CN111207630A

CN111207630A - Rocket flight attitude control method

Info

Publication number: CN111207630A
Application number: CN202010027719.XA
Authority: CN
Inventors: 杨瑞康; 宣智超; 韩建业; 刘林峰; 袁宇
Original assignee: Landspace Technology Co Ltd
Current assignee: Landspace Technology Co Ltd
Priority date: 2020-01-10
Filing date: 2020-01-10
Publication date: 2020-05-29
Anticipated expiration: 2040-01-10
Also published as: CN111207630B

Abstract

The invention discloses a rocket flight attitude control method, which comprises the following steps: acquiring a pre-deflection angle of a rocket tail wing; calculating the actuating degree of the actuator according to the pre-deflection angle; the actuator controls the tail wing to deflect to a preset angle according to the actuating degree. The tail wing is driven by the actuator to deflect by a corresponding angle, so that the tail wing can be adjusted under the condition that the original rocket or power tail cabin is not subjected to overlarge system change, and the tail wing is controlled to adjust the trajectory in the atmosphere in the launching process.

Description

Rocket flight attitude control method

Technical Field

The invention relates to the technical field of aerospace, in particular to a rocket flight attitude control method.

Background

In order to control the flight of the rocket, a tail wing can be arranged on the rocket body or the projectile body, for example, the tail wing can be arranged on a power tail cabin of the rocket and used together with the rocket body in the first-stage separation and the second-stage separation of the rocket. In the process of rocket flight, the two stages can relate to tail wing posture adjustment, wherein firstly, the rocket needs to be adjusted in posture through the tail wing to enter a preset orbit in the ascending section at the beginning of rocket launching, and secondly, the rocket needs to be adjusted in posture through the tail wing to fly back to a preset landing point in the primary recovery of the recoverable rocket. At present, two methods for adjusting the posture are mainly used, one method is realized by swinging of an engine, and the thrust of the engine is not along the axial direction of an arrow body in such a way, so that the thrust loss is caused. The other is to adjust the attitude by an additional small attitude control engine system, so more system structures are needed, and the lifting of the overall transport capacity of the rocket is not facilitated.

At present, the mainstream liquid rockets and solid rockets at home and abroad mostly adopt a mode of increasing empennages to stabilize rocket bodies, namely 4 empennages are symmetrically added on the tail section of the rocket to enhance the stability of the rocket in flight, but the method needs to greatly increase parts.

In view of this, a rocket flight attitude control method with high controllability without greatly increasing the number of parts is needed.

Disclosure of Invention

Aiming at the technical problems in the related art, the invention provides a rocket flight attitude control method which can improve the stability of a rocket in flight so as to improve the controllability and the transport capacity of a rocket body.

One aspect of the present invention provides a rocket flight attitude control method, including: acquiring a pre-deflection angle of a rocket tail wing; calculating the actuating degree of the actuator according to the pre-deflection angle; the actuator controls the tail wing to deflect to a preset angle according to the actuating degree.

In one embodiment, calculating the degree of actuation of the actuator from the pre-deflection angle comprises: and calculating the transverse displacement distance of the empennage through trigonometric function relation according to the pre-deflection angle.

In one embodiment, the actuator controls the deflection of the tail wing through the adjusting device, and the same side of the tail wing is provided with a control shaft and a rotating shaft; the adjusting device controls the first end of the tail wing, which is far away from the tail cabin section, to move by a transverse displacement distance through the control shaft, and the second end of the tail wing, which is close to the tail cabin section, is matched with the first end to rotate in situ through the rotating shaft.

In one embodiment, further comprising: and calculating the swimming displacement distance of the control shaft in the channel through the channel function and the transverse displacement distance of the sliding part of the adjusting device, wherein the control shaft is used for converting the movement in the channel into the transverse movement of the tail wing.

In one embodiment, the channel function of the slider is a straight or curved function extending from a center point of the slider to each of two opposite corners of the slider.

In one embodiment, the channel function of the slider is two tangent parabolic functions, extending from the center point of the slider to two opposite corners thereof.

In one embodiment, calculating the degree of actuation of the actuator from the pre-deflection angle further comprises: the connecting rod is driven by the gear and fixedly connected to the sliding part, and the rotation angle of the gear thread insert is calculated according to the thread pitch and the traveling displacement distance of the gear.

In one embodiment, the actuator controlling the tail wing to deflect to the predetermined angle in accordance with the actuation degree comprises: through the gear ratio of gear and the degree of actuating of gear swivel nut turned angle calculation actuator, including turned angle and direction of rotation, the actuator is according to actuating degree control fin and deflecting to predetermined angle and include: the actuator acts according to the rotation angle and the rotation direction to control the deflection of the tail wing to a preset angle.

In one embodiment, further comprising: the four tail wings are respectively connected to the actuators and simultaneously control the deflection of the four tail wings so as to adjust the rolling direction of the rocket; and simultaneously controlling the deflection of the two tail wings at opposite angles to adjust the sailing direction of the rocket.

In one embodiment, the actuator is a servo motor control module or a hydraulic control module.

According to the rocket flight attitude control method provided by the embodiment of the invention, the tail wing is driven by the actuator to deflect a corresponding angle, so that the tail wing can be adjusted under the condition that the original rocket or power tail cabin does not undergo excessive system change, the tail wing is further controlled to adjust the trajectory in the atmosphere in the launching process, the condition that the thrust direction caused by the swing of the engine is inconsistent with the axis direction of the rocket body can be avoided, all thrust of the engine can be used for accelerating the rocket body, and the carrying capacity of the rocket body is improved.

Those skilled in the art will recognize additional features and advantages upon reading the detailed description, and upon viewing the accompanying drawings.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

FIG. 1 is a schematic diagram of a rocket attitude control method according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a rocket configuration according to an embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a power tail compartment according to an embodiment of the invention

Fig. 4 is a schematic structural diagram of an adjusting device according to an embodiment of the present invention.

Description of reference numerals:

100-tail cabin section, 200-tail wing, 300-matching structure, 400-adjusting device, 500-actuator, 301-control shaft, 302-rotating shaft, 401-sliding part, 402-limiting component, 403-channel, 404-connecting rod, 405-gear, 406-reinforcing rib.

Detailed Description

Features and exemplary embodiments of various aspects of the present invention will be described in detail below, and in order to make objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not to be construed as limiting the invention, for the purposes of illustrating the principles of the invention. Additionally, the components in the drawings are not necessarily to scale. For example, the dimensions of some of the elements or regions in the figures may be exaggerated relative to other elements or regions to help improve understanding of embodiments of the present invention.

The directional terms used in the following description are used in the illustrated directions, and do not limit the specific configurations of the embodiments of the present invention. In the description of the present invention, it should be noted that, unless otherwise specified, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally connected; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present invention can be understood as appropriate to those of ordinary skill in the art.

Furthermore, the terms "comprises," "comprising," "includes," "including," "has," "having" or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a structure or component comprising a list of elements does not include only those elements but may include other mechanical components not expressly listed or inherent to such structure or component. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of additional like elements in the article or device comprising the element.

Spatially relative terms such as "below," "… below," "lower," "above," "… above," "upper," and the like are used for convenience in describing the positioning of one element relative to a second element and are intended to encompass different orientations of the device in addition to different orientations than those illustrated in the figures. Further, for example, the phrase "one element is over/under another element" may mean that the two elements are in direct contact, or that there is another element between the two elements. Furthermore, terms such as "first", "second", and the like, are also used to describe various elements, regions, sections, etc. and should not be taken as limiting. Like terms refer to like elements throughout the description.

It will be apparent to one skilled in the art that the present invention may be practiced without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the present invention by illustrating examples of the present invention.

Fig. 1 shows a schematic view of a rocket attitude control method according to an embodiment of the present invention, fig. 2 shows a schematic view of a rocket according to an embodiment of the present invention, fig. 3 shows a schematic view of a power pod according to an embodiment of the present invention, and fig. 4 shows a schematic view of an adjusting device according to an embodiment of the present invention.

As shown in fig. 1, the rocket flight attitude control method according to the embodiment of the present invention first obtains the pre-deflection angle of the rocket tail 200, and calculates the actuation degree of the actuator 500 according to the pre-deflection angle; the actuator 500 controls the tail wing 200 to be deflected to a predetermined angle according to the actuation degree.

The actuator 500 is configured to receive the command of the upper stage, calculate the actuating degree of the actuator 500 through the pre-deflection angle, provide a certain angle for the power control tail wing 200 to deflect, and stabilize the stability of the whole power plant without obviously increasing the system components through the control of the tail wing 200 of the power control tail cabin.

As shown in fig. 3, the power tail compartment includes: a tail section 100 having a cylindrical configuration; a tail wing 200 connected to the outside of the tail section 100 by a fitting structure 300; the adjusting device 400 is fixed on the inner side of the tail cabin section 100 and is connected with the matching structure 300 in a sliding manner; and an actuator 500 for providing power to control the sliding of the adjusting device 400 and the driving of the fitting structure 300 to control the deflection of the rear wing 200.

The actuator 500 is configured to receive a command from a higher level to provide power to control the sliding of the adjusting device 400, so as to bring the fitting structure 300 to deflect the tail wing 200 at a certain angle, and the stability of the whole power plant can be stabilized without obviously increasing the system components through the control of the tail wing 200 of the power tail cabin. In the embodiment of the invention, the pre-deflection angle of the rocket tail wing 200 is acquired, and the small circuit system can control the large tail wing 200 to a preset angle by adopting the cooperation of the actuator 500 and the adjusting device 400.

As shown in fig. 2, the power tail capsule may be combined with a rocket to form a tail controllable power plant. The adjusting device 400 is matched with the actuator 500 to drive the tail wing 200 to deflect a corresponding angle, so that the tail wing 200 can be adjusted to control the tail wing to adjust a trajectory in the atmosphere in the launching process under the condition that the original rocket or power tail cabin is not subjected to overlarge system change, the situation that the thrust direction caused by the swing of the engine is inconsistent with the axis direction of the rocket body can be avoided, all thrust of the engine can be used for accelerating the rocket body, and the carrying capacity of the whole rocket body can be improved. In the process of recovering the rocket, the falling point of the rocket body can be controlled by controlling the direction of the tail wing 200, the acting time of an engine in the rocket is reduced, and therefore more propellants can be left to recover the first-stage rocket body.

In one embodiment, the rocket attitude control method is generally applied to controlling the angle of the tail wing 200 to make the rocket fly along a given orbit when the rocket is in a launching state in the atmosphere; when the rocket is in a recovery state, after the first-sub stage separation of the rocket, the angle of the tail wing 200 is controlled to enable the rocket to be dropped at a set drop point. The rocket with the tail wing 200 needs to adjust the posture of the rocket to enter a preset orbit in the ascending section of launching, and the tail wing 200 of the power tail cabin section controls the rocket to fly along the preset orbit. When the rocket is in a recovery state, the falling speed of the rocket can be reduced by utilizing the built-in parachute in the first-stage separation of the rocket, and the flight attitude of the rocket is controlled by the empennage 200 of the power tail cabin section to enable the rocket to land at a set position.

In one embodiment, four tail wings 200 in the rocket attitude control method are provided, and each adjusting device 400 is connected to the actuator 500, and the deflection of the four tail wings 200 is controlled to adjust the rolling direction of the rocket; while controlling the deflection of the two tail wings 200 of the opposite corner to adjust the traveling direction of the rocket. By respectively controlling the four tail wings 200, the rocket can roll or adjust in different directions in the flying or landing process, the working time of an engine in the rocket is reduced, and the recovery of a sub-stage rocket can be realized by using more residual propellants.

As shown in fig. 3, a fitting structure 300 in the rocket attitude control method in the embodiment of the present invention includes: the control shaft 301 and the rotation shaft 302 are located on the same side of the empennage 200, the control shaft 301 is movably connected to the adjusting device 400 through the wall surface of the power tail compartment, and the rotation shaft 302 is rotatably connected to the wall surface of the power tail compartment. Calculating the transverse displacement distance of the empennage 200 through a trigonometric function relation according to the pre-deflection angle; the adjusting device 400 controls the transverse displacement distance of the tail wing 200 away from the first end of the tail cabin section through the control shaft 301 of the tail wing 200, and the adjusting device 200 is rotatably connected with the second end of the tail wing 200 close to the tail cabin section through the rotating shaft 302 and is matched with the first end to rotate in situ. Note that, in order to connect the control shaft 301 and the rotary shaft 302 to the tail wing 200 tightly, the two are welded. In the practical application process, in order to make the connection between the control shaft 301, the rotating shaft 302 and the tail wing 200 more compact and firm, the two may be designed to be integrally formed, and the process will not be described herein.

In the present embodiment, the control shaft 301 needs to penetrate the wall surface of the power tail compartment and extend into the adjustment device 400, and the rotating shaft 302 may penetrate the wall surface of the power tail compartment or may not penetrate the wall surface of the power tail compartment, and it is sufficient that the rotating shaft 302 is fixed and can rotate about its own axis. If disposed through the wall of the power pod, a mating ring may be mounted on the end of the rotating shaft 302 extending out of the wall to secure the rotating shaft 302. Specifically, the rotating shaft 302 may be provided in two or more, each being provided above or below the control shaft 301, and the stability of the connection of the rear wing 200 can be increased by the two or more rotating shafts 302.

In one embodiment, the adjusting device 400 in the rocket attitude control method in the embodiment of the present invention includes: a sliding member 401, the sliding member 401 being provided with a channel 403 adjacent to the surface of the tail wing 200, the control shaft 301 extending through the wall of the power pod to the channel 403. The slider 401 may be a rectangular structure including channels 403 diagonally disposed through the rectangular structure. The sliding member 401 moves up and down along a predetermined track, and the diagonally disposed slot 403 drives the control shaft 301 to deflect in the left-right direction, thereby converting the vertical force of the adjusting device 400 into the left-right deflection of the tail wing 200. The moving displacement distance of the control shaft 301 in the channel 403 is calculated by the channel function of the sliding part 401 of the adjusting device 400 and the transverse displacement distance, and the control shaft 301 moves up and down in the channel 403 and is converted into the transverse movement of the tail wing 200.

Specifically, the channel 403 of the sliding member 401 is a straight line or a curved line, and extends from the center point of the sliding member 401 to two opposite corners thereof, respectively. The linear equation is x ay, and the parameter a can be adjusted through experiments and calculation, so that the steering sensitivity of the tail wing 200 is controlled. The curve equation may be any one of curve equations, and the curve can extend through the center point of the sliding member 401 to any two opposite corners. As shown in fig. 4, in the present embodiment, the channel 403 of the sliding member 401 is two tangent parabolas, and extends from the center point of the sliding member 401 to two opposite corners thereof. The curve equation is x ay²(y＞0),x＝ ay²(y is less than 0), the parameter a can be adjusted through experiments and calculation, and the sensitivity of controlling the steering of the tail wing 200 can be realized. The central point of the sliding part 401 starts to move, the small stroke is low sensitivity, and the large stroke is high sensitivity, so that the effect of taking both the small stroke and the large stroke into consideration is realized.

In an embodiment, the adjusting device 400 in the rocket attitude control method in the embodiment of the present invention further includes: and the limiting assemblies 402 are fixed on the inner wall surface of the tail cabin section, and limit the sliding piece 401 to move up and down between the limiting assemblies 402 without falling off. The two limiting assemblies 402 are generally arranged, the sliding piece 401 is clamped by limiting left and right, vibration feedback and lateral force which are applied to the empennage 200 by high-speed airflow and transmitted to the sliding piece 401 can be borne, the problem of stability in rocket flight is solved, and meanwhile the stability of the empennage 200 is effectively guaranteed by the matching of the control shaft 301 and the sliding piece 401.

In an embodiment, the adjusting device 400 in the rocket attitude control method in the embodiment of the present invention further includes: a connecting rod 404 fixedly connected to the slider 403; and the gear 405 is electrically connected to the actuator 500, and the actuator 500 drives the gear 405 to drive the connecting rod 404 to move up and down. The central position of the gear 405 is fixedly connected with the connecting rod 404, and the actuator 500 provides a rotating force to the gear 405, so that the connecting rod 404 is driven to move up and down, and the sliding part 401 connected with the connecting rod 404 also moves up and down.

Specifically, the gear 405 drives the connecting rod 404, the connecting rod 404 is fixedly connected to the sliding part 403, and the rotation angle of the gear thread insert is calculated according to the thread pitch and the traveling displacement distance of the gear 405. The degree of the actuator 500, including the rotation angle and the rotation direction, is calculated by the gear ratio of the gear 405 and the rotation angle of the gear insert, and the tail wing 200 is controlled to deflect to a predetermined angle.

The rocket flight attitude control method of the embodiment of the invention specifically comprises the following steps of calculating the transverse displacement distance La of the empennage 200 through a trigonometric function relation according to the pre-deflection angle A, calculating the rotation angle α 1 of the gear screw sleeve through the function of the groove 403 of the sliding piece 401 and the transverse displacement distance La, and calculating the rotation angle α 2 of the actuator 500 through the gear ratio b of the gear 405 and the rotation angle α 1 of the gear screw sleeve, wherein as shown in FIG. 3, the axial distance of the sliding block 401 is Ld, and the method is substituted into the formula (1) according to the pre-deflection angle A:

tan A＝La/Ld (1)

the lateral displacement distance La of the tail 200 relative to the slider 401 is calculated, and if the slot 403 of the slider 401 is a function of two tangent parabolic curves, the lateral displacement distance La is substituted into x in formula (2):

x＝ay²(y>0)

x＝ay²(y<0) (2)

solving the moving displacement distance y of the tail wing 200 relative to the sliding part 401, namely Mx., according to the thread pitch p of the gear 405, the rotating direction of the gear thread insert and the rotating angle α 1 of the gear thread insert can be calculated through the moving displacement distance Mx, and the moving displacement distance y and the rotating angle p are substituted into the formula (3):

Mx＝p×α1 (3)

the gear ratio b of the gear 405 and the gear insert rotation angle α 1 are used to calculate the rotation angle α 0 of the actuator 500, and the calculation is substituted into the formula (4):

α0/α1＝b (4)

thereby obtaining the required rotation angle α 0 of the actuator 500, and thus controlling the actuator with the corresponding control quantity for the actuator 500.

In one embodiment, the actuator 500 in the rocket attitude control method according to the embodiment of the present invention is a servo motor control module or a hydraulic control module, and may be a device module capable of providing power to the adjusting device 400. The servo motor control module or the hydraulic control module receives a control command of a superior level, and can provide a force for forward rotation or reverse rotation of the gear 405, and a time length and a speed for rotation of the gear 405, so as to drive the connecting rod 404 to accurately control the position of the sliding part 401, and accurately control a rotation angle of the tail wing 200 through the groove 403 on the sliding part 401.

In an embodiment, the adjusting device 400 in the rocket attitude control method in the embodiment of the present invention further includes: and the reinforcing ribs 406 are arranged on two sides of the limiting assembly 402 away from the sliding piece 401. To avoid excessive force exerted by the slider 401 on the stop assembly 402, resulting in damage to the stop assembly 402. The ribs 406 may be triangular blocks, with one or more ribs 406 disposed on one side of each stop assembly 402.

In an embodiment, the adjusting device 400 in the rocket attitude control method in the embodiment of the present invention further includes: and the elastic piece is arranged between the sliding piece 401 and the limiting assembly 402 and is used for providing damping when the sliding piece 401 moves towards the limiting assembly 402. The elastic member may be a spring or rubber, which can provide a buffering effect, and the elastic member may be fixed on both sides of the sliding member 401 or on the inner side of the position limiting assembly 402. Therefore, the vibration feedback and the lateral force which are applied to the tail wing 200 by the high-speed airflow and transmitted to the sliding part 401 can be better borne, and the problems of stability and safety of a movement mechanism are solved.

The adjusting device 400 in the rocket flight attitude control method is matched with the actuator 500 to drive the empennage 200 to deflect by a corresponding angle, so that the empennage 200 can be adjusted under the condition that the original rocket does not undergo overlarge system change, the rocket can further control the empennage to adjust the trajectory in the atmosphere in the launching process, the condition that the thrust direction caused by the swinging of the engine is inconsistent with the axis direction of the rocket body can be avoided, all thrust of the engine can be used for accelerating the rocket body, and the carrying capacity of the whole rocket body can be improved. When the first-stage rocket body of the rocket is recovered, the falling point of the first-stage rocket body can be controlled by controlling the direction of the tail wing 200, the acting time of the engine is reduced, and therefore more propellants can be remained to realize the recovery of the first-stage rocket body.

The above-described embodiments of the present invention may be combined with each other with corresponding technical effects.

The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions, improvements, etc. within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A rocket flight attitude control method is characterized by comprising the following steps:

acquiring a pre-deflection angle of a rocket tail wing;

calculating the actuating degree of the actuator according to the pre-deflection angle;

and the actuator controls the tail wing to deflect to a preset angle according to the actuating degree.

2. A rocket attitude control method according to claim 1, wherein calculating the degree of actuation of an actuator from said pre-yaw angle comprises:

and calculating the transverse displacement distance of the empennage through trigonometric function relation according to the pre-deflection angle.

3. A rocket attitude control method according to claim 2 wherein said actuator controls the deflection of said flight via an adjustment device, said flight having a control shaft and a rotation shaft on the same side; the adjusting device controls a first end, far away from the tail cabin section, of the tail wing to move by the transverse displacement distance through the control shaft, and a second end, close to the tail cabin section, of the tail wing rotates in situ through the matching of the rotating shaft and the first end.

4. A rocket attitude control method according to claim 3, further comprising:

and calculating the swimming displacement distance of the control shaft in the channel through the channel function of the sliding part of the adjusting device and the transverse displacement distance, wherein the control shaft is used for converting the movement in the channel into the transverse movement of the tail wing.

5. A rocket attitude control method according to claim 4 wherein the channel function of said slider is a straight line or a curved line function, and said slider extends from the center point to two opposite corners of said slider.

6. A rocket attitude control method according to claim 4 wherein the channel function of said slider is two tangent parabolic functions, extending from the center point of said slider to two opposite corners thereof.

7. A rocket attitude control method according to any one of claims 4-6 wherein calculating the actuation degree of an actuator from said pre-deflection angle further comprises:

and driving a connecting rod through a gear, wherein the connecting rod is fixedly connected to the sliding part, and the rotation angle of the gear thread sleeve is calculated according to the thread pitch of the gear and the moving displacement distance.

8. A rocket attitude control method according to claim 7,

calculating the actuation degree of the actuator according to the pre-deflection angle further comprises:

calculating the actuating degree of the actuator through the gear ratio of the gear and the rotation angle of the gear threaded sleeve, wherein the actuating degree comprises the rotation angle and the rotation direction;

the actuator controlling the tail wing to deflect to a preset angle according to the actuating degree comprises the following steps:

and the actuator acts according to the rotating angle and the rotating direction so as to control the tail wing to deflect to a preset angle.

9. A rocket attitude control method according to claim 1, further comprising:

the four tail wings are respectively connected to the actuators, and the deflection of the four tail wings is controlled to adjust the rolling direction of the rocket;

and simultaneously controlling the deflection of two tail wings at opposite angles to adjust the running direction of the rocket.

10. A rocket attitude control method according to claim 1 wherein said actuator is a servo motor control module or a hydraulic control module.