CN110297495A - A kind of built-in type sky penetrates compound attitude control method before the penetrating of rocket - Google Patents
A kind of built-in type sky penetrates compound attitude control method before the penetrating of rocket Download PDFInfo
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- CN110297495A CN110297495A CN201810245677.XA CN201810245677A CN110297495A CN 110297495 A CN110297495 A CN 110297495A CN 201810245677 A CN201810245677 A CN 201810245677A CN 110297495 A CN110297495 A CN 110297495A
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- 238000000034 method Methods 0.000 title claims abstract description 19
- 230000000149 penetrating effect Effects 0.000 title claims abstract description 12
- 150000001875 compounds Chemical class 0.000 title claims description 7
- 238000000926 separation method Methods 0.000 claims abstract description 7
- 238000005507 spraying Methods 0.000 claims description 8
- 230000000694 effects Effects 0.000 claims description 7
- 238000010304 firing Methods 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000006073 displacement reaction Methods 0.000 claims 2
- 239000002131 composite material Substances 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000002347 injection Methods 0.000 description 2
- 239000007924 injection Substances 0.000 description 2
- 241000580063 Ipomopsis rubra Species 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
- G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Toys (AREA)
- Aerodynamic Tests, Hydrodynamic Tests, Wind Tunnels, And Water Tanks (AREA)
Abstract
The present invention provides what a kind of built-in type sky penetrated rocket to penetrate preceding posture composite control method, the specific method is as follows: carrying out complex controll using drogue and control of the reactive force ring, drogue is connect by bracket with rocket body, and control of the reactive force ring is located at rocket body tail portion and is connected with bracket.After rrow machine separation, opened loop control is first carried out by drogue, but since the influence of upper air current, rocket body cannot be adjusted accurately to targeted attitude, RCS control ring is needed to intervene.Equipment issues control instruction according to rocket body posture on arrow, and control ring is controlled accordingly after receiving instruction.After rocket body pose adjustment to targeted attitude, drogue, bracket and control ring fall off together, separate with rocket body.The invention belongs to control fields, it is therefore an objective to which provide that a kind of built-in type sky penetrates rocket penetrates preceding Scheme of Attitude Control, carries out complex controll to penetrating rocket in the sky without control section using complex controll means, adjusts rocket body posture fast and stable to optimum igniting posture.
Description
Technical field
The present invention relates to rocket gesture stability fields, and the one kind used in rocket gesture stability is especially penetrated in built-in type sky
Penetrate preceding posture composite control method.
Background technique
Built-in type sky, which penetrates rocket, has the characteristics that transmitting is hidden, payload is adaptable, body requests for alternations is low, therefore
It is the aerial emergency radiation pattern of most Military Application potentiality.Due to the spy of rrow machine separation process in built-in type air-launched mode
Different property, so that rocket has biggish rate of pitch after going out cabin, and needs to consider carrier aircraft safety, rocket needs are leaving carrier aircraft one
It lights a fire and emits after set a distance.And in separation process, it is separated to rocket main engine ignition from rrow machine, rocket rocket body is in no control
Free flight phasel, there is rotational angular velocity in multiple degrees of freedom in rocket body posture, it is therefore desirable to using auxiliary attitude stabilization with
Control means, to obtain suitable engine ignition opportunity.On the other hand, delivery of the attitude error before rocket firing to rocket
Capacity is very big, and firing attitude decides transmitting success or failure and the orbit injection accuracy of payload.And the one of built-in type carrier rocket
Grade flight there are initial attitude adjustment and the problems such as high-angle-of-attack flight, how to guarantee rocket body posture before lighting a fire it is quick, stablize control
System makes rocket quickly and reliably enter optimal trajectory under the premise of not influencing carrying capacity, becomes and restricts built-in type sky
One of the major technology bottleneck of middle lift-off technology.
In the prior art, the different preceding attitude control methods of penetrating for penetrating rocket for built-in type sky are respectively present control effect
The problem of rate controls precision, realizes difficulty etc..Such as the pure drogue control method that U.S. QuickReach is used, due to
It is opened loop control, although control purpose can be realized substantially, the height of rocket and speed loss are larger, and opened loop control can be led
Cause control precision lower；The control program of " drogue+platform " involved in the ALSET plan of Japan, although reducing open loop
Bring adverse effect is controlled, but platform and flywheel still transmit the effect of rocket body by rope, this will certainly just lead
Cause control efficiency decline and control precision insufficient, and anti-interference ability is obviously insufficient in the case where there is beam wind；And pure reaction
Force control method, " although can solve problem involved in drogue control method, to be implemented separately using RCS to arrow
The control of body, difficulty is big, and the control design case in device layout and entire dropping process is excessively complicated.
In the prior art, the composite control method of " drogue+platform " is that control system is reduced using the advantage of drogue
System design difficulty, mentions high control precision using platform.Can the complex controll inwardly, then an extension is done, using " stablizing
The complex method of umbrella+RCS " is adjusted posture before the penetrating of rocket body, and drogue can help rocket body to go out cabin, and to solving to control
The control problem of leading portion processed carries out side-jet control using RCS, control efficiency is high, resists when rocket body posture is close to perfect condition
Interference performance is strong, can allow rocket body that secondary attitude rectification is rapidly completed, and reduces height and speed loss.
Summary of the invention
The object of the present invention is to provide a kind of built-in type skies to penetrate compound attitude control scheme before the penetrating of rocket, and may be implemented interior
What dress formula sky penetrated rocket penetrates preceding gesture stability, stablizes rocket body and rapidly reaches optimum igniting posture, promote control efficiency, improves
Precision is controlled, height velocity's loss of rocket body is reduced, rocket is helped to rapidly enter planned orbit.
Basic ideas of the invention are to be penetrated using drogue to sky before rocket is penetrated after posture progress substantially adjustment, then use
RCS control ring carries out secondary adjustment, realizes the second-order correction to rocket body posture, rocket body pose adjustment precision is improved, to be promoted
Reliability of lighting a fire and orbit injection accuracy.
To achieve the above object, the sky that the present invention designs penetrates posture composite control method before rocket is penetrated and realizes steps are as follows institute
Show:
(1) RCS control ring is connected with rocket body after the assembly is completed, then bracket and rocket body and RCS control ring is connected, most
Drogue is connect by connection buckle with the control rope on bracket afterwards.
(2) after rrow machine separation, first rocket body is stablized by drogue, and slow down rocket body whereabouts.Simultaneously using control rope and
The effect of bracket, locking rocket body while obtaining a relatively reasonable rocket posture in the freedom degree of roll channel.
(3) in dropping process, since there are the influences of upper air current, cause rocket body in the work of bracket and drogue control
Under, cannot accurately it adjust to ideal predetermined posture, but only rocket body posture can not further be repaired by this stream oriented device
Just, RCS control ring starts to intervene control at this time.
(4) rocket body posture is judged using equipment on arrow, while is compared analysis with predetermined posture, obtain pitching
The specific deviation of channel and jaw channel.
(5) according to specific pitching and yaw deviation, attitude rectification control force and power needed for eliminating deviation are obtained
Action direction, and control instruction is sent to RCS control ring.
(6) after RCS control ring receives control instruction, start the motor on right angle fan outer ring, by transmission gear and interior
Guide rail on ring adjusts the spout of side-spraying device to control position.
(7) side-spraying device carries out control of the reactive force, is modified to rocket body posture.Again by equipment on arrow to revised
Rocket body posture is judged, until correcting to perfect condition
(8) after rocket body posture reaches predetermined posture, the springlock of RCS control ring is disconnected, semi-ring 1 and bracket and drogue
It is separated together with rocket body, semi-ring 2 leaves rocket body using the thrust of springlock, avoids generating collision, then free-falling with rocket body.
(9) it completes before penetrating after attitude-control device separation, rocket emits in predetermined posture down-firing.
The present invention penetrates being the advantages of penetrating preceding compound attitude control scheme for rocket for built-in type sky: penetrating for built-in type sky
Rocket provides posture compound control scheme before one kind is penetrated.Devise the composite control method of " drogue+RCS ", realization pair
Sky penetrates secondary adjustment and the attitude rectification of rocket rocket body, promotes attitude control accuracy.RCS control ring is devised, by directly adjusting
Whole nozzle location realizes side-jet control, improves control efficiency, improves RCS control ability (with the phase that is connected under the conditions of
Than).Sky can be made to penetrate rocket when reasonable height is with position by the cooperation control of drogue and RCS control ring, rocket body reaches
To optimal predetermined ignition posture, the drogue control insufficient defect of precision is improved, RCS control difficulty is reduced, takes into account
The control efficiency and control precision and concept feasible of gesture stability.
Detailed description of the invention
Fig. 1 is the compound control scheme general illustration that built-in type sky of the present invention penetrates posture before rocket is penetrated.
Fig. 2 is the inner ring structural schematic diagram of RCS control ring in the present invention.
Fig. 3 is the right angle fan outer ring structure schematic diagram of RCS control ring in the present invention.
Claims (4)
1. a kind of built-in type sky penetrates compound attitude control method before the penetrating of rocket, which is characterized in that method includes the following steps:
(1) RCS control ring is connected with rocket body after the assembly is completed, then bracket and rocket body and RCS control ring is connected, finally will
Drogue is connect by connection buckle with the control rope on bracket.
(2) after rrow machine separation, first rocket body is stablized by drogue, and slow down rocket body whereabouts.Control rope and bracket are utilized simultaneously
Effect, locking rocket body while obtaining a relatively reasonable rocket posture in the freedom degree of roll channel.
(3) in dropping process, since there are the influences of upper air current, cause rocket body in the effect of bracket and drogue control
Under, it cannot accurately adjust to ideal predetermined posture, but only rocket body posture can not further be corrected by this stream oriented device,
RCS control ring starts to intervene control at this time.
(4) rocket body posture is judged using equipment on arrow, while is compared analysis with predetermined posture, obtain pitch channel
And the specific deviation of jaw channel.
(5) according to specific pitching and yaw deviation, the work of attitude rectification control force needed for eliminating deviation and power is obtained
With direction, and control instruction is sent to RCS control ring.
(6) after RCS control ring receives control instruction, start the motor on right angle fan outer ring, by transmission gear and inner ring
Guide rail by the spout of side-spraying device adjust to control position.
(7) side-spraying device carries out control of the reactive force, is modified to rocket body posture.Again by equipment on arrow to revised rocket body
Posture is judged, until correcting to perfect condition
(8) after rocket body posture reaches predetermined posture, the springlock of RCS control ring is disconnected, and semi-ring 1 and bracket and drogue are together
It is separated with rocket body, semi-ring 2 leaves rocket body using the thrust of springlock, avoids generating collision, then free-falling with rocket body.
(9) it completes before penetrating after attitude-control device separation, rocket emits in predetermined posture down-firing.
2. RCS control ring according to claim 1, which is characterized in that RCS control ring includes inner ring and right angle fan outer ring
Two parts, while dress is mounted as a whole on rocket body tail portion there are two right angle fan outer ring altogether in inner ring, can be by right angle fan outside
The rotation of ring adjusts side-spraying device position, to realize control of the reactive force, to the deviation of rocket body pitching and jaw channel into
Row amendment.
3. right angle fan outer ring according to claim 1, which is characterized in that right angle fan outer ring include side-spraying device and
Motor, side-spraying device are cold air Lateral jet, are installed on outer ring both ends, by control of the reactive force rocket body posture, motor is installed on
Outer ring midpoint, upper part extend a transmission gear outside and are connected with the upper rail of inner ring, provide needed for outer ring adjustment position
Power, outer ring lower guide are connected with inner ring lower guideway, to stablize inner and outer ring connection, while by guide rail, by outer ring activity
Angle is limited within 90 degree.
4. inner ring according to claim 1, which is characterized in that inner ring is that two semicircles are connected shape by four springlocks
At close ring, upper and lower two guide rails aligned with each other are housed on each semicircle, angle is all 90 degree, outer ring by this guide rail with
Inner ring connection, and upper rail is equipped with displacement sensor, to obtain outer ring displacement information.Outer encirclement in inner ring simultaneously is by outer ring
It is wrapped in inboard, intermediate gap works for side-spraying device spout and uses.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810245677.XA CN110297495A (en) | 2018-03-23 | 2018-03-23 | A kind of built-in type sky penetrates compound attitude control method before the penetrating of rocket |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810245677.XA CN110297495A (en) | 2018-03-23 | 2018-03-23 | A kind of built-in type sky penetrates compound attitude control method before the penetrating of rocket |
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| CN110297495A true CN110297495A (en) | 2019-10-01 |
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| CN201810245677.XA Pending CN110297495A (en) | 2018-03-23 | 2018-03-23 | A kind of built-in type sky penetrates compound attitude control method before the penetrating of rocket |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114326763A (en) * | 2021-11-26 | 2022-04-12 | 中国人民解放军战略支援部队航天工程大学 | Carrier rocket pre-launching attitude control method and device, electronic equipment and storage medium |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1136522A (en) * | 1995-05-22 | 1996-11-27 | 赵增光 | High safety rotary wing aviation craft |
| JP2014091413A (en) * | 2012-11-02 | 2014-05-19 | Ihi Aerospace Co Ltd | Launching azimuth control device of air-launching system |
| CN104898680A (en) * | 2015-05-04 | 2015-09-09 | 湖北航天技术研究院总体设计所 | Solid carrier rocket attitude control method based on solid variable-jet-direction jet engine |
| CN106444807A (en) * | 2016-09-29 | 2017-02-22 | 湖北航天技术研究院总体设计所 | Compound attitude control method of grid rudder and lateral jet |
| CN110837259A (en) * | 2018-08-16 | 2020-02-25 | 中国人民解放军战略支援部队航天工程大学 | Composite control scheme of built-in type air-launched rocket pre-launching attitude pitching channel |
-
2018
- 2018-03-23 CN CN201810245677.XA patent/CN110297495A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1136522A (en) * | 1995-05-22 | 1996-11-27 | 赵增光 | High safety rotary wing aviation craft |
| JP2014091413A (en) * | 2012-11-02 | 2014-05-19 | Ihi Aerospace Co Ltd | Launching azimuth control device of air-launching system |
| CN104898680A (en) * | 2015-05-04 | 2015-09-09 | 湖北航天技术研究院总体设计所 | Solid carrier rocket attitude control method based on solid variable-jet-direction jet engine |
| CN106444807A (en) * | 2016-09-29 | 2017-02-22 | 湖北航天技术研究院总体设计所 | Compound attitude control method of grid rudder and lateral jet |
| CN110837259A (en) * | 2018-08-16 | 2020-02-25 | 中国人民解放军战略支援部队航天工程大学 | Composite control scheme of built-in type air-launched rocket pre-launching attitude pitching channel |
Non-Patent Citations (1)
| Title |
|---|
| 常立平等: "内装式空射火箭发射前姿态控制方法研究", 《科学技术与工程》, vol. 12, no. 9, pages 2100 - 2104 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114326763A (en) * | 2021-11-26 | 2022-04-12 | 中国人民解放军战略支援部队航天工程大学 | Carrier rocket pre-launching attitude control method and device, electronic equipment and storage medium |
| CN114326763B (en) * | 2021-11-26 | 2022-11-25 | 中国人民解放军战略支援部队航天工程大学 | Carrier rocket pre-launching attitude control method and device, electronic equipment and storage medium |
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