus |
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