CN110687780A - Carrier rocket rate gyro gain self-adaptive adjusting method, adjusting system and storage medium - Google Patents

Carrier rocket rate gyro gain self-adaptive adjusting method, adjusting system and storage medium Download PDF

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CN110687780A
CN110687780A CN201910966658.0A CN201910966658A CN110687780A CN 110687780 A CN110687780 A CN 110687780A CN 201910966658 A CN201910966658 A CN 201910966658A CN 110687780 A CN110687780 A CN 110687780A
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gain
rate gyro
adaptive
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adjustment
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CN110687780B (en
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钟友武
赵卫娟
徐孟晋
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Landspace Technology Co Ltd
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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
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/0205—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric not using a model or a simulator of the controlled system
    • G05B13/024—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric not using a model or a simulator of the controlled system in which a parameter or coefficient is automatically adjusted to optimise the performance

Abstract

The application provides a carrier rocket rate gyro gain self-adaptive adjusting method, an adjusting system and a storage medium. The adjusting method comprises the following steps: determining a main gain of the rate gyro; determining an adaptive gain of a rate gyro; and multiplying the main gain of the rate gyro by the self-adaptive gain to obtain the rate gyro gain of the carrier rocket. The method and the device have the advantages that the main gain and the self-adaptive gain of the rate gyro are respectively determined, and then the main gain and the self-adaptive gain of the rate gyro are multiplied to obtain the gain value of the rate gyro, so that the contradiction between the reduction of the control capability of the after-effect working section of the carrier rocket engine and the high-precision control requirement can be solved, and the problems of the thrust change and the working time deviation of the engine and the time-varying characteristic of the rocket structural mode can be adapted.

Description

Carrier rocket rate gyro gain self-adaptive adjusting method, adjusting system and storage medium
Technical Field
The application belongs to the technical field of carrier rocket control, and particularly relates to a carrier rocket rate gyro gain self-adaptive adjusting method, an adjusting system and a storage medium.
Background
In the control of the carrier rocket, the angular velocity feedback is used for improving the damping ratio of the system and improving the dynamic characteristic, is an inner loop of a control loop and plays an important role in the stability of the system. Since a launch vehicle is generally an elongated body having a relatively large length, and stability control is performed on the launch vehicle by considering not only rigid body motion characteristics but also elastic vibration characteristics, angular velocity information of the launch vehicle is generally acquired by using a rate gyro device, and an appropriate gain is designed.
The conventional rate gyro gain adjustment method generally performs interpolation according to time. For a solid commercial launch vehicle, the traditional rate gyro gain adjustment method has three challenges: firstly, the thrust of the solid rocket engine continuously changes along with the flight process, and the solid rocket engine is difficult to actively shut down; before the propellant is exhausted, a long-time after-effect working period exists, and the control capability is reduced; in order to create a better interstage separation condition, the carrier rocket has higher requirements on control precision, the problem of high-precision control under the condition of reduced control capability needs to be solved, and the gain of the rate gyro is reasonably adjusted on line; secondly, the solid rocket engine is influenced by the temperature, the burning speed, the total impulse, the specific impulse and the like of the explosive column, the working time deviation of the solid rocket engine is large, and the traditional method for performing gain interpolation according to time is not applicable any more; and thirdly, in the flight process, the weight of the rocket is continuously reduced, the structural mode is continuously changed, and the rate gyro gain also needs to be adaptively adjusted.
Disclosure of Invention
In order to overcome the problems in the related art at least to a certain extent, the application provides a carrier rocket rate gyro gain self-adaptive adjusting method, an adjusting system and a storage medium.
According to a first aspect of embodiments of the present application, there is provided a method for adaptive gain adjustment of a launch vehicle rate gyro, comprising the steps of:
determining a main gain of the rate gyro;
determining an adaptive gain of a rate gyro;
and multiplying the main gain of the rate gyro by the self-adaptive gain to obtain the rate gyro gain of the carrier rocket.
Further, the process of determining the adaptive gain of the rate gyro is as follows: determining the starting time of rate gyro gain self-adaptive adjustment and the corresponding axial overload; determining a starting time for allowing rate gyro gain to be adjusted in an adaptive manner; setting the maximum value of the self-adaptive gain of the rate gyro; and obtaining the axial overload of the carrier rocket at the current time after low-pass filtering through navigation calculation according to the starting time of the rate gyro gain self-adaptive adjustment, the axial overload corresponding to the starting time of the rate gyro gain self-adaptive adjustment and the maximum value of the rate gyro self-adaptive gain.
In one embodiment, the starting time of the rate gyro gain adaptive adjustment is set after the thrust of the engine is reduced, and the axial overload corresponding to the starting time of the rate gyro gain adaptive adjustment is smaller than the maximum axial overload of the whole flight process.
In one embodiment, the starting time of the rate gyro gain adaptive adjustment is set after the engine is pressurized and before the engine thrust is reduced, and the time is selected to ensure that the axial overload of the rocket is greater than the axial overload corresponding to the starting time of the rate gyro gain adaptive adjustment.
In one embodiment, the expression of the rate gyro adaptive gain is:
Figure BDA0002230694760000021
in the formula (I), the compound is shown in the specification,
Figure BDA0002230694760000022
representing rate gyro adaptive gain;
Figure BDA0002230694760000023
representing a rate gyro adaptive gain adjustment function;represents the maximum value of the adaptive gain of the rate gyro, an
Figure BDA0002230694760000025
t represents the flight time with the relative takeoff moment as a zero point; t is tfIndicating the starting time (taking the takeoff time as a zero point) of the rate gyro gain adaptive adjustment;
Figure BDA0002230694760000026
represents a low-pass filtered axial overload; n isxfRepresents an axial overload corresponding to the starting moment at which rate gyro gain adaptation is required, and nxf＞0。
In one embodiment, when t ≧ tfAnd is
Figure BDA0002230694760000027
In the process, the expression of the rate gyro adaptive gain adjustment function is a quadratic function of axial overload after low-pass filtering, and specifically comprises the following steps:
Figure BDA0002230694760000031
in the formula, kbfThe adaptive gain adjustment coefficients are represented by,
Figure BDA0002230694760000032
represents a low-pass filtered axial overload; n isxfRepresents an axial overload corresponding to the starting moment at which rate gyro gain adaptation is required, and nxf＞0；
Figure BDA0002230694760000034
Represents the maximum value of the adaptive gain of the rate gyro, an
Figure BDA0002230694760000035
t represents the flight time with the relative takeoff moment as a zero point; t is tfIndicating the starting time (with the takeoff time as zero) at which rate gyro gain is allowed to be adaptively adjusted.
In one embodiment, when t ≧ tfAnd is
Figure BDA0002230694760000036
And then, obtaining an expression of the rate gyro adaptive gain adjusting function through low-pass filtered exponential function fitting of axial overload, specifically:
Figure BDA0002230694760000037
wherein t represents the current time with the relative takeoff moment as a zero point; t is tfIndicating the starting time (taking the takeoff time as a zero point) of the rate gyro gain adaptive adjustment;
Figure BDA0002230694760000038
represents a low-pass filtered axial overload; n isxfRepresents an axial overload corresponding to the starting moment at which rate gyro gain adaptation is required, and nxf＞0；
Figure BDA0002230694760000039
Represents the maximum value of the adaptive gain of the rate gyro, an
Figure BDA00022306947600000310
In one embodiment, when t ≧ tfAnd is
Figure BDA00022306947600000311
While, the rate gyro adaptive gain adjustment functionThe expression of the number is obtained by fitting a polynomial more than three times of axial overload after low-pass filtering, and specifically comprises the following steps:
Figure BDA00022306947600000312
in the formula, AiAs coefficient to be fitted, AiFitting by a least square method to obtain i is 0,1,2, … n, n is a positive integer and n is more than or equal to 3;
wherein t represents the current time with the relative takeoff moment as a zero point; t is tfIndicating the starting time (taking the takeoff time as a zero point) of the rate gyro gain adaptive adjustment;
Figure BDA00022306947600000313
represents a low-pass filtered axial overload; n isxfRepresents an axial overload corresponding to the starting moment at which rate gyro gain adaptation is required, and nxf＞0。
Another aspect of the application provides a self-adaptive gain adjustment system for a launch vehicle rate gyro, comprising: the main gain determining module is used for determining the main gain of the rate gyro; the self-adaptive gain determining module is used for determining the self-adaptive gain of the rate gyro; and the product module is used for multiplying the main gain of the rate gyro with the self-adaptive gain to obtain the rate gyro gain of the carrier rocket.
In one embodiment, the adaptive gain determination module determines the adaptive gain of the rate gyro by: determining the starting time of rate gyro gain self-adaptive adjustment and the corresponding axial overload; determining a starting time for allowing rate gyro gain to be adjusted in an adaptive manner; setting the maximum value of the self-adaptive gain of the rate gyro; and obtaining the axial overload of the carrier rocket at the current time after low-pass filtering through navigation calculation according to the starting time of the rate gyro gain self-adaptive adjustment, the axial overload corresponding to the starting time of the rate gyro gain self-adaptive adjustment and the maximum value of the rate gyro self-adaptive gain.
Yet another aspect of the present application provides a storage medium storing an executable program that, when invoked, performs a launch vehicle rate gyro gain adaptive adjustment method as described above.
According to the above embodiments of the present application, at least the following advantages are obtained: the rate gyro gain self-adaptive adjusting method provided by the application obtains the gain value of the rate gyro by respectively determining the main gain and the self-adaptive gain of the rate gyro and multiplying the main gain and the self-adaptive gain of the rate gyro.
The rate gyro gain self-adaptive adjusting method can be applied to the design of a control system of a solid carrier rocket and can also be applied to the design of a control system of a liquid carrier rocket.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the scope of the invention, as claimed.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of the specification of the application, illustrate embodiments of the application and together with the description, serve to explain the principles of the application.
Fig. 1 is a flowchart of a method for adaptively adjusting a gain of a launch vehicle rate gyro provided in an embodiment of the present application.
Fig. 2 is a flowchart for determining a main gain of a rate gyro in a self-adaptive gain adjustment method for a carrier rocket rate gyro provided in an embodiment of the present application.
Fig. 3 is a flowchart for determining an adaptive gain of a rate gyro in a method for adaptively adjusting a gain of a carrier rocket rate gyro provided in an embodiment of the present application.
Detailed Description
For the purpose of promoting a clear understanding of the objects, aspects and advantages of the embodiments of the present application, reference will now be made to the accompanying drawings and detailed description, wherein like reference numerals refer to like elements throughout.
The illustrative embodiments and descriptions of the present application are provided to explain the present application and not to limit the present application. Additionally, the same or similar numbered elements/components used in the drawings and the embodiments are used to represent the same or similar parts.
As used herein, "first," "second," …, etc., are not specifically intended to mean in a sequential or chronological order, nor are they intended to limit the application, but merely to distinguish between elements or operations described in the same technical language.
With respect to directional terminology used herein, for example: up, down, left, right, front or rear, etc., are simply directions with reference to the drawings. Accordingly, the directional terminology used is intended to be illustrative and is not intended to be limiting of the present teachings.
As used herein, the terms "comprising," "including," "having," "containing," and the like are open-ended terms that mean including, but not limited to.
As used herein, "and/or" includes any and all combinations of the described items.
References to "plurality" herein include "two" and "more than two"; reference to "multiple sets" herein includes "two sets" and "more than two sets".
As used herein, the terms "substantially", "about" and the like are used to modify any slight variation in quantity or error that does not alter the nature of the variation. In general, the range of slight variations or errors that such terms modify may be 20% in some embodiments, 10% in some embodiments, 5% in some embodiments, or other values. It should be understood by those skilled in the art that the aforementioned values can be adjusted according to actual needs, and are not limited thereto.
Certain words used to describe the present application are discussed below or elsewhere in this specification to provide additional guidance to those skilled in the art in describing the present application.
As shown in fig. 1, the adaptive gain adjustment method for a launch vehicle rate gyro provided in this embodiment includes the following steps:
and S1, determining the main gain of the rate gyro to adapt to the problems of thrust change and working time deviation in the working process of the engine.
And S2, determining the self-adaptive gain of the rate gyro to adapt to the problem of the control capability reduction of the after-effect working section of the engine.
And S3, multiplying the main gain of the rate gyro by the self-adaptive gain to obtain the rate gyro gain of the carrier rocket.
In step S1, as shown in fig. 2, the specific process of determining the main gain of the rate gyro is as follows:
s11, determining the rate gyro main gain value of each characteristic second point in the carrier rocket flight process by adopting a stability analysis method according to the standard flight pathThe stability analysis method is a well-known technique in the industry, and is not described herein again.
S12, a linear interpolation table is constructed with the characteristic second points determined in step S11 as independent variables and the main gain values determined in step S11 as dependent variables.
S13, in the process of carrier rocket flying, the flying time of the carrier rocket at the current time relative to the takeoff time is obtained through navigation calculation, and linear interpolation is carried out according to the linear interpolation table formed in the step S12, so that the main gain value of the rate gyro at the current time is obtained.
In step S2, as shown in fig. 3, the specific process of determining the adaptive gain of the rate gyro is as follows:
s21, determining the starting time of self-adaptive adjustment of the rate gyro gain and the corresponding axial overload nxf(nxf> 0), the starting moment must be set at the engine pushAfter the force has dropped, an axial overload n corresponding to this starting momentxfMust be less than the maximum axial overload for the entire flight.
S22, determining the starting time t of the rate gyro gain adaptive adjustmentfThe starting time is set after the pressure build-up of the engine and before the thrust of the engine descends, and the time is selected to ensure that the axial overload of the rocket is greater than the axial overload n corresponding to the starting time needing the self-adaptive adjustment of the gain of the rate gyro after the time and before the thrust of the engine descendsxf。
S23, setting the maximum value of the self-adaptive gain of the rate gyro as
Figure BDA0002230694760000062
Wherein the content of the first and second substances,
Figure BDA0002230694760000063
s24, starting time t of self-adaptive adjustment according to allowable rate gyro gainfAxial overload n corresponding to starting time needing rate gyro gain self-adaptive adjustmentxfAnd maximum value of adaptive gain of rate gyro
Figure BDA0002230694760000071
And the axial overload of the carrier rocket at the current moment after low-pass filtering is obtained through navigation calculation
Figure BDA0002230694760000072
Obtaining rate gyro adaptive gain
Figure BDA0002230694760000073
The expression is as follows:
Figure BDA0002230694760000074
i.e. when t < tfOr
Figure BDA0002230694760000075
Time, velocity gyroscopeSpiral adaptive gain
Figure BDA0002230694760000076
Is a constant of 1.0; when t is more than or equal to tfAnd isTime rate gyro adaptive gain
Figure BDA0002230694760000078
Is composed of
Figure BDA0002230694760000079
In the formula, min (×) represents a minimum function; the rate gyro adaptive gain adjustment function may be
Figure BDA00022306947600000710
Wherein k isbfThe adaptive gain adjustment coefficients are represented by,
Figure BDA00022306947600000711
in step S2, in order to more accurately fit the aftereffect operating section of the engine, a polynomial or exponential function of more than three times of axial overload after low-pass filtering may be used to fit the rate gyro adaptive gain adjustment function
Figure BDA00022306947600000712
Is described in (1).
Exponential function:
Figure BDA00022306947600000713
or a polynomial expression:
Figure BDA00022306947600000714
wherein A isiAnd i is 0,1,2, … n, n is a positive integer and n is more than or equal to 3.
The fitting method comprises the following steps: taking n +1 design points or more, wherein,
Figure BDA00022306947600000715
in thatTake different values betweenSeparately designing adaptive gain values
Figure BDA00022306947600000718
Solving the coefficient A to be fitted in the polynomial by least square fittingi. Since the least square method is a well-known numerical method, it is not described herein.
The self-adaptive adjusting method for the carrier rocket rate gyro gain divides the carrier rocket rate gyro gain into a main gain part and a self-adaptive gain part, and the gain value of the rate gyro is determined by multiplying the main gain part and the self-adaptive gain part. The main gain is linearly interpolated with the flight time of the relative takeoff moment in the flight process, which is a common method in the field. The adaptive gain can be determined by polynomial fitting through axial overload, and the problem of reduced control capability of a post-effect working section of the engine can be adapted. The method and the device can solve the contradiction between the control capability reduction of the post-effect working section of the solid rocket engine and the high-precision control requirement, can also solve the problems of thrust variation and working time deviation of the engine, and are suitable for the time-varying characteristic of the structural mode of the carrier rocket.
The application also provides a self-adaptive gain adjusting system of the carrier rocket rate gyro, which comprises a main gain determining module, a self-adaptive gain determining module and a product module. The main gain determining module performs linear interpolation by using the flight time of the relative takeoff time in the carrier rocket flight process to obtain the main gain of the rate gyro. The adaptive gain determination module is used for determining the adaptive gain of the rate gyro. And the multiplication module multiplies the main gain of the rate gyro by the self-adaptive gain to obtain the rate gyro gain of the carrier rocket.
Further, when the main gain value of the rate gyro at the current moment is obtained by using the main gain determination module, the main gain determination module is configured to:
determining the rate gyro main gain value of each characteristic second point in the carrier rocket flying process by adopting a stability analysis method according to the standard flying track
Figure BDA0002230694760000081
Taking each characteristic second point as an independent variable, and taking the rate gyro main gain value of each characteristic second point in the carrier rocket flying processForming a linear interpolation table for the dependent variable;
and obtaining the flight time relative to the takeoff time in the flight process of the carrier rocket, and performing linear interpolation by using a linear interpolation table to obtain the main gain value of the rate gyro at the current time.
Rate gyro adaptive gain obtained by adaptive gain determination moduleIn the expression (iii), the adaptive gain determination module is configured to:
determining the starting time of self-adaptive adjustment of rate gyro gain and the corresponding axial overload nxf(nxf＞0)；
Determining a starting time t allowing adaptive adjustment of rate gyro gainf；
Setting the maximum value of the adaptive gain of the rate gyro to
Figure BDA0002230694760000084
Wherein the content of the first and second substances,
Figure BDA0002230694760000085
starting time t for self-adaptive adjustment according to allowable rate gyro gainfAxial overload n corresponding to starting time needing rate gyro gain self-adaptive adjustmentxfAnd maximum value of adaptive gain of rate gyro
Figure BDA0002230694760000086
And the axial overload of the carrier rocket at the current moment after low-pass filtering is obtained through navigation calculationObtaining rate gyro adaptive gain
Figure BDA0002230694760000088
And (5) expressing.
Wherein, the starting time of the self-adaptive adjustment of the rate gyro gain must be set after the thrust of the engine is reduced, and the axial overload nxfMust be less than the maximum axial overload for the entire flight.
Starting time t for allowing rate gyro gain to be adaptively adjustedfMust be arranged after the pressure build-up of the engine and before the thrust of the engine descends, and the selection of the moment ensures that the axial overload of the rocket is greater than the axial overload n corresponding to the starting moment of the self-adaptive regulation of the rate gyro gain after the moment and before the thrust of the engine descendsxf。
It should be noted that: the adaptive gain adjustment system for a launch vehicle rate gyro provided in the above embodiment is only illustrated by dividing the above program modules, and in practical application, the processing allocation may be completed by different program modules according to needs, that is, the internal structure of the adaptive gain adjustment system for a launch vehicle rate gyro is divided into different program modules to complete all or part of the above-described processing. In addition, the adaptive gain adjustment system for the carrier rocket rate gyro and the adaptive gain adjustment method for the carrier rocket rate gyro provided by the embodiments belong to the same concept, and specific implementation processes are detailed in the method embodiments and are not described herein again.
In an exemplary embodiment, the present application further provides a computer storage medium, which is a computer readable storage medium, for example, a memory including a computer program, which is executable by a processor to perform the steps of the adaptive gain adjustment method for a launch vehicle rate gyro.
The embodiments of the present application described above may be implemented in various hardware, software code, or a combination of both. For example, the embodiments of the present application may also be program codes for executing the above methods in a Digital Signal Processor (DSP). The present application may also relate to a variety of functions performed by a computer processor, digital signal processor, microprocessor, or Field Programmable Gate Array (FPGA). The processor described above may be configured in accordance with the present application to perform certain tasks by executing machine-readable software code or firmware code that defines certain methods disclosed herein. Software code or firmware code may be developed in different programming languages and in different formats or forms. Software code may also be compiled for different target platforms. However, different code styles, types, and languages of software code and other types of configuration code for performing tasks according to the present application do not depart from the spirit and scope of the present application.
The foregoing is merely an illustrative embodiment of the present application, and any equivalent changes and modifications made by those skilled in the art without departing from the spirit and principles of the present application shall fall within the protection scope of the present application.
The application requires priority of a chinese patent application entitled "adaptive adjustment method and adjustment system for rate gyro gain of carrier rocket" filed in 2019 on 18.06.18.7, with application number 201910525522.6, entitled blue arrow space science and technology, ltd.

Claims (11)

1. A carrier rocket rate gyro gain self-adaptive adjustment method is characterized by comprising the following steps:
determining a main gain of the rate gyro;
determining an adaptive gain of a rate gyro;
and multiplying the main gain of the rate gyro by the self-adaptive gain to obtain the rate gyro gain of the carrier rocket.
2. The launch vehicle rate gyro gain adaptive adjustment method of claim 1, wherein the process of determining the adaptive gain of the rate gyro is:
determining the starting time of rate gyro gain self-adaptive adjustment and the corresponding axial overload;
determining a starting time for allowing rate gyro gain to be adjusted in an adaptive manner;
setting the maximum value of the self-adaptive gain of the rate gyro;
and obtaining the axial overload of the carrier rocket at the current time after low-pass filtering through navigation calculation according to the starting time of the rate gyro gain self-adaptive adjustment, the axial overload corresponding to the starting time of the rate gyro gain self-adaptive adjustment and the maximum value of the rate gyro self-adaptive gain.
3. The adaptive gain adjustment method for a launch vehicle rate gyro according to claim 2, wherein the starting time at which adaptive gain adjustment for a rate gyro is required is set after the thrust of the engine is dropped, and the axial overload corresponding to the starting time at which adaptive gain adjustment for a rate gyro is required is smaller than the maximum axial overload of the entire flight process.
4. The adaptive rate gyro gain adjustment method for a launch vehicle according to claim 2, wherein the starting time of the adaptive rate gyro gain adjustment is set after the engine is pressurized and before the engine is pushed down, and the time is selected to ensure that the axial overload of the launch vehicle is greater than the axial overload corresponding to the starting time of the adaptive rate gyro gain adjustment after the time and before the engine is pushed down.
5. The launch vehicle rate gyro gain adaptive adjustment method of claim 2, characterized in that the expression of the rate gyro adaptive gain is:
in the formula (I), the compound is shown in the specification,
Figure FDA0002230694750000022
representing rate gyro adaptive gain;representing a rate gyro adaptive gain adjustment function;
Figure FDA0002230694750000024
represents the maximum value of the adaptive gain of the rate gyro, an
Figure FDA0002230694750000025
t represents the flight time with the relative takeoff moment as a zero point; t is tfIndicating the starting time (taking the takeoff time as a zero point) of the rate gyro gain adaptive adjustment;
Figure FDA0002230694750000026
represents a low-pass filtered axial overload; n isxfRepresents an axial overload corresponding to the starting moment at which rate gyro gain adaptation is required, and nxf＞0。
6. The adaptive gain adjustment method for a launch vehicle rate gyro of claim 5, wherein when t ≧ t, t isfAnd isIn the process, the expression of the rate gyro adaptive gain adjustment function is a quadratic function of axial overload after low-pass filtering, and specifically comprises the following steps:
Figure FDA0002230694750000028
in the formula, kbfThe adaptive gain adjustment coefficients are represented by,
Figure FDA0002230694750000029
Figure FDA00022306947500000210
represents a low-pass filtered axial overload; n isxfRepresents an axial overload corresponding to the starting moment at which rate gyro gain adaptation is required, and nxf＞0；
Figure FDA00022306947500000211
Represents the maximum value of the adaptive gain of the rate gyro, an
Figure FDA00022306947500000212
t represents the flight time with the relative takeoff moment as a zero point; t is tfIndicating the starting time (zero at the time of the rocket takeoff) at which rate gyro gain is allowed to be adaptively adjusted.
7. The adaptive gain adjustment method for a launch vehicle rate gyro of claim 5, wherein when t ≧ t, t isfAnd isAnd then, obtaining an expression of the rate gyro adaptive gain adjusting function through low-pass filtered exponential function fitting of axial overload, specifically:
Figure FDA00022306947500000214
wherein t represents the current time with the relative takeoff moment as a zero point; t is tfRepresenting the starting time (taking the takeoff time of the rocket as a zero point) of the rate gyro gain self-adaptive adjustment;
Figure FDA00022306947500000215
represents a low-pass filtered axial overload; n isxfRepresents an axial overload corresponding to the starting moment at which rate gyro gain adaptation is required, and nxf＞0；Represents the maximum value of the adaptive gain of the rate gyro, an
Figure FDA00022306947500000217
8. The adaptive gain adjustment method for a launch vehicle rate gyro of claim 5, wherein when t ≧ t, t isfAnd isAnd then, obtaining an expression of the rate gyro adaptive gain adjusting function through polynomial fitting of more than three times of axial overload after low-pass filtering, specifically:
Figure FDA0002230694750000031
in the formula, AiAs coefficient to be fitted, AiFitting by a least square method to obtain i is 0,1,2, … n, n is a positive integer and n is more than or equal to 3;
wherein t represents the current time with the relative takeoff moment as a zero point; t is tfIndicating the starting time (taking the takeoff time as a zero point) of the rate gyro gain adaptive adjustment; n isxRepresents a low-pass filtered axial overload; n isxfRepresents an axial overload corresponding to the starting moment at which rate gyro gain adaptation is required, and nxf＞0。
9. A self-adaptive gain adjustment system for a carrier rocket rate gyro is characterized by comprising the following components:
the main gain determining module is used for determining the main gain of the rate gyro;
the self-adaptive gain determining module is used for determining the self-adaptive gain of the rate gyro;
and the product module is used for multiplying the main gain of the rate gyro with the self-adaptive gain to obtain the rate gyro gain of the carrier rocket.
10. The adaptive launch vehicle rate gyro gain adjustment system of claim 9,
the process of determining the self-adaptive gain of the rate gyro by the self-adaptive gain determination module is as follows:
determining the starting time of rate gyro gain self-adaptive adjustment and the corresponding axial overload;
determining a starting time for allowing rate gyro gain to be adjusted in an adaptive manner;
setting the maximum value of the self-adaptive gain of the rate gyro;
and obtaining the axial overload of the carrier rocket at the current time after low-pass filtering through navigation calculation according to the starting time of the rate gyro gain self-adaptive adjustment, the axial overload corresponding to the starting time of the rate gyro gain self-adaptive adjustment and the maximum value of the rate gyro self-adaptive gain.
11. A storage medium storing an executable program which, when called, executes the launch vehicle rate gyro gain adaptive adjustment method according to any one of claims 1 to 8.
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