CN111538345A - Program angle generation method for carrier rocket and satellite separation section - Google Patents

Program angle generation method for carrier rocket and satellite separation section Download PDF

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CN111538345A
CN111538345A CN202010384519.XA CN202010384519A CN111538345A CN 111538345 A CN111538345 A CN 111538345A CN 202010384519 A CN202010384519 A CN 202010384519A CN 111538345 A CN111538345 A CN 111538345A
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angle
posture
theta
program
rocket
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CN111538345B (en
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修观
薛宇
张开宝
李鑫
匡东政
纪彦宇
史会涛
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Shanghai Aerospace System Engineering Institute
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Abstract

The method for generating the program angle of the satellite-rocket separation section of the carrier rocket comprises the following steps: 1) acquiring a program angle generation parameter; 2) calculating accelerated posture adjusting time t according to program angle generation parameters+jsAnd the uniform posture adjusting time tysSpeed-reducing posture-adjusting time t‑jsAngle delta theta for accelerating posture adjustment+jsAngle delta theta for adjusting posture at uniform speedysAnd the angle delta theta of deceleration and posture adjustment‑js(ii) a 3) Judging the uniform posture adjusting time tysAnd if not, generating a five-section program angle. The method for generating the program angle of the satellite and rocket separation section of the carrier rocket takes the actual attitude adjusting implementation process of engineering into consideration, realizes the optimization of time required by attitude adjustment, and can effectively meet the satellite measurement and control time and satellite and rocket safety requirements after satellite and rocket separation.

Description

Program angle generation method for carrier rocket and satellite separation section
Technical Field
The invention relates to a program angle generation method for a carrier rocket satellite-rocket separation section.
Background
In the prior art, a carrier rocket satellite-rocket separation section linearly generates a one-stage program angle between two points of a current attitude angle and a target attitude angle, the attitude adjusting process from the start of attitude adjustment to the end of attitude adjustment is considered to be uniform in attitude adjustment, and the time required by the designed attitude adjustment is long. The program angle generation method in the prior art does not consider the actual attitude adjusting implementation process of the engineering, so that a large overshoot process occurs at the beginning and the end of the actual attitude adjusting, the satellite measurement and control time after separation of the satellite and the arrow is limited, and the used time of the satellite and arrow avoidance process is prolonged.
Disclosure of Invention
The invention aims to provide a program angle generation method for a satellite and rocket separation section of a carrier rocket, which considers the actual attitude adjustment implementation process of engineering, realizes the optimization of time required by attitude adjustment, and can effectively meet the satellite measurement and control time after satellite and rocket separation and the safety requirements of the satellite and rocket.
In order to achieve the above object, the present invention provides a method for generating a program angle of a rocket and satellite separation section of a launch vehicle, comprising: 1) acquiring a program angle generation parameter; 2) calculating accelerated posture adjusting time t according to program angle generation parameters+jsAnd the uniform posture adjusting time tysSpeed-reducing posture-adjusting time t-jsAngle delta theta for accelerating posture adjustment+jsAngle delta theta for adjusting posture at uniform speedysAnd the angle delta theta of deceleration and posture adjustment-js(ii) a 3) Judging the uniform posture adjusting time tysIf the angle is larger than 0, generating a five-section program angle, and if not, generating a one-section program angle;
the five-segment program angle is as follows:
Figure RE-GDA0002546819930000021
the one-stage program angle is as follows:
Figure RE-GDA0002546819930000022
the program angle generating method of the carrier rocket satellite-rocket separation section,wherein the program angle generation parameter includes a current arrow body angular velocity ω0Current attitude angle θ0Target attitude angle thetaTAcceleration of posture-adjusting angle
Figure RE-GDA0002546819930000027
Maximum angular velocity ωmaxAnd relative time t of starting posture adjustment0。
The program angle generation method of the carrier rocket satellite-rocket separation section comprises the steps of,
Δθ＝θT-θ0
Figure RE-GDA0002546819930000023
Figure RE-GDA0002546819930000024
Figure RE-GDA0002546819930000025
Δθ+js＝0.5t+js(ω0+sgn·ωmax)
Δθ-js＝0.5t-js·sgn·ωmax
Δθys＝Δθ-Δθ+js-Δθ-js
Figure RE-GDA0002546819930000026
in the formula, Δ θ is the posture adjustment angle, and sgn is the sign of the posture adjustment angle.
The program angle generation method of the carrier rocket satellite-rocket separation section comprises the steps of obtaining a five-section program angle,
t0～t0+0.5t+jsangle of programming is theta0At a constant speed change to
Figure RE-GDA0002546819930000031
t0+0.5t+js～t0+t+jsAngle of procedure is
Figure RE-GDA0002546819930000032
Change to theta at uniform speed0+Δθ+js；
t0+t+js～t0+t+js+tysAngle of programming is theta0+Δθ+jsChange to theta at uniform speed0+Δθ+js+Δθys；
t0+t+js+tys～t0+t+js+tys+0.5t-jsAngle of programming is theta0+Δθ+js+ΔθysChange to theta at uniform speed0+Δθ+js+Δθys+0.375t-jsωmax·sgn；
t0+t+js+tys+0.5t-js～t0+t+js+tys+t-jsAngle of programming is theta0+Δθ+js+Δθys+0.375t-jsωmaxSgn changes to θ at a constant rateT。
The program angle generating method of the carrier rocket satellite-rocket separation section comprises the steps of generating a program angle of a single-section type program angle,
Figure RE-GDA0002546819930000033
Figure RE-GDA0002546819930000034
angle of programming is defined by0Change to theta at uniform speedT。
Compared with the prior art, the invention has the beneficial technical effects that:
the invention relates to a program angle generation method of a carrier rocket satellite-rocket separation section, which considers the actual attitude adjusting implementation process of engineering and takes the attitude adjusting time t as the uniform speedysWhen the program angle is larger than 0, a five-segment program angle is generated (namely, the program angle is changed in different modes in different time periods), so that the program angle is more consistent with the actual posture adjusting realization process, and the overshoot of the posture adjusting process is reducedThe time for adjusting the posture is shortened, and the satellite measurement and control time and satellite and arrow safety requirements after separation of the satellite and the arrow can be effectively met.
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The method for generating the program angle of the rocket and satellite separation section of the carrier rocket is given by the following embodiments and the attached drawings.
FIG. 1 is a flow chart of a procedure angle generation method for a carrier rocket satellite-rocket separation section according to the present invention.
FIG. 2 is a diagram illustrating a simulation result of attitude deviation when a program angle is generated according to the present invention.
Fig. 3 is a schematic diagram of a simulation result of attitude deviation when a program angle is generated in the prior art.
Detailed Description
The method for generating the program angle of the rocket and satellite separation section of the launch vehicle of the present invention will be described in further detail with reference to fig. 1 to 3.
Fig. 1 is a flowchart of a procedure angle generation method of a carrier rocket satellite-rocket separation section according to the present invention.
Referring to fig. 1, the method for generating the program angle of the rocket and satellite separation section of the carrier rocket comprises the following steps:
1) acquiring a program angle generation parameter;
the program angle generation parameter includes a current arrow angular velocity ω0Current attitude angle θ0Target attitude angle thetaTAcceleration of posture-adjusting angle
Figure RE-GDA0002546819930000041
Maximum angular velocity ωmaxAnd relative time t of starting posture adjustment0；
Current arrow angular velocity ω0And current attitude angle theta0The target attitude angle theta can be obtained by an inertial device on the rocketTAnd relative time t of starting posture adjustment0Acceleration at attitude angle provided by ballistic design
Figure RE-GDA0002546819930000042
And maximum angular velocity ωmaxAre positive values and are determined by the specific characteristics of the rocket;
2) calculating accelerated posture adjusting time t according to program angle generation parameters+jsAnd the uniform posture adjusting time tysSpeed-reducing posture-adjusting time t-jsAngle delta theta for accelerating posture adjustment+jsAngle delta theta for adjusting posture at uniform speedysAnd the angle delta theta of deceleration and posture adjustment-js；
3) Judging the uniform posture adjusting time tysIf the angle is larger than 0, generating a five-section program angle, and if not, generating a one-section program angle;
the five-segment program angle is as follows:
Figure RE-GDA0002546819930000043
the one-stage program angle is as follows:
Figure RE-GDA0002546819930000044
the calculation method of each parameter in the step 2) is as follows:
Δθ＝θT-θ0
Figure RE-GDA0002546819930000051
Figure RE-GDA0002546819930000052
Figure RE-GDA0002546819930000053
Δθ+js＝0.5t+js(ω0+sgn·ωmax)
Δθ-js＝0.5t-js·sgn·ωmax
Δθys＝Δθ-Δθ+js-Δθ-js
Figure RE-GDA0002546819930000054
in the formula, Δ θ is the posture adjustment angle, and sgn is the sign of the posture adjustment angle.
The method for generating the program angle of the satellite-rocket separation section of a carrier rocket is described by taking a certain type of carrier rocket as an example.
1) Obtaining the angular velocity omega of the current arrow body00.5 °/s, current attitude angle θ0-30.0 ° target attitude angle θTAcceleration at-117.0 ° and attitude adjustment angle
Figure RE-GDA0002546819930000056
Maximum angular velocity ωmax3 deg/s and relative time t for starting posture regulation0＝0s。
2) The following results are obtained by calculation according to the program corner generation parameters:
Δθ＝-87°
sgn＝-1
t+js＝11.986s
t-js＝10.274s
Δθ+js＝-14.983°
Δθ-js＝-15.411°
Δθys＝-56.606°
tys＝18.869s
3)tys> 0, generate a five-segment program angle:
Figure RE-GDA0002546819930000055
Figure RE-GDA0002546819930000061
in this embodiment, the program corner generation is performed through five stages, specifically: 0 s-5.993 s, and the program angle is changed from minus 30.0 degrees to minus 32.247 degrees at a constant speed; 5.993 s-11.986 s, the program angle is changed from-32.247 degrees to-44.983 degrees at a constant speed; 11.986 s-30.855 s, the program angle is changed from-44.983 degrees to-101.589 degrees at a constant speed; 30.855 s-35.992 s, the program angle is changed from-101.589 degrees to-113.147 degrees at a constant speed; 35.992 s-41.129 s, and the program angle is changed from-113.147 degrees to-117.0 degrees at a constant speed.
At the current attitude angle theta0-30.0 ° target attitude angle θTUnder the condition of-117.0 degrees, the method for generating the program angle of the invention and the method for generating the program angle of the prior art (namely, the method for linearly generating the one-segment program angle between two points of the current attitude angle and the target attitude angle) are respectively adopted to carry out tracking simulation, and the influence of the two on tracking control is analyzed.
Fig. 2 is a schematic diagram showing a simulation result of attitude deviation when a program angle is generated in the present invention, and fig. 3 is a schematic diagram showing a simulation result of attitude deviation when a program angle is generated in the prior art. Comparing fig. 2 and fig. 3, it can be known that different program angle generation methods have an influence on tracking control, and because the program angle generated by the invention considers the actual attitude adjustment implementation process of the project, the attitude deviation in the tracking control process is smaller, and the attitude adjustment completion time is shorter.
Simulation results show that the method for generating the program angle of the satellite and rocket separation section of the carrier rocket enables the program angle to be consistent with the actual attitude adjusting realization process, reduces the overshoot of the attitude adjusting process, shortens the time required by attitude adjustment, and can effectively meet the satellite measurement and control time and satellite and rocket safety requirements after separation.
Although the present invention has been described with reference to the preferred embodiments, it should be understood that the invention is not limited to the disclosed embodiments, but is capable of various modifications and equivalent arrangements included within the spirit and scope of the invention.

Claims (5)

1. The method for generating the program angle of the satellite-rocket separation section of the carrier rocket is characterized by comprising the following steps:
1) acquiring a program angle generation parameter;
2) calculating accelerated posture adjusting time t according to program angle generation parameters+jsAnd the uniform posture adjusting time tysSpeed-reducing posture-adjusting time t-jsAngle delta theta for accelerating posture adjustment+jsAngle delta theta for adjusting posture at uniform speedysAnd the angle delta theta of deceleration and posture adjustment-js；
3) Judging the uniform posture adjusting time tysIf the angle is larger than 0, generating a five-section program angle, and if not, generating a one-section program angle;
the five-segment program angle is as follows:
Figure RE-FDA0002546819920000011
the one-stage program angle is as follows:
Figure RE-FDA0002546819920000012
2. the method of procedural angle generation of a launch vehicle satellite-rocket separation segment of claim 1 wherein said procedural angle generation parameters include current rocket body angular velocity ω0Current attitude angle θ0Target attitude angle thetaTAcceleration of posture-adjusting angle
Figure RE-FDA0002546819920000013
Maximum angular velocity ωmaxAnd relative time t of starting posture adjustment0。
3. The method of procedural angle generation for a launch vehicle satellite-rocket separation segment of claim 2,
Δθ＝θT-θ0
Figure RE-FDA0002546819920000021
Figure RE-FDA0002546819920000022
Figure RE-FDA0002546819920000023
Δθ+js＝0.5t+js(ω0+sgn·ωmax)
Δθ-js＝0.5t-js·sgn·ωmax
Δθys＝Δθ-Δθ+js-Δθ-js
Figure RE-FDA0002546819920000024
in the formula, Δ θ is the posture adjustment angle, and sgn is the sign of the posture adjustment angle.
4. The method of procedural angle generation for a launch vehicle satellite-rocket separation segment of claim 1 wherein said five-segment procedural angle,
t0～t0+0.5t+jsangle of programming is theta0At a constant speed change to
Figure RE-FDA0002546819920000025
t0+0.5t+js～t0+t+jsAngle of procedure is
Figure RE-FDA0002546819920000026
Change to theta at uniform speed0+Δθ+js；
t0+t+js～t0+t+js+tysAngle of programming is theta0+Δθ+jsChange to theta at uniform speed0+Δθ+js+Δθys；
t0+t+js+tys～t0+t+js+tys+0.5t-jsAngle of programming is theta0+Δθ+js+ΔθysChange to theta at uniform speed0+Δθ+js+Δθys+0.375t-jsωmax·sgn；
t0+t+js+tys+0.5t-js～t0+t+js+tys+t-jsAngle of procedure isθ0+Δθ+js+Δθys+0.375t-jsωmaxSgn changes to θ at a constant rateT。
5. The method of generating a procedural angle for a launch vehicle satellite-rocket separation segment of claim 1, wherein the one-segment procedural angle,
Figure RE-FDA0002546819920000027
angle of programming is defined by0Change to theta at uniform speedT。
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CN111966122A (en) * 2020-08-27 2020-11-20 北京中科宇航技术有限公司 Satellite-rocket separation simulation control method and system
CN113177269A (en) * 2021-06-30 2021-07-27 中国科学院力学研究所 Multi-satellite separation safe distance parameter optimization method

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Cited By (3)

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Publication number Priority date Publication date Assignee Title
CN111966122A (en) * 2020-08-27 2020-11-20 北京中科宇航技术有限公司 Satellite-rocket separation simulation control method and system
CN111966122B (en) * 2020-08-27 2023-11-14 北京中科宇航技术有限公司 Simulation control method and system for satellite and rocket separation
CN113177269A (en) * 2021-06-30 2021-07-27 中国科学院力学研究所 Multi-satellite separation safe distance parameter optimization method

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