CN110297481B - High-precision time system method of interstage separation flight control system - Google Patents
High-precision time system method of interstage separation flight control system Download PDFInfo
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- CN110297481B CN110297481B CN201910585923.0A CN201910585923A CN110297481B CN 110297481 B CN110297481 B CN 110297481B CN 201910585923 A CN201910585923 A CN 201910585923A CN 110297481 B CN110297481 B CN 110297481B
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- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 title claims abstract description 172
- 238000000034 method Methods 0.000 title claims abstract description 31
- 238000004891 communication Methods 0.000 claims abstract description 17
- 238000002955 isolation Methods 0.000 claims description 50
- 238000005474 detonation Methods 0.000 claims description 22
- 239000003990 capacitor Substances 0.000 claims description 9
- 238000006073 displacement reaction Methods 0.000 claims description 4
- 230000000977 initiatory effect Effects 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 description 9
- 230000033001 locomotion Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 3
- 239000006185 dispersion Substances 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000009897 systematic effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
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- 238000005516 engineering process Methods 0.000 description 1
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- 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
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0259—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the response to fault detection
- G05B23/0283—Predictive maintenance, e.g. involving the monitoring of a system and, based on the monitoring results, taking decisions on the maintenance schedule of the monitored system; Estimating remaining useful life [RUL]
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- 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
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24065—Real time diagnostics
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
A high-precision time system method of an interstage separation flight control system is used for providing redundant time system marks for an aircraft in the interstage separation process of the aircraft and a carrier rocket so as to ensure the starting and control time range of autonomous flight of the aircraft. The main time system mark is based on an RS-422 interface communication separation instruction sent by a rocket to an aircraft, and in order to avoid time delay of starting control caused by communication error codes and frame loss, a starting control delay mark is set in each frame of separation instruction and is used as a starting control delay basis for the aircraft to receive an effective separation instruction; the standby time stamp is based on the conductive state of the shorting ring in a separate connector that provides an electrical connection for the rocket and the aircraft. The method can provide accurate and reliable time system marks for the aircraft in the interstage separation process.
Description
Technical Field
The invention relates to a high-precision time system method of an interstage separation flight control system.
Background
In the flight process of the combination of the aircraft and the carrier rocket, when the interstage separation condition is met, the rocket generally initiates and controls the interstage separation process, the aircraft detects the time sequence of the separation process, determines the starting and controlling time, and starts and controls within a specified time range after separation. The time of the aircraft control is related to success and failure of task execution, if the aircraft control surface is not separated from an interference area of a rocket flow field in advance, the risk of reverse rudder efficiency exists, and the attitude of the aircraft is unstable; if the aircraft is controlled after the delay, longer uncontrolled free movement time exists, and the attitude instability is caused.
The time of the aircraft is usually disconnected from the electrical and mechanical interfaces of the rocket, so that the rocket needs to send a time system mark to the aircraft before the electrical interface is disconnected, and the aircraft receives the time system mark and starts to control after time delay.
The conventional time system method is to drive the switching value input of the flight control computer of the aircraft to carry out the time system through the switching value output of the rocket flight control computer. The time system has the advantage of higher time system precision. The disadvantage is that only a single time system mark is provided, so that the fault tolerance is low; the matching of 2 flight control computer interface circuits is related, and the problem that the driving level is inconsistent with the reference ground possibly exists; the redundancy design is needed to be carried out by occupying more than 2 paths of switching value output resources of the rocket flight control computer.
Another conventional time system method is to set a short circuit ring for monitoring the electrical connection state of a plug and a socket of a separation connector between an aircraft and a rocket, and disconnect the short circuit ring collected by a flight control computer of the aircraft as a time system mark. The advantages are no need of rocket flight control computer switching value resource. The disadvantage is that there is a mechanical movement of the disconnect ring during disconnection, so that the time spread from the disconnection of the disconnect ring to the complete disconnection of the short ring is large, the time variation range of the time system signature transmitted to the aircraft is large, and the time system accuracy is low.
Disclosure of Invention
The invention solves the technical problems that: the high-precision time system method of the interstage separation flight control system is provided, the fault tolerance of the interstage separation time system mark is improved, the problem of matching of the requirement on the switching value resource of a rocket flight control computer and a circuit is solved, and the problem that the precision of the time system mark is relatively low by only using a separation connector short circuit ring is solved.
The technical scheme of the invention is as follows:
the high-precision time system method of the interstage separation flight control system comprises the following steps:
(1) After the rocket enters a separation flow, at the time T0, the rocket flight control computer sends a separation instruction data frame to the aircraft flight control computer;
(2) At the time T1, the rocket flight control computer sends an electromagnetic unlocking instruction to the plug end of the separation connector through the unlocking cable;
(3) After the aircraft flight control computer is powered on, continuously judging a separation instruction data frame, and entering a step (4) when an effective separation instruction data frame is received for the first time; when the separation instruction data frame is not received or is invalid, the step (5) is entered;
(4) The aircraft flight control computer determines the start control delay time according to the start control delay mark in the first received separation instruction data frame, starts start control delay timing, and then enters step (9);
(5) After the aircraft flight control computer is electrified, continuously judging whether the electromagnetic unlocking device works normally, if so, entering a step (6), and if not, entering a step (10);
(6) After the aircraft flight control computer is electrified, continuously judging the disconnection state of the short circuit ring, if both short circuit rings are disconnected, entering a step (7), otherwise, returning to the step (3);
(7) The flight control computer of the aircraft judges whether the two paths of short circuit rings are reliably disconnected, if so, the step (8) is carried out, otherwise, the step (3) is carried out;
(8) The flight control computer of the aircraft starts to start to control the delay timer_2;
(9) At the time T2, the rocket flight control computer sends a detonation instruction to the separation bolt through the detonation cable, the separation bolt is disconnected, and then the step (13) is carried out;
(10) At the time T2, the rocket flight control computer sends a detonation instruction to the separation bolt through the detonation cable, the separation bolt is disconnected, the aircraft flight control computer continuously judges the disconnection state of the short circuit ring after being electrified, if both short circuit rings are disconnected, the step (11) is carried out, and otherwise, the step (3) is returned;
(11) The flight control computer of the aircraft judges whether the two paths of short circuit rings are reliably disconnected, if so, the step (12) is carried out, otherwise, the step (3) is returned;
(12) The aircraft flight control computer starts a start control delay timer_3, and then enters a step (13);
(13) And the flight control computer of the aircraft starts control, and starts control after starting control delay timing.
Determining a start control delay time according to a start control delay mark in a first received separation instruction data frame, see the following table:
wherein timer_1 is the delay from the receiving of the first frame separation instruction to the starting of the aircraft flight control computer, T_422 is the sending period of the data frame of the separation instruction sent by the rocket flight control computer, and n is the serial number of the effective separation instruction received by the aircraft flight control computer.
T0 represents the separation time sequence 0 moment determined by the rocket flight control computer, and the separation process is started at the time.
T1 represents the moment when the rocket flight control computer sends an electromagnetic unlocking instruction to the plug end of the separation connector, the moment is set by the rocket flight control computer, and T1 is after T0; t2 represents the moment when the rocket flight control computer sends an initiation command to the separation bolt, the moment is set by the rocket flight control computer, and T2 is after T1.
The flight control computer of the aircraft judges whether the two paths of short circuit rings are reliably disconnected or not specifically comprises the following steps: the time when the flight control computer collects that the short circuit ring is disconnected is greater than a preset time threshold timer_DIO.
When the electromagnetic unlocking device works normally, the starting control delay timer_2 is the delay from the reliable disconnection of the two short-circuit rings to the starting control of the aircraft, and is set by the flight control computer of the aircraft; when the electromagnetic unlocking device works abnormally, the starting control delay timer_3 is the delay from the reliable disconnection of the two short-circuit rings to the starting control of the aircraft, and is set by the flight control computer of the aircraft; timer_2 > timer_3.
The interstage separation flight control system time system high-precision time system method is realized based on an interstage separation flight control system time system device, and the interstage separation flight control system time system device comprises: the device comprises a separation connector plug end, a rocket flight control computer, an aircraft flight control computer, a separation bolt, an unlocking cable, a first short circuit ring, a second short circuit ring, a separation connector pull rope and a detonation cable; an electromagnetic unlocking device and an unlocking pull rod are arranged in the plug end of the separation connector;
the rocket and the aircraft are connected together through a separation bolt, the rocket flight control computer is connected with the separation bolt through a detonation cable, and communication between the rocket flight control computer and the aircraft flight control computer is realized through a separation connector plug end and a separation connector socket end which are spliced together; the rocket flight control computer is connected with an electromagnetic unlocking device arranged in the plug end of the separation connector through an unlocking cable, and drives an unlocking pull rod to separate and unlock the plug end of the separation connector from the plug end of the separation connector; one end of a separation connector stay rope is fixed on the rocket body, and the other end is fixed on an unlocking pull rod;
the aircraft flight control computer comprises a short circuit ring power supply circuit and a short circuit ring acquisition circuit, wherein the first short circuit ring and the second short circuit ring are led out from the short circuit ring power supply circuit, enter the plug end of the separation connector after passing through the socket end of the separation connector, turn back at the plug end of the separation connector, and are connected into the short circuit ring acquisition circuit after passing through the socket end of the separation connector again.
When the electromagnetic unlocking device is effective, before the separation bolt is detonated, the electromagnetic unlocking device drives the unlocking pull rod to realize separation unlocking between the separation connector plug end and the separation connector plug end;
when the electromagnetic unlocking device fails, after the separation bolt is detonated, relative displacement is generated between the rocket and the aircraft, and the separation unlocking between the separation connector plug end and the separation connector plug end is realized by driving the unlocking pull rod through the separation connector pull rope;
after the separated connector plug end and the separated connector plug end are separated, the first short circuit ring and the second short circuit ring are pulled apart, and the connection state between the short circuit ring acquisition circuit and the short circuit ring power supply circuit is changed into an open circuit state.
The electromagnetic unlocking device is an electromagnet, and the electromagnet generates magnetic force to pull the unlocking pull rod after the unlocking cable is electrified; the first shorting ring and the second shorting ring are redundant to each other.
The short circuit ring power supply circuit comprises a primary power supply and a current limiting circuit, wherein the primary power supply supplies power to the first short circuit ring and the second short circuit ring, the current limiting circuit is arranged between the primary power supply and the first short circuit ring, and the current limiting circuit is also arranged between the primary power supply and the second short circuit ring;
the short circuit loop acquisition circuit comprises resistors R1-R6, capacitors C1 and C2 and an optocoupler isolation chip G1, wherein the circuit acquisition ends are IN1 and IN2, and the output ends are OUT1 and OUT2;
the first short circuit ring is connected to a first optocoupler isolation input positive end of the optocoupler isolation chip G1 from a first acquisition end IN1 through a resistor R1; a capacitor C1 is connected between a first optocoupler isolation input positive end and a first optocoupler isolation negative end of the optocoupler isolation chip G1 in a bridging mode, meanwhile, the first optocoupler isolation input negative end is connected with a primary power supply ground through a resistor R2, and a first optocoupler isolation output negative end is connected with a first output end OUT1 through a resistor R3;
the second short circuit ring is connected to a second optocoupler isolation input positive end of the optocoupler isolation chip G1 from a second acquisition end IN2 through a resistor R4; a capacitor C2 is connected between the positive end and the negative end of the second optocoupler isolation input of the optocoupler isolation chip G1 in a bridging mode, meanwhile, the negative end of the second optocoupler isolation input is connected with the primary power supply ground through a resistor R5, and the negative end of the second optocoupler isolation output is connected with the OUT2 end through a resistor R6;
the first optocoupler isolation output positive end and the second optocoupler isolation output positive end of the optocoupler isolation chip G1 are connected with a secondary power supply 3.3V+.
The beneficial effects of the invention are as follows:
(1) The time system method has clear principle, the RS-422 interface is a common communication interface of the carrier rocket, the application is wide, the technology is mature, the reliability is high, the RS-422 interface is used as a time system mark transmission channel, the additional cost is not required to be increased, and the higher time system precision can be provided. The RS-422 interface data transmission process has no mechanical movement, and the time dispersion from the moment that a rocket sends a separation instruction to the moment that an aircraft receives the instruction is small.
(2) The RS-422 interface communication separation instruction is used as a main time system mark, the disconnection of the short circuit ring in the rocket and the aircraft separation connector is used as a standby time system mark, the two marks are redundant, and when the RS-422 interface circuit or the short circuit ring acquisition circuit in the flight control computer singly breaks down, the time system mark can be acquired through another circuit, so that the reliability of the system is improved.
Different aircraft start control delay time can be set for different time system marks, so that after the start control delay time is determined through any time system mark, the aircraft starts control within a specified time range, and the safety of the autonomous flight start control stage of the aircraft is improved.
When the separation instruction is transmitted through the RS-422 interface communication, the start control delay mark is set, so that the start control time delay caused by frame loss of the communication can be resisted, the aircraft can be ensured to start control within a specified time range, and the fault tolerance rate is improved.
(3) The system marks for 2 kinds of inter-stage separation are provided for the flight control computer of the aircraft, and the system marks for serial communication of the flight control computer and the system marks for detection of the disconnection state of the short circuit ring of the separation connector are redundant. The disconnection state of the short circuit loop adopts the detection of the switching value output and the switching value input of the flight control computer of the aircraft from the closed loop, and the interface circuit uses the primary power supply of the flight control computer of the aircraft as a reference power supply, so that the good compatibility of the circuit is ensured. The short circuit ring uses continuous wires to pass through the socket end and the plug end of the separation connector, so that the core wire inserted between the socket end and the plug end is prevented from being broken instantaneously in the flying vibration process, and an error time system mark is generated. The unlocking and separating of the plug end and the socket section of the separating connector adopts a redundant mode of electromagnetic separation and mechanical separation, so that the reliability of the unlocking and separating is improved.
Drawings
FIG. 1 is a diagram of the electrical and mechanical interfaces of a system device in connection with interstage separation;
FIG. 2 is a flow chart of a systematic method of interstage separation;
FIG. 3 is a schematic diagram of a shorting ring acquisition circuit;
fig. 4 is a timing diagram of a systematic method of interstage separation.
Detailed Description
As shown in fig. 1, the inter-stage separation flight control system timing apparatus includes: the device comprises a separation connector plug end 1, a separation connector socket end 2, a rocket flight control computer 3, an aircraft flight control computer 4, a separation bolt 5, an unlocking cable 8, a first short-circuit ring 9, a second short-circuit ring 10, a separation connector pull rope 11 and a detonation cable 12; an electromagnetic unlocking device and an unlocking pull rod are arranged in the separable connector plug end 1.
The rocket and the aircraft are connected together through a separation bolt 5, and the rocket flight control computer 3 is connected with the separation bolt 5 through a detonation cable 12 and can drive the separation bolt 5 to detonate. After the separation bolt 5 is detonated, the rocket is mechanically separated from the aircraft, the rocket falls, and the aircraft enters a free motion state and is started and controlled within a specified time range.
And pulling out an unlocking pull rod arranged in the plug end 1 of the separation connector, and changing the plug end 1 of the separation connector and the socket end 2 of the separation connector from a plugging state to a separation state. The unlocking pull rod can be pulled outwards under the action of the magnetic force of an electromagnetic unlocking device arranged in the plug end 1 of the separated connector, and can also be pulled outwards under the action of the external pulling force applied to the unlocking pull rod.
The rocket flight control computer 3 is connected with an electromagnetic unlocking device through an unlocking cable 8. One end of a separation connector stay 11 is fixed on the rocket body, and the other end is fixed on an unlocking pull rod:
when the electromagnetic unlocking device is effective, before the separation bolt 5 is detonated, the rocket flight control computer 3 drives the unlocking pull rod to pull outwards through the electromagnetic unlocking device, so that unlocking separation between the separation connector plug end 1 and the separation connector plug end 2 is realized;
when the electromagnetic unlocking device fails, after the separation bolt 5 is detonated, relative displacement is generated between the rocket and the aircraft, and the unlocking pull rod is driven to pull outwards through the separation connector pull rope 11, so that unlocking separation between the separation connector plug end 1 and the separation connector socket end 2 is realized;
the mode can ensure that the plug end 1 of the separation connector and the socket end 2 of the separation connector have redundant separation modes, and avoid that the separation connector cannot be separated when the electromagnetic unlocking device or the pull rope singly breaks down.
The device can provide 2 redundant time system marks for the aircraft, so that the aircraft can reliably determine the start control time:
communication between the rocket flight control computer 3 and the aircraft flight control computer 4 is realized through a separation connector plug end 1 and a separation connector socket end 2 which are spliced together, and the communication is used as a main time system mark during separation;
after the plug end 1 of the separation connector and the socket end 2 of the separation connector are unlocked and separated, the first short-circuit ring 9 and the second short-circuit ring 10 are pulled out, and the connection state between the short-circuit ring acquisition circuit and the short-circuit ring power supply circuit is changed into an open circuit state to be used as a standby time system mark.
The aircraft flight control computer 4 comprises a short circuit ring power supply circuit and a short circuit ring acquisition circuit, wherein the first short circuit ring 9 and the second short circuit ring 10 are both led out from the short circuit ring power supply circuit, enter the split connector plug end 1 after passing through the split connector socket end 2, turn back at the split connector plug end 1, pass through the split connector socket end 2 again and then are connected into the short circuit ring acquisition circuit. The short circuit ring uses continuous wires to pass through the socket end and the plug end of the separation connector, so that the instantaneous disconnection of the plug core wires of the socket end and the plug end in the vibration process is avoided, and an error time system mark is generated.
The short circuit ring power supply and the acquisition circuit both adopt the primary power supply of the aircraft flight control computer as a reference power supply, so that good compatibility of the short circuit ring input and output circuits is ensured. The short-circuit loop power supply circuit comprises a primary power supply and a current limiting circuit, wherein the primary power supply supplies power to the first short-circuit loop 9 and the second short-circuit loop 10, the current limiting circuit is arranged between the primary power supply and the first short-circuit loop 9, and the current limiting circuit is also arranged between the primary power supply and the second short-circuit loop 10.
As shown IN FIG. 3, the short-circuit loop acquisition circuit comprises resistors R1-R6, capacitors C1 and C2 and an optocoupler isolation chip G1, the circuit acquisition ends are IN1 and IN2, and the output ends are OUT1 and OUT2.
The first short-circuit ring 9 is connected to a first optocoupler isolation input positive end of the optocoupler isolation chip G1 from the first acquisition end IN1 through a resistor R1; the capacitor C1 is bridged between the positive end and the negative end of the first optocoupler isolation input of the optocoupler isolation chip G1, meanwhile, the negative end of the first optocoupler isolation input is connected with the primary power supply ground through the resistor R2, and the negative end of the first optocoupler isolation output is connected with the first output end OUT1 through the resistor R3.
The second short circuit ring 10 is connected to a second optocoupler isolation input positive end of the optocoupler isolation chip G1 from a second acquisition end IN2 through a resistor R4; and a capacitor C2 is connected between the positive end and the negative end of the second optocoupler isolation input of the optocoupler isolation chip G1 in a bridging way, meanwhile, the negative end of the second optocoupler isolation input is connected with the ground of the primary power supply through a resistor R5, and the negative end of the second optocoupler isolation output is connected with the OUT2 end through a resistor R6.
The first optocoupler isolation output positive end and the second optocoupler isolation output positive end of the optocoupler isolation chip G1 are connected with a secondary power supply 3.3V+.
The working principle of the device is as follows:
before the interstage separation, the rocket is firmly mechanically connected with the aircraft by means of the separation bolts 5. The plug end 1 of the separation connector is in a connection state with the socket end 2 of the separation connector, and a serial communication path is provided for the rocket flight control computer 3 and the aircraft flight control computer 4. The first shorting ring 9 and the second shorting ring 10 are both in a connection conducting state.
Starting the interstage separation, the rocket flight control computer 3 provides a main time system mark for the aircraft flight control computer 4 through a connected separation connector;
subsequently, the rocket-controlled computer 3 drives the electromagnetic unlocking device via the unlocking cable 8:
when the electromagnetic unlocking device is effective, the electromagnetic unlocking device generates magnetic force to pull the unlocking pull rod outwards, so that the plug end 1 of the separation connector and the socket end 2 of the separation connector are unlocked and separated, the first short-circuit ring 9 and the second short-circuit ring 10 are pulled apart, the short-circuit ring is changed from a conducting state to an open-circuit state, and the flight control computer 4 collects the open-circuit state of the short-circuit ring through the short-circuit ring collecting circuit and serves as a standby time system mark;
when the electromagnetic unlocking means is inactive, the separate connector plug end 1 and the separate connector receptacle end 2 are not unlocked.
Next, the rocket flight control computer 3 drives the separation bolt 5 through the detonation cable 12, so that the separation bolt 5 is detonated, and the rocket and the aircraft are mechanically separated:
when the electromagnetic unlocking device is effective, the rocket flight control computer 3 finishes unlocking and separating the separating connector plug end 1 and the separating connector socket end 2 before the rocket is mechanically separated from the aircraft;
when the electromagnetic unlocking device is invalid, relative displacement is generated between the rocket and the aircraft, and tension is generated after the separation connector stay 11 is tensioned to pull the unlocking pull rod outwards, so that the separation connector plug end 1 and the separation connector socket end 2 are unlocked and separated, the first short-circuit ring 9 and the second short-circuit ring 10 are pulled apart and are changed from a conducting state to an open state, and the flight control computer 4 collects the open state of the short-circuit ring through the short-circuit ring collecting circuit and serves as a standby time system mark.
After the rocket is mechanically separated from the aircraft, the rocket falls down, the aircraft enters a free motion state, and the rocket is started and controlled within a specified time range according to a time system sign.
As shown in fig. 2, based on the time system device of the inter-stage separation flight control system, the invention provides a high-precision time system method of the inter-stage separation flight control system, which comprises the following steps:
(1) After the rocket enters a separation flow, at the time T0, the rocket flight control computer sends a separation instruction data frame to the aircraft flight control computer; t0 represents the separation time sequence 0 moment determined by the rocket flight control computer, and the separation process is started at the time.
(2) At the time T1, the rocket flight control computer sends an electromagnetic unlocking instruction to the plug end of the separation connector through the unlocking cable; t1 represents the moment when the rocket flight control computer sends an electromagnetic unlocking instruction to the plug end of the separation connector, the moment is set by the rocket flight control computer, and T1 is after T0;
(3) After the aircraft flight control computer is powered on, continuously judging a separation instruction data frame, and entering a step (4) when an effective separation instruction data frame is received for the first time; when the separation instruction data frame is not received or is invalid, the step (5) is entered;
determining a start control delay time according to a start control delay mark in a first received separation instruction data frame, see the following table:
wherein timer_1 is the delay from the receiving of the first frame separation instruction to the starting of the aircraft flight control computer, T_422 is the sending period of the data frame of the separation instruction sent by the rocket flight control computer, and n is the serial number of the effective separation instruction received by the aircraft flight control computer.
(4) The aircraft flight control computer determines the start control delay time according to the start control delay mark in the first received separation instruction data frame, starts start control delay timing, and then enters step (9);
(5) After the aircraft flight control computer is electrified, continuously judging whether the electromagnetic unlocking device works normally, if so, entering a step (6), and if not, entering a step (10);
(6) After the aircraft flight control computer is electrified, continuously judging the disconnection state of the short circuit ring, if both short circuit rings are disconnected, entering a step (7), otherwise, returning to the step (3);
(7) The flight control computer of the aircraft judges whether the two paths of short circuit rings are reliably disconnected, if so, the step (8) is carried out, otherwise, the step (3) is carried out;
(8) The flight control computer of the aircraft starts to start to control the delay timer_2;
when the electromagnetic unlocking device works normally, the starting control delay timer_2 is the delay from the reliable disconnection of the two short-circuit rings to the starting control of the aircraft, and is set by the flight control computer of the aircraft;
(9) At the time T2, the rocket flight control computer sends a detonation instruction to the separation bolt through the detonation cable, the separation bolt is disconnected, and then the step (13) is carried out;
t2 represents the moment when the rocket flight control computer sends an initiation command to the separation bolt, the moment is set by the rocket flight control computer, and T2 is after T1.
(10) At the time T2, the rocket flight control computer sends a detonation instruction to the separation bolt through the detonation cable, the separation bolt is disconnected, the aircraft flight control computer continuously judges the disconnection state of the short circuit ring after being electrified, if both short circuit rings are disconnected, the step (11) is carried out, and otherwise, the step (3) is returned;
(11) The flight control computer of the aircraft judges whether the two paths of short circuit rings are reliably disconnected, if so, the step (12) is carried out, otherwise, the step (3) is returned;
the flight control computer of the aircraft judges whether the two paths of short circuit rings are reliably disconnected or not specifically comprises the following steps: the time when the flight control computer collects that the short circuit ring is disconnected is greater than a preset time threshold timer_DIO.
(12) The aircraft flight control computer starts a start control delay timer_3, and then enters a step (13);
when the electromagnetic unlocking device works abnormally, the starting control delay timer_3 is the delay from the reliable disconnection of the two short-circuit rings to the starting control of the aircraft, and is set by the flight control computer of the aircraft; timer_2 > timer_3.
(13) And the flight control computer of the aircraft starts control, and starts control after starting control delay timing.
The above steps are described in detail below with reference to fig. 4.
The symbols in the figures have the following meanings:
1) Flow code
a) A1: performing start control delay by using a main time system mark (RS-422 interface separation instruction);
b) A2_1: when the electromagnetic unlocking device in the plug end 1 of the separation connector is effective, a backup time system mark (a short circuit ring on/off state) is used for starting control delay;
c) A2_1: when the electromagnetic unlocking device in the plug end 1 of the separation connector fails, the backup time system mark (the on/off state of the short circuit ring) is used for starting control delay.
2) Inherent electrical device communication transmission or mechanical action delay
a) Delay_422: the RS-422 interface separates the communication transmission delay of the instruction data frames, and the delay of each data frame is equal in the same task flow;
b) Delay_dio: the rocket flight control computer 3 sends an electromagnetic unlocking instruction to the time delay of completely disconnecting the first short-circuit ring 9 and the second short-circuit ring 10;
c) Delay_wk: the rocket flight control computer 3 sends an electromagnetic unlocking instruction until the time delay of completely separating the shell of the plug end 1 of the separation connector from the shell of the socket end 2 of the separation connector;
d) delay_Bomb: the rocket flight control computer 3 sends an "initiation command" to the delay of the disconnection of the separation bolt 5.
Referring to fig. 2 and fig. 4, the steps performed in the process A1 in the figure correspond to the following:
1) Step 1: at the time T0, the rocket flight control computer 3 enters a separation flow, sends a data frame of a separation instruction of an RS-422 interface, and has a sending period of T_422, wherein each frame of separation instruction is provided with two parts of contents of a separation instruction state and a start control delay mark, and the contents are referred to in the table above;
2) Step 2: at the time T1, the rocket flight control computer 3 sends an electromagnetic unlocking instruction to the connector plug end 1;
3) Step 3: at the time S0, the aircraft flight control computer 4 collects an effective RS-422 interface separation instruction for the first time, the separation instruction state in the instruction is judged to be the separation state, a start control Delay mark is normal, the step 4 is entered, and the subsequent separation instruction is ignored (because the RS-422 interface communication has the possibility of frame loss and error code, the time for the aircraft flight control computer 4 to receive the effective separation instruction is S0=delay_422+ (n-1) x T_422, and the first n-1 separation instructions sent by the rocket flight control computer 3 are not validated after entering the separation flow;
4) Step 4: the aircraft flight control computer 4 determines a start control delay time timer_1- (n-1) x T_422 according to the start control delay flag, and starts start control delay timing, see the table above, and then proceeds to step 9;
5) Step 9: at the time T2, the rocket flight control computer 3 sends a detonation instruction to the separation bolt 5, at the time S2, the separation bolt 5 is disconnected, the aircraft enters a free motion state, and S2=T2+Delay_Bomb;
6) Step 13: at time S3, the aircraft is started, s3=delay_422+timer_1.
Referring to fig. 2 and 4, the steps executed in the process a2_1 correspond to the following steps:
1) Steps 1, 2 are the same as scheme A1;
2) Step 3: the flight control computer 4 of the aircraft does not collect the effective RS-422 interface separation instruction, and the step 5 is entered;
3) Step 5: the electromagnetic unlocking device is effective, and the step 6 is entered;
4) Step 6: at the time s1_a, the aircraft flight control computer 4 collects that the first short-circuit ring 9 and the second short-circuit ring 10 are all disconnected, s1_a=t1+delay_dio, and step 7 is entered;
5) Step 7: at the time s1_b, the aircraft flight control computer 4 confirms that the first short-circuit ring 9 and the second short-circuit ring 10 are reliably disconnected, s1_b=t1+delay_dio+timer_dio is started, and the start control Delay timer_2 is started; at the time s1_c, the split connector plug (1) is completely separated from the jack (2) structural shell, s1_c=t1+delay_wk; step 9 is then entered;
6) Step 9 is identical to scheme A1; before proceeding to step 13, the electrical and mechanical separation of the split connector plug end 1 from the split connector receptacle end 2 is completed;
7) Step 13: at time S3, the aircraft (14) is started, s3=t1+delay_dio+timer_dio+timer_2.
Referring to fig. 2 and 4, the steps performed in the process a2_2 correspond to the following steps:
1) Steps 1 to 3 are the same as the flow A1;
2) Step 5: the electromagnetic unlocking device fails and the step 10 is entered;
3) Step 10: at the time T2, the rocket flight control computer 3 sends a detonation instruction to the separation bolt 5; at the moment S2, the separation bolt 5 is disconnected, the aircraft enters a free motion state, s2=t2+delay_bore; at the time s2_a, the aircraft flight control computer 4 collects that the first short-circuit ring 9 and the second short-circuit ring 10 are all disconnected, s2_a=t2+delay_tank+delay_dio, and step 11 is entered;
4) Step 11: at the time s2_b, the aircraft flight control computer 4 confirms that the first short-circuit ring 9 and the second short-circuit ring 10 are reliably disconnected, s2_b=t2+delay_bore+delay_dio+timer_dio, and starts the start control Delay timer_3; at the time s2_c, the split connector plug end 1 is completely separated from the split connector plug end socket 2 structural shell, s2_c=s2+delay_wk; step 13 is then entered;
5) Step 13: at time S3, the aircraft 14 is started, s3=t2+delay_bore+delay_dio+timer_dio+timer_3.
In the design process of the separation time sequence, the following constraint conditions need to be considered in order to ensure the safety and reliability of the separation process:
1) The rocket flight control computer 3 sends the time T0 of the separation instruction of the RS-422 interface, the time T1 of the electromagnetic unlocking instruction of the separation connector and the time T2 of the detonation instruction, wherein T0 is more than or equal to T1 and less than T2;
2) The time for disconnecting the separation bolt 5 is earlier than the start control time of the aircraft, namely S2 is less than S3, wherein S3-S2 is the uncontrolled time of the aircraft in a free state after the aircraft is separated from the rocket, and when the separation time sequence is designed, the uncontrolled time range is determined by taking the time for the aircraft to depart from the interference area of the rocket flow field and the unsteady time of the uncontrolled state of the aircraft as input conditions.
3) When receiving different system marks, the aircraft flight control computer 4 starts to control the delay time, and the delay time is Timer1 > Timer2 > Timer3.
Examples:
when the RS-422 interface "split instruction" is used as a time stamp, the delay of instruction transmission consists of 3 parts:
1) Delay 1: the rocket flight control computer enters a separation flow, and starts to send a data frame of a separation instruction of an RS-422 interface, wherein the shortest delay 1 approaches to 0, and the longest delay is the running period of rocket flight control software;
2) Delay 2: the rocket flight control computer starts to send the first byte of the data frame of the separation instruction of the RS-422 interface, and the rocket flight control computer stores the data frame into the serial port receiving buffer area completely, wherein the time delay 2 is a fixed value, and the time is the total bit number of the data frame of the separation instruction divided by the transmission baud rate of the RS-422 interface;
3) Delay 3: the flight control computer of the aircraft starts to read the data of the serial port receiving buffer zone, checks and extracts a separation instruction, starts to start control delay, wherein the shortest delay 3 approaches to 0, and the longest delay is the running period of flight control software of the aircraft;
as known from the communication principle of the RS-422 interface, the 'delay 1', 'delay 2', 'delay 3' are independent.
Assuming that the running period of rocket flight control software is 10ms, the range of the delay 1 is 0-10 ms.
Assuming that the total byte number of the data frame of the "separate instruction" is 64 bytes (704 bits), the transmission baud rate of the RS-422 interface is 115200bps, and the "delay 2" is 6.2ms.
Assuming that the flight control software of the aircraft runs for 10ms, the range of the delay 3 is 0-10 ms.
The communication delay of the aircraft receiving the rocket 'separation command' is the sum of 'delay 1', 'delay 2' and 'delay 3', the shortest delay is approaching 6.2ms, and the longest delay is 26.2ms. Therefore, the dispersion range of the transmission time of the separation instruction is smaller than 20ms, namely the sum of the running periods of the rocket and the flight control software of the aircraft, and the time system precision is high. Under the condition that the hardware performance of the flight control computer meets, the time dispersion of instruction transmission can be reduced by reducing the running period of flight control software, and higher time system precision is obtained.
The present invention is not described in detail as being well known to those skilled in the art.
Claims (10)
1. The high-precision time system method of the interstage separation flight control system is characterized by comprising the following steps of:
(1) After the rocket enters a separation flow, at the time T0, the rocket flight control computer sends a separation instruction data frame to the aircraft flight control computer;
(2) At the time T1, the rocket flight control computer sends an electromagnetic unlocking instruction to the plug end of the separation connector through the unlocking cable;
(3) After the aircraft flight control computer is powered on, continuously judging a separation instruction data frame, and entering a step (4) when an effective separation instruction data frame is received for the first time; when the separation instruction data frame is not received or is invalid, the step (5) is entered;
(4) The aircraft flight control computer determines the start control delay time according to the start control delay mark in the first received separation instruction data frame, starts start control delay timing, and then enters step (9);
(5) After the aircraft flight control computer is electrified, continuously judging whether the electromagnetic unlocking device works normally, if so, entering a step (6), and if not, entering a step (10);
(6) After the aircraft flight control computer is electrified, continuously judging the disconnection state of the short circuit ring, if both short circuit rings are disconnected, entering a step (7), otherwise, returning to the step (3);
(7) The flight control computer of the aircraft judges whether the two paths of short circuit rings are reliably disconnected, if so, the step (8) is carried out, otherwise, the step (3) is carried out;
(8) The flight control computer of the aircraft starts to start to control the delay timer_2;
(9) At the time T2, the rocket flight control computer sends a detonation instruction to the separation bolt through the detonation cable, the separation bolt is disconnected, and then the step (13) is carried out;
(10) At the time T2, the rocket flight control computer sends a detonation instruction to the separation bolt through the detonation cable, the separation bolt is disconnected, the aircraft flight control computer continuously judges the disconnection state of the short circuit ring after being electrified, if both short circuit rings are disconnected, the step (11) is carried out, and otherwise, the step (3) is returned;
(11) The flight control computer of the aircraft judges whether the two paths of short circuit rings are reliably disconnected, if so, the step (12) is carried out, otherwise, the step (3) is returned;
(12) The aircraft flight control computer starts a start control delay timer_3, and then enters a step (13);
(13) And the flight control computer of the aircraft starts control, and starts control after starting control delay timing.
2. The high precision timing method for an interstage separation flight control system of claim 1, wherein: determining a start control delay time according to a start control delay mark in a first received separation instruction data frame, see the following table:
wherein timer_1 is the delay from the receiving of the first frame separation instruction to the starting of the aircraft flight control computer, T_422 is the sending period of the data frame of the separation instruction sent by the rocket flight control computer, and n is the serial number of the effective separation instruction received by the aircraft flight control computer.
3. The high precision timing method for an interstage separation flight control system of claim 1, wherein: t0 represents the separation time sequence 0 moment determined by the rocket flight control computer, and the separation process is started at the time.
4. The high precision timing method for an interstage separation flight control system of claim 1, wherein: t1 represents the moment when the rocket flight control computer sends an electromagnetic unlocking instruction to the plug end of the separation connector, the moment is set by the rocket flight control computer, and T1 is after T0; t2 represents the moment when the rocket flight control computer sends an initiation command to the separation bolt, the moment is set by the rocket flight control computer, and T2 is after T1.
5. The high precision timing method for an interstage separation flight control system of claim 1, wherein: the flight control computer of the aircraft judges whether the two paths of short circuit rings are reliably disconnected or not specifically comprises the following steps: the time when the flight control computer collects that the short circuit ring is disconnected is greater than a preset time threshold timer_DIO.
6. The high precision timing method for an interstage separation flight control system of claim 1, wherein: when the electromagnetic unlocking device works normally, the starting control delay timer_2 is the delay from the reliable disconnection of the two short-circuit rings to the starting control of the aircraft, and is set by the flight control computer of the aircraft; when the electromagnetic unlocking device works abnormally, the starting control delay timer_3 is the delay from the reliable disconnection of the two short-circuit rings to the starting control of the aircraft, and is set by the flight control computer of the aircraft; timer_2 > timer_3.
7. The high precision timing method for an interstage separation flight control system of claim 1, wherein: the interstage separation flight control system time system high-precision time system method is realized based on an interstage separation flight control system time system device, and the interstage separation flight control system time system device comprises: the device comprises a separation connector plug end (1), a separation connector socket end (2), a rocket flight control computer (3), an aircraft flight control computer (4), a separation bolt (5), an unlocking cable (8), a first short circuit ring (9), a second short circuit ring (10), a separation connector pull rope (11) and a detonation cable (12); an electromagnetic unlocking device and an unlocking pull rod are arranged in the plug end (1) of the separation connector;
the rocket and the aircraft are connected together through a separation bolt (5), a rocket flight control computer (3) is connected with the separation bolt (5) through a detonation cable (12), and communication between the rocket flight control computer (3) and the aircraft flight control computer (4) is realized through a separation connector plug end (1) and a separation connector socket end (2) which are spliced together; the rocket flight control computer (3) is connected with an electromagnetic unlocking device arranged in the plug end (1) of the separation connector through an unlocking cable (8), and drives an unlocking pull rod to separate and unlock the plug end (1) of the separation connector from the socket end (2) of the separation connector; one end of a separation connector stay rope (11) is fixed on the rocket body, and the other end is fixed on an unlocking pull rod;
the aircraft flight control computer (4) comprises a short circuit ring power supply circuit and a short circuit ring acquisition circuit, wherein the first short circuit ring (9) and the second short circuit ring (10) are led out from the short circuit ring power supply circuit, enter the separated connector plug end (1) after passing through the separated connector socket end (2), turn back at the separated connector plug end (1), and are connected into the short circuit ring acquisition circuit after passing through the separated connector socket end (2) again.
8. The high precision timing method for an interstage separation flight control system of claim 7, wherein: when the electromagnetic unlocking device is effective, before the separation bolt (5) is detonated, the electromagnetic unlocking device drives the unlocking pull rod to realize separation unlocking between the separation connector plug end (1) and the separation connector socket end (2);
when the electromagnetic unlocking device fails, after the separation bolt (5) is detonated, relative displacement is generated between the rocket and the aircraft, and the separation unlocking between the separation connector plug end (1) and the separation connector socket end (2) is realized by driving the unlocking pull rod through the separation connector pull rope (11);
after the plug end (1) of the separating connector and the socket end (2) of the separating connector are separated, the first short circuit ring (9) and the second short circuit ring (10) are pulled off, and the connection state between the short circuit ring acquisition circuit and the short circuit ring power supply circuit is changed into an open circuit state.
9. The high precision timing method for an interstage separation flight control system of claim 7, wherein: the electromagnetic unlocking device is an electromagnet, and the electromagnet generates magnetic force to pull the unlocking pull rod after the unlocking cable (8) is electrified; the first short-circuit ring (9) and the second short-circuit ring (10) are redundant to each other.
10. The high precision timing method for an interstage separation flight control system of claim 7, wherein: the short-circuit ring power supply circuit comprises a primary power supply and a current limiting circuit, wherein the primary power supply supplies power to the first short-circuit ring (9) and the second short-circuit ring (10), the current limiting circuit is arranged between the primary power supply and the first short-circuit ring (9), and the current limiting circuit is also arranged between the primary power supply and the second short-circuit ring (10);
the short circuit loop acquisition circuit comprises resistors R1-R6, capacitors C1 and C2 and an optocoupler isolation chip G1, wherein the circuit acquisition ends are IN1 and IN2, and the output ends are OUT1 and OUT2;
the first short circuit ring (9) is connected to a first optocoupler isolation input positive end of the optocoupler isolation chip G1 from a first acquisition end IN1 through a resistor R1; a capacitor C1 is connected between a first optocoupler isolation input positive end and a first optocoupler isolation negative end of the optocoupler isolation chip G1 in a bridging mode, meanwhile, the first optocoupler isolation input negative end is connected with a primary power supply ground through a resistor R2, and a first optocoupler isolation output negative end is connected with a first output end OUT1 through a resistor R3;
the second short circuit ring (10) is connected to a second optocoupler isolation input positive end of the optocoupler isolation chip G1 from a second acquisition end IN2 through a resistor R4; a capacitor C2 is connected between the positive end and the negative end of the second optocoupler isolation input of the optocoupler isolation chip G1 in a bridging mode, meanwhile, the negative end of the second optocoupler isolation input is connected with the primary power supply ground through a resistor R5, and the negative end of the second optocoupler isolation output is connected with the OUT2 end through a resistor R6;
the first optocoupler isolation output positive end and the second optocoupler isolation output positive end of the optocoupler isolation chip G1 are connected with a secondary power supply 3.3V+.
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| CN110979753B (en) * | 2019-11-01 | 2022-09-09 | 中国科学院空天信息创新研究院 | Aerostat carries on planet sampling reentry module and retrieves experimental electrical system |
| CN111089516B (en) * | 2019-12-03 | 2021-05-18 | 北京星际荣耀空间科技股份有限公司 | Solid carrier rocket interstage separation method, device and equipment |
| CN113324445A (en) * | 2020-02-28 | 2021-08-31 | 星河动力(北京)空间科技有限公司 | Rocket rapid separation time sequence design method |
| CN111756361A (en) * | 2020-07-06 | 2020-10-09 | 北京星际荣耀空间科技有限公司 | Time scale generating circuit and time scale distributing system of multistage carrier rocket |
| CN113682499B (en) * | 2021-08-10 | 2023-03-28 | 北京空间飞行器总体设计部 | Spacecraft multi-space separation method |
| CN114727165B (en) * | 2022-06-09 | 2022-09-16 | 北京航天驭星科技有限公司 | Method and device for determining takeoff time of rocket based on telemetering data |
| CN116499321B (en) * | 2023-02-03 | 2024-01-23 | 彭昆雅 | Separation control method, device and equipment for solid binding carrier rocket booster |
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