CN111964539B - Rolling inhibition device, method and system - Google Patents

Rolling inhibition device, method and system Download PDF

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Publication number
CN111964539B
CN111964539B CN202010923504.6A CN202010923504A CN111964539B CN 111964539 B CN111964539 B CN 111964539B CN 202010923504 A CN202010923504 A CN 202010923504A CN 111964539 B CN111964539 B CN 111964539B
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roll
rolling
channel
torque
control
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CN111964539A (en
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吴炜平
张智境
马玉海
张霞
谷志丹
廉洁
杨毅强
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Beijing Zhongke Aerospace Technology Co Ltd
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Beijing Zhongke Aerospace Technology Co Ltd
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F42—AMMUNITION; BLASTING
    • F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
    • F42B15/00—Self-propelled projectiles or missiles, e.g. rockets; Guided missiles
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F42—AMMUNITION; BLASTING
    • F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
    • F42B10/00—Means for influencing, e.g. improving, the aerodynamic properties of projectiles or missiles; Arrangements on projectiles or missiles for stabilising, steering, range-reducing, range-increasing or fall-retarding
    • F42B10/02—Stabilising arrangements
    • F42B10/14—Stabilising arrangements using fins spread or deployed after launch, e.g. after leaving the barrel
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F42—AMMUNITION; BLASTING
    • F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
    • F42B15/00—Self-propelled projectiles or missiles, e.g. rockets; Guided missiles
    • F42B15/01—Arrangements thereon for guidance or control

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Combustion & Propulsion (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Transmission Devices (AREA)
  • Aerodynamic Tests, Hydrodynamic Tests, Wind Tunnels, And Water Tanks (AREA)

Abstract

The application discloses roll restraining device, method and system thereof, wherein the roll restraining device includes at least one roll restraining device body installed in the rocket body, and each roll restraining device body includes: the wing holes, the wing surfaces and the unfolding and folding mechanisms are rolled; the rolling wing hole is arranged on the surface of the arrow body, and the wing surface contracts from the rolling wing hole; one end of the unfolding and folding mechanism is connected with the arrow body, and the other end of the unfolding and folding mechanism is connected with the wing surface.

Description

Rolling inhibition device, method and system
Technical Field
The present application relates to the field of rockets, and more particularly, to a roll inhibiting device, method and system.
Background
The current rolling channel control modes of the carrier rocket are divided into the following modes according to the types and the configurations of engines of the carrier rocket: 4, when the engine or the engines are multiple, the rolling channel adopts the differential swing of the engine to realize the stable control of the rolling channel; the single engine is provided with a gas rudder or an air rudder, and the rolling channel adopts the differential motion of the gas rudder or the air rudder to provide the rolling channel control torque so as to realize stable control; when the single engine has no rudder face, a reaction thrust device is generally adopted to realize stable control; the single-engine rolling-free control executing mechanism adopts a stabilizing surface to increase damping and adopts a control strategy of angular velocity amplitude limitation. In the traditional control method, the control torque provided by the differential motion of the multiple engines is large, but the control mode of the control method is directly related to the scheme of transporting the carrier rocket, and cannot be realized by a single engine. When the single engine is matched with the gas rudder or the air rudder, a certain thrust loss exists in a control surface differential control mode, and a rudder system is relatively complex; the torque of the single-engine reaction thrust device is fixed, the torque is controlled by adjusting the pulse width, and the discrete control has certain influence on the precision; and a rolling control mode is avoided, and a certain risk of out-of-control rolling of the rolling channel exists. For the problem of roll channel control of a single engine, the scheme adopted by the traditional mode cannot effectively solve the problem of optimal configuration of the system when the roll channel interference torque is uncertain.
Therefore, how to provide a roll inhibiting device, a method and a system thereof to solve the problem of optimal configuration of the system when the roll channel disturbance torque is uncertain in the prior art is a problem that needs to be solved urgently by those in the art.
Disclosure of Invention
An object of the present application is to provide a roll-restraining device including at least one roll-restraining device body installed in an arrow body, each roll-restraining device body including: the wing holes, the wing surfaces and the unfolding and folding mechanisms are rolled; the rolling wing hole is arranged on the surface of the arrow body, and the wing surface contracts from the rolling wing hole; one end of the unfolding and folding mechanism is connected with the arrow body, and the other end of the unfolding and folding mechanism is connected with the wing surface.
As above, the unfolding and folding mechanism is a screw rod or a slide rod device, and one end of the unfolding and folding mechanism is fixedly connected with the fixed mounting point in the arrow body through a hinge.
The folding and unfolding device further comprises a motor for driving the folding and unfolding mechanism to generate fixed unidirectional motion.
The rolling wing hole is arranged on the surface of the head or the tail end of the arrow body, and the installation direction of the rolling wing hole is parallel to the X-axis direction of the rolling channel in the arrow body.
A roll suppression method for controlling any one of the roll suppression devices described above, comprising the steps of: acquiring a pneumatic torque coefficient of a rolling channel; determining the pneumatic torque of the rolling channel according to the pneumatic torque coefficient of the rolling channel; acquiring the roll speed of a roll channel, and determining a control torque according to the aerodynamic torque of the roll channel and the roll speed; and controlling the rolling restraining device according to the magnitude of the control torque.
As above, wherein the rolling channel aerodynamic moment coefficient C Mx Expressed as:
C Mx ＝f(Ma,α,φ γ )
where Ma is Mach number, alpha is total attack angle, phi γ Is the included angle between the Y axis of the arrow body and the flight direction, namely the rolling phase angle.
As above, wherein the rolling channel aerodynamic moment M aerox The concrete expression is as follows:
M aerox ＝C Mx ·qS m l k
wherein C is Mx Is the torque coefficient of the rolling channel, q is the dynamic pressure, S m Is the reference area of the arrow body; l k Is a reference length of the arrow body.
The method comprises the steps of obtaining the control torque, and obtaining the roll angle deviation generated within the specified time when the roll speed is obtained.
The unfolding and folding mechanism is driven according to the control torque, and the unfolding and folding mechanism controls the wing surface to stretch and rotate; when the unfolding and folding mechanism controls the extension and rotation of the airfoil, the area of action of the airfoil and air is increased, and the deceleration damping is generated on the rolling channel; when the unfolding and folding mechanism controls the contraction and rotation of the airfoil, the damping to the rolling channel is reduced by reducing the area of the airfoil acting with air; when the extending and retracting mechanism controls the extending length of the airfoil to be zero, the airfoil retracts into the arrow body.
A roll inhibiting system comprises a roll control unit and a roll inhibiting device; the roll control unit is used for calculating the roll channel aerodynamic torque coefficient and the roll channel aerodynamic torque, acquiring the roll speed of the roll channel, determining a control torque according to the roll channel aerodynamic torque and the roll speed, and sending the control torque to the roll inhibiting device; the rolling inhibiting device is connected with the rolling control unit and used for receiving the control torque sent by the rolling control unit and driving the unfolding and folding mechanism according to the control torque so as to stretch and rotate the airfoil.
The beneficial effect of this application is:
(1) the one-dimensional movement mechanism is used as a rolling control execution mechanism, rolling movement of a rolling channel is actively restrained by controlling the area of the wing surface, and rolling damping is increased by controlling the area of the wing surface.
(2) The roll inhibiting method introduces roll channel aerodynamic torque, and combines the regular influence of a roll phase angle to calculate the control torque, so that the accuracy of roll channel inhibition is enhanced.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art according to the drawings.
FIG. 1 is a schematic view of a roll inhibiting device provided in accordance with an embodiment of the present application;
FIG. 2 is yet another schematic illustration of a roll inhibiting device provided in accordance with an embodiment of the present application;
fig. 3 is a flowchart of a roll restraining method provided according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application are clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The rolling restraining device, the method and the system can automatically regulate and control the rolling speed according to the rolling speed of the rolling channel of the rocket, and particularly regulate and control the rolling speed through the control of the torque, so that the system configuration scheme is simplified, the control torque can be continuously changed, the thrust loss is reduced, and the overall yield of the carrier rocket is increased.
Specifically, the rolling channel in the rocket body is a rolling axis channel, which is a central axis pointing from the engine to the head of the rocket and oriented along the positive direction of the length of the rocket, and the motion of the rolling channel is rolling motion around the central axis.
Example one
As shown in fig. 1, the roll inhibiting device includes at least one roll inhibiting device body 204 mounted within the arrow body 101, each roll inhibiting device body including a roll wing bore 201, an airfoil 202 extending from the roll wing bore 201, and a deployment mechanism 203, with continued reference to fig. 2.
Specifically, the rolling wing hole 201 is arranged on the surface of the arrow body 101, specifically mounted on the head or tail end of the arrow body 101, and the mounting direction of the rolling wing hole 201 is parallel to the X-axis direction of the rolling channel in the arrow body.
Wherein one end of the unfolding and folding mechanism 203 is connected with the arrow body 101, and the other end is connected with the wing surface 202.
Specifically, the unfolding and folding mechanism 203 is a screw rod or a sliding rod device, and one end of the unfolding and folding mechanism 203 is fixedly connected with a fixed mounting point in the arrow body 101 through a hinge.
Further, the unfolding and folding mechanism 203 is driven by a motor (not shown in the figure) with a communication function, and the motor receives a control torque sent by a system, and drives the unfolding and folding mechanism 203 according to the control torque, so as to drive the airfoil 202 to perform telescopic motion. Specifically, as shown in FIG. 2, solid line airfoil 202 represents the airfoil in a contracted state and dashed line airfoil 202 represents an extended state.
The unfolding and folding mechanism 203 is fixedly connected with the arrow body 101 through a hinge, and the motor drives the unfolding and folding mechanism 203 to generate fixed axial movement and fixed rotational movement, so that the control wing surface 202 extends out of or retracts into the rolling wing hole 201. When the airfoil 202 extends or contracts, because air flows on the surface of the airfoil to generate pressure on the airfoil, the load acting force generated by the air pressure is a pneumatic load, and a certain pneumatic load can be released through the hinge, so that the clamping stagnation of the unfolding and folding mechanism is avoided.
Wherein, if the rolling restraining device is a plurality of, a plurality of rolling restraining devices are arranged along the circumference of the arrow body.
Example two
Based on the above structure, the present application proposes a roll inhibiting method, as shown in fig. 3, which specifically includes the following steps:
step S310: and acquiring a pneumatic torque coefficient of the rolling channel.
In particular, the aerodynamic moment coefficient C of the roll channel therein Mx Expressed as:
C Mx ＝f(Ma,α,φ γ ) Where Ma is Mach number, alpha is total attack angle, phi γ Is the included angle between the Y axis of the arrow body and the flight direction, namely the roll phase angle, and F represents a function.
Step S320: and determining the aerodynamic torque of the roll channel according to the aerodynamic torque coefficient of the roll channel.
Wherein, the pneumatic moment M of the rolling channel aerox The concrete expression is as follows:
M aerox ＝C Mx ·qS m l k
wherein C Mx Is the torque coefficient of the rolling channel, q is the dynamic pressure, S m Is the reference area of the arrow body; l k Is a reference length of the arrow body.
Step S330: and acquiring the roll speed of the roll channel, and determining the control torque according to the aerodynamic torque of the roll channel and the roll speed.
Specifically, before determining the control torque, the roll angle deviation gamma generated in the process of acquiring the roll speed in a specified time is further included. When the speed of the roll channel is greater than a specified threshold, a roll angle deviation γ is generated after a specified time.
The roll angle deviation reflects the speed of the roll channel. The greater the roll angle deviation, the higher the speed of the roll channel over a given time. The smaller the roll angle deviation, the lower the velocity of the roll channel over a given time. When the rolling channel almost has no rolling motion, the rolling angle deviation gamma is zero, and the torque U is controlled x Also zero.
In particular, the control torque is the damping torque required for damping the roll channel.
Wherein the control torque U required for the extension and retraction of each roll-inhibiting device x The concrete expression is as follows:
U x ＝-M aerox +D γ (z)·γ
wherein M is aerox For rolling aerodynamic moment, D γ (z) a rolling channel attitude control correction network; gamma is the roll angle deviation generated by the roll-on passage.
As another example, if there are multiple roll restraining devices, the control torque U required for each roll restraining device x The concrete expression is as follows:
Figure BDA0002667525510000061
where N represents the total number of roll-restraining devices installed and M aerox For rolling aerodynamic moment, D γ (z) rolling channel attitude control correction network; gamma is the roll angle deviation generated by the roll-on passage.
As another embodiment, the roll inhibiting device may further be rotated by the extending and retracting mechanism to form an included angle δ with the X-axis of the roll channel, that is, the control wing surface rotates, wherein the control torque required by the rotating angle δ of the extending and retracting mechanism is specifically expressed as:
U x ＝-M aerox ·cosδ+D γ (z)·γ
wherein, delta is an included angle between the direction of a single airfoil surface and the X axis of the arrow body, M aerox For rolling aerodynamic moment, D γ (z) rolling channel attitude control correction network; gamma is the roll angle deviation generated by the roll-on passage.
Step S340: and controlling the rolling restraining device according to the magnitude of the control torque.
The extension and the rotation of the airfoil in the rolling restraining device can restrain the rolling speed of the rolling channel. When the rolling speed of the rolling channel is greater than a specified threshold value, corresponding control torque is generated to restrain the rolling speed of the rolling channel, when the rolling speed of the rolling channel is less than the specified threshold value, the generated control torque does not restrain the rolling speed of the rolling channel, and when the rolling speed of the rolling channel is almost zero, the control torque is zero.
In particular, wherein the torque U is controlled x Specifically, the wing surface extension and rotation in the rolling restraining device are controlled, after the arrow body is calculated through the information of measuring equipment such as an inertial measurement unit and the like,and obtaining attitude information such as a rolling angle and the like, and obtaining damping torque required by a rolling channel after calculation of the flight control machine, so as to form a control torque instruction, drive the unfolding and folding mechanism to move, and enable the wing surface of the rolling inhibiting device to stretch and rotate, thereby controlling the pneumatic contact area and achieving the effect of adjusting the control torque.
Control moment U x The larger the torque indicating the extension and retraction and rotation of the control wing surface, the longer the extension length of the extending and retracting mechanism, the wing surface rotates according to the control torque, and the extending and retracting mechanism control wing surface extends from the rolling restraining device. The rolling restraining device generates a speed-reducing damping effect on the rolling channel by increasing the acting area of the airfoil surface and the air.
Control moment U x The smaller the torque indicating the extension and contraction of the control wing surface and the rotation is, the shorter the extension length of the extending and retracting mechanism is, the wing surface rotates according to the control torque, and the extending and retracting mechanism controls the contraction of the wing surface from the rolling restraining device. The rolling restraining device reduces the damping effect on the rolling channel by reducing the area of the action of the airfoil and the air.
When controlling the moment U x When the extension length of the unfolding and folding mechanism is zero, the rolling restraining device controls the wing surface to be contracted into the arrow body, damping is not provided, and meanwhile interference force on rolling is avoided.
EXAMPLE III
The embodiment provides a roll inhibiting system which specifically comprises a roll control unit and a roll inhibiting device.
The roll control unit is used for calculating the roll channel aerodynamic torque coefficient and the roll channel aerodynamic torque, acquiring the roll speed of the roll channel, determining the control torque according to the roll channel aerodynamic torque and the roll speed, and sending the control torque to the roll inhibiting device.
The rolling inhibiting device is connected with the rolling control unit and used for receiving the control torque sent by the rolling control unit and driving the unfolding and folding mechanism according to the control torque to enable the airfoil surface to stretch and rotate
The beneficial effect of this application is:
(1) the rolling control executing mechanism adopts the one-dimensional moving mechanism as the rolling control executing mechanism, actively inhibits the rolling movement of the rolling channel by controlling the area of the airfoil surface, and increases the rolling damping by controlling the area of the airfoil surface.
(1) The roll inhibiting method introduces roll channel aerodynamic torque, and combines the regular influence of a roll phase angle to calculate the control torque, so that the accuracy of roll channel inhibition is enhanced.
Although the present application has been described with reference to examples, which are intended to be illustrative only and not to be limiting of the application, changes, additions and/or deletions may be made to the embodiments without departing from the scope of the application.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims (6)

1. A roll-inhibiting device comprising at least one roll-inhibiting device body mounted within an arrow, each roll-inhibiting device body comprising: the wing holes, the wing surfaces and the unfolding and folding mechanisms are rolled;
the rolling wing hole is arranged on the surface of the arrow body, and the wing surface contracts from the rolling wing hole; the rolling wing holes are arranged on the surface of the head or the tail end of the arrow body, and the installation direction of the rolling wing holes is parallel to the X-axis direction of a rolling channel in the arrow body;
one end of the unfolding and folding mechanism is connected with the arrow body, and the other end of the unfolding and folding mechanism is connected with the wing surface; the unfolding and folding mechanism is a lead screw or slide rod device, and one end of the unfolding and folding mechanism is fixedly connected with a fixed mounting point in the arrow body through a hinge;
wherein the unfolding and folding mechanism is driven according to a control moment U x The concrete expression is as follows:
U x ＝-M aerox +D γ (z)·γ
wherein M is aerox To roll channel aerodynamic torque, D γ (z) is tumblingA road attitude control correction network; gamma is the rolling angle deviation generated by the rolling channel;
in which the aerodynamic moment M of the rolling channel aerox The concrete expression is as follows:
M aerox ＝C Mx ·qS m l k
wherein C is Mx Is the aerodynamic moment coefficient of the rolling channel, q is dynamic pressure, S m Is the reference area of the arrow body; l k Is a reference length of arrow body
Pneumatic moment coefficient C of rolling channel Mx Expressed as:
C Mx ＝f(Ma,α,φ γ )
where Ma is Mach number, alpha is total attack angle, phi γ Is the included angle between the Y axis of the arrow body and the flight direction, namely the roll phase angle.
2. The roll inhibiting device of claim 1 further comprising the drive retraction mechanism being a motor that produces a fixed unidirectional motion.
3. A roll inhibiting method for controlling a roll inhibiting device of any one of claims 1-2, comprising the steps of:
acquiring a pneumatic torque coefficient of a rolling channel;
determining the pneumatic torque of the rolling channel according to the pneumatic torque coefficient of the rolling channel;
acquiring the roll speed of a roll channel, and determining a control torque according to the aerodynamic torque of the roll channel and the roll speed;
controlling the rolling restraining device according to the magnitude of the control torque;
before determining the control torque, the method further comprises the steps of obtaining a roll angle deviation gamma generated by the roll speed within a specified time;
wherein the control torque U required for the extension and retraction of each roll-inhibiting device x The concrete expression is as follows:
U x ＝-M aerox +D γ (z)·γ
wherein M is aerox For rolling and turning the channel gasKinetic moment, D γ (z) rolling channel attitude control correction network; gamma is the roll angle deviation generated by the roll channel.
4. The roll inhibiting method of claim 3 further comprising obtaining a roll angle deviation of the roll rate over a specified time prior to determining the control torque.
5. The roll inhibiting method of claim 4 wherein the extending and retracting mechanism is driven in response to a control torque, the extending and retracting mechanism controlling the airfoil surfaces to extend and rotate;
when the unfolding and folding mechanism controls the extension and rotation of the airfoil, the area of action of the airfoil and air is increased, and the deceleration damping is generated on the rolling channel;
when the unfolding and folding mechanism controls the contraction and rotation of the airfoil, the damping to the rolling channel is reduced by reducing the area of the airfoil acting with air;
when the extending and retracting mechanism controls the extending length of the airfoil to be zero, the airfoil retracts into the arrow body.
6. A roll inhibiting system comprising a roll control unit and a roll inhibiting device of any one of claims 1-2;
the roll control unit is used for calculating the roll channel aerodynamic torque coefficient and the roll channel aerodynamic torque, acquiring the roll speed of the roll channel, determining a control torque according to the roll channel aerodynamic torque and the roll speed, and sending the control torque to the roll inhibiting device;
the rolling inhibiting device is connected with the rolling control unit and used for receiving the control torque sent by the rolling control unit and driving the unfolding and folding mechanism according to the control torque so as to stretch and rotate the airfoil.
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US5150861A (en) * 1990-01-26 1992-09-29 The Boeing Company Variable sweep side force generator and roll control device
EP2297544B1 (en) * 2008-05-21 2017-06-21 Raytheon Company Integral thrust vector and roll control system
CN107215454B (en) * 2017-04-26 2020-04-14 北京理工大学 Novel composite rolling attitude control system and method
CN208149591U (en) * 2018-05-15 2018-11-27 江西冠一通用飞机有限公司 It is a kind of to realize the motor-driven wing of promotion rolling by can be changed winglet
CN209258421U (en) * 2018-11-06 2019-08-16 五邑大学 It is a kind of for preventing the control device of small-sized sounding rocket rolling
CN109596011B (en) * 2018-12-07 2020-08-04 上海机电工程研究所 Rolling despinning stable duck-type layout missile overall framework

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