CN114234736A - Method for controlling transfer orbit of solid carrier rocket - Google Patents

Method for controlling transfer orbit of solid carrier rocket Download PDF

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CN114234736A
CN114234736A CN202111467687.6A CN202111467687A CN114234736A CN 114234736 A CN114234736 A CN 114234736A CN 202111467687 A CN202111467687 A CN 202111467687A CN 114234736 A CN114234736 A CN 114234736A
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rocket
calculating
angle
alpha
beta
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CN114234736B (en
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左湛
王志军
刘克龙
岳小飞
黄晓平
黎桪
唐梦莹
周鑫
李晓苏
周一凡
刘欣
鲁炎明
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CASIC Rocket Technology Co
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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
    • F42B15/01—Arrangements thereon for guidance or control
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation

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Abstract

The application relates to a control method for a transfer orbit of a solid carrier rocket, which comprises the steps of calculating an accumulated apparent velocity increment according to instantaneous axial acceleration; the method comprises the following steps that a ballistic data sheet and an orbit entering parameter in a solid engine theory are prestored in an arrow computer, and standard flight time is calculated according to the ballistic data sheet and an accumulated apparent velocity increment interpolation; predicting and calculating the speed and position at the time of orbit entry according to the current speed of the rocket, the attack angle to be adjusted and the sideslip angle; calculating the corresponding actual apogee geocentric radius and orbit inclination angle according to the velocity vector and the position vector; thirdly, calling the third step and the fourth step again, and calculating the deviation derivative value of each error item relative to the attack angle and the sideslip angle to be adjusted; calculating an attack angle correction amount and a sideslip angle correction amount, and calculating a corrected result; and adjusting the rocket attitude to a corresponding program attitude angle according to the output attack angle and sideslip angle, and flying until the solid engine is shut down. The present application has the following effects: speed correction is not needed, and the problem that the solid rocket is difficult to accurately enter a transfer orbit is effectively solved.

Description

Method for controlling transfer orbit of solid carrier rocket
Technical Field
The application relates to the technical field of rocket guidance, in particular to a control method for a transfer orbit of a solid carrier rocket.
Background
Due to the characteristic that the shutdown time of the solid rocket cannot be controlled, when the solid rocket enters a transfer orbit, the orbit precision of the solid rocket needs to be improved by performing speed correction on the liquid upper level after the solid rocket is shut down, but the difficulty of performing speed correction on the liquid upper level is higher, so that the problem that the solid rocket is difficult to accurately enter the transfer orbit generally exists.
Disclosure of Invention
In order to solve the problem that the solid carrier rocket is difficult to accurately enter a transfer orbit, the application provides a control method for the transfer orbit of the solid carrier rocket.
The application provides a control method for a transfer orbit of a solid carrier rocket, which adopts the following technical scheme:
a control method for a transfer orbit of a solid launch vehicle comprises the following steps:
step one, a rocket inertial measurement unit is sent out in a constant sampling period, and an instantaneous shaft obtained through measurementTo acceleration signal AxAnd stored in the memory of the rocket computer by the instantaneous axial acceleration signal AxCalculating the cumulative apparent velocity increment W of the rocket in flightxThe specific calculation formula is as follows:
Figure BDA0003392226420000011
in the formula, t0For the initial ignition time of the rocket engine, trealIs the current time;
step two, pre-storing a track data table and an orbit entering parameter in the theory of the solid engine in a memory of a computer on the rocket, wherein the track data in the theory of the solid engine comprises theoretical flight time TbCorresponding theoretical cumulative apparent velocity increment Wx_bAnd the corresponding theoretical instantaneous acceleration Ax_bThe in-orbit parameter comprises the target apogee earth center radius R of the transfer orbittarAnd target track inclination angle ItarAccording to the ballistic data table in the theory of the solid engine, the cumulative apparent speed increment W calculated in the step onexInterpolating a corresponding standard time of flight, in particular a standard ignition time tbThe calculation formula of (a) is as follows:
tb＝FT(Wx)
in the formula, FTFor the interpolation of the calculated function, according to the theoretical time of flight TbAnd corresponding theoretical cumulative apparent velocity delta Wx_bIs mapped by WxCalculating the corresponding standard ignition time tb；
Step three, according to the current speed of the rocket
Figure BDA0003392226420000021
To-be-adjusted attack angle alphanAnd angle of sideslip betanAnd predicting and calculating the speed and the position at the time of track entering, wherein the specific calculation formula is as follows:
Figure BDA0003392226420000022
Figure BDA0003392226420000023
in the formula, Ax_b(T) is an interpolation calculation function based on the theoretical time of flight TbAnd the corresponding theoretical instantaneous acceleration Ax_bCalculating the corresponding instantaneous acceleration at the moment by t; to-be-adjusted attack angle alphanHas an initial value of alpha0Angle of sideslip betanHas an initial value of beta0，
Figure BDA0003392226420000024
Is the velocity vector at the present moment in time,
Figure BDA0003392226420000025
is the position vector at the present moment in time,
Figure BDA0003392226420000026
for predicting the shutdown T of solid rocket enginesb(n)The velocity vector of the moment in time,
Figure BDA0003392226420000027
for predicting the shutdown T of solid rocket enginesb(n)The position vector of the time of day,
Figure BDA0003392226420000028
calculating a function of unit vectors of the thrust direction according to alpha and beta, wherein g is the acceleration of the local gravity;
step four, according to the prediction
Figure BDA0003392226420000029
Figure BDA00033922264200000210
Calculating corresponding actual apogee geocentric radial rprealAnd track inclination angle irealThe specific calculation formula is as follows:
Figure BDA00033922264200000211
Figure BDA0003392226420000031
in the formula (f)rpAs a position vector from a point on the spatial trajectory
Figure BDA0003392226420000032
Sum velocity vector
Figure BDA0003392226420000033
Calculating function of space orbit apogee geocentric radial, fiAs a position vector from a point on the spatial trajectory
Figure BDA0003392226420000034
Sum velocity vector
Figure BDA0003392226420000035
Calculating a function of the spatial orbit inclination angle;
step five, the computer on the rocket calls the step three and the step four again to calculate the error terms relative to alphan、βnThe specific calculation formula of the partial derivative value is as follows:
Figure BDA0003392226420000036
Figure BDA0003392226420000037
Figure BDA0003392226420000038
Figure BDA0003392226420000039
step six, iteratively calculating an attack angle correction quantity delta alpha and a sideslip angle correction quantity delta beta by a computer on the rocket, and calculating alpha according to the attack angle correction quantity delta alphanCorrected result alphan+1Calculating beta from the slip angle correction amount Delta betanCorrected result betan+1The specific calculation formula is as follows:
Figure BDA00033922264200000310
αn+1＝αn+Δα
βn+1＝βn+Δβ
step seven, judging whether the delta alpha is met by the computer on the rocket2+Δβ2＞Δ2Then, skipping to the step three for loop calculation; if Δ α2+Δβ2≤Δ2Then output the generated alpha of the current iterationnAnd betanAnd (3) serving as a program attack angle alpha and a program sideslip angle beta to a rocket control system, wherein delta is an output control threshold of iterative computation, the rocket control system can adjust the posture of the rocket to a corresponding program posture angle according to the attack angle alpha and the sideslip angle beta output by a computer on the rocket, and the rocket flies according to the posture angle until the solid engine is shut down, so that the optimal transfer orbit can be obtained.
Further, the mapping relationship of the ballistic data in the solid engine theory is shown in table 1:
TABLE 1 ballistic data sheet in solid engine theory
Figure BDA0003392226420000041
In table 1, n is a positive integer.
In summary, the present application includes at least one of the following beneficial technical effects:
the attitude angle of the solid rocket can be corrected according to the real-time state identified by the computer on the rocket to obtain the optimal transfer orbit, so that the rocket can accurately enter the transfer orbit after the solid rocket engine is shut down, the speed correction is not required to be carried out on the liquid upper stage of the solid rocket, the problem that the solid rocket is difficult to accurately enter the transfer orbit is effectively solved, and the control is more stable, efficient and safe.
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In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic flow chart of a method for controlling a transfer orbit of a solid launch vehicle according to an embodiment of the present application.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present application clearer, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, as used herein, refer to an orientation or positional relationship indicated in the drawings that is solely for the purpose of facilitating the description and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be considered as limiting the present application.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
The present application is described in further detail below with reference to fig. 1.
The embodiment of the application discloses a method for controlling a transfer orbit of a solid carrier rocket. Referring to fig. 1, the solid launch vehicle transfer orbit control method includes the steps of:
step one, a rocket inertial measurement unit is sent out in a constant sampling period, and an instantaneous axial acceleration signal A obtained through measurementxAnd stored in the memory of the rocket computer by the instantaneous axial acceleration signal AxCalculating the cumulative apparent velocity increment W of the rocket in flightxThe specific calculation formula is as follows:
Figure BDA0003392226420000061
in the formula, t0For the initial ignition time of the rocket engine, trealIs the current time;
step two, pre-storing a track data table and an orbit entering parameter in the theory of the solid engine in a memory of a computer on the rocket, wherein the track data in the theory of the solid engine comprises theoretical flight time TbCorresponding theoretical cumulative apparent velocity increment Wx_bAnd the corresponding theoretical instantaneous acceleration Ax_bThe in-orbit parameter comprises the target apogee earth center radius R of the transfer orbittarAnd target track inclination angle ItarAccording to the ballistic data table in the theory of the solid engine, the cumulative apparent speed increment W calculated in the step onexInterpolating a corresponding standard time of flight, in particular a standard ignition time tbThe calculation formula of (a) is as follows:
tb＝FT(Wx)
in the formula, FTFor the interpolation of the calculated function, according to the theoretical time of flight TbAnd corresponding theoretical cumulative apparent velocity delta Wx_bIs mapped by WxCalculating the corresponding standard ignition time tb；
Step three, according to the current speed of the rocket
Figure BDA0003392226420000062
To-be-adjusted attack angle alphanAnd angle of sideslip betanAnd predicting and calculating the speed and the position at the time of track entering, wherein the specific calculation formula is as follows:
Figure BDA0003392226420000063
Figure BDA0003392226420000064
in the formula, Ax_b(T) is an interpolation calculation function based on the theoretical time of flight TbAnd the corresponding theoretical instantaneous acceleration Ax_bCalculating the corresponding instantaneous acceleration at the moment by t; to-be-adjusted attack angle alphanHas an initial value of alpha0Angle of sideslip betanHas an initial value of beta0，
Figure BDA0003392226420000071
Is the velocity vector at the present moment in time,
Figure BDA0003392226420000072
is the position vector at the present moment in time,
Figure BDA0003392226420000073
for predicting the shutdown T of solid rocket enginesb(x)The velocity vector of the moment in time,
Figure BDA0003392226420000074
for predicting the shutdown T of solid rocket enginesb(n)The position vector of the time of day,
Figure BDA0003392226420000075
calculating a function of unit vectors of the thrust direction according to alpha and beta, wherein g is the acceleration of the local gravity;
step four, according to the prediction
Figure BDA0003392226420000076
Figure BDA0003392226420000077
Calculating corresponding actual apogee geocentric radial rprealAnd track inclination angle irealThe specific calculation formula is as follows:
Figure BDA0003392226420000078
Figure BDA0003392226420000079
in the formula (f)rpAs a position vector from a point on the spatial trajectory
Figure BDA00033922264200000710
Sum velocity vector
Figure BDA00033922264200000711
Calculating function of space orbit apogee geocentric radial, fiAs a position vector from a point on the spatial trajectory
Figure BDA00033922264200000712
Sum velocity vector
Figure BDA00033922264200000713
Calculating a function of the spatial orbit inclination angle;
step five, the computer on the rocket calls the step three and the step four again to calculate the error terms relative to alphan、βnOf (2)The derivative value is calculated by the following formula:
Figure BDA00033922264200000714
Figure BDA00033922264200000715
Figure BDA00033922264200000716
Figure BDA00033922264200000717
step six, iteratively calculating an attack angle correction quantity delta alpha and a sideslip angle correction quantity delta beta by a computer on the rocket, and calculating alpha according to the attack angle correction quantity delta alphanCorrected result alphan+1Calculating beta from the slip angle correction amount Delta betanCorrected result betan+1The specific calculation formula is as follows:
Figure BDA0003392226420000081
αn+1＝αn+Δα
βn+1＝βn+Δβ
step seven, judging whether the delta alpha is met by the computer on the rocket2+Δβ2>Δ2Then, skipping to the step three for loop calculation; if Δ α2+Δβ2≤Δ2Then output the generated alpha of the current iterationnAnd betanThe angle of attack alpha and the angle of sideslip beta are taken as a program angle of attack alpha and a program angle of sideslip beta to a rocket control system, wherein delta is an output control threshold of iterative computation, according to the angle of attack alpha and the angle of sideslip beta output by a computer on the rocket, the rocket control system can adjust the posture of the rocket to a corresponding program posture angle, and the rocket flies until the solid starts to launch according to the posture angleThe motor is shut down, and the optimal transfer orbit can be obtained.
In the present embodiment, the mapping relationship of the ballistic data in the solid engine theory is shown in table 1:
TABLE 1 ballistic data sheet in solid engine theory
Figure BDA0003392226420000082
In table 1, n is a positive integer.
The implementation principle of the control method for the transfer orbit of the solid carrier rocket in the embodiment of the application is as follows: the attitude angle of the solid rocket can be corrected according to the real-time state identified by the computer on the rocket to obtain the optimal transfer orbit, so that the rocket can accurately enter the transfer orbit after the solid rocket engine is shut down, the speed correction is not required to be carried out on the liquid upper stage of the solid rocket, the problem that the solid rocket is difficult to accurately enter the transfer orbit is effectively solved, and the control is more stable, efficient and safe.
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims (2)

1. A control method for a transfer orbit of a solid launch vehicle is characterized by comprising the following steps:
step one, a rocket inertial measurement unit is sent out in a constant sampling period, and an instantaneous axial acceleration signal A obtained through measurementxAnd stored in the memory of the rocket computer by the instantaneous axial acceleration signal AxCalculating the cumulative apparent velocity increment W of the rocket in flightxThe specific calculation formula is as follows:
Figure FDA0003392226410000011
in the formula, t0For launching rocketInitial ignition time of engine, trealIs the current time;
step two, pre-storing a track data table and an orbit entering parameter in the theory of the solid engine in a memory of a computer on the rocket, wherein the track data in the theory of the solid engine comprises theoretical flight time TbCorresponding theoretical cumulative apparent velocity increment Wx_bAnd the corresponding theoretical instantaneous acceleration Ax_bThe in-orbit parameter comprises the target apogee earth center radius R of the transfer orbittarAnd target track inclination angle ItarAccording to the ballistic data table in the theory of the solid engine, the cumulative apparent speed increment W calculated in the step onexInterpolating a corresponding standard time of flight, in particular a standard ignition time tbThe calculation formula of (a) is as follows:
tb＝FT(Wx)
in the formula, FTFor the interpolation of the calculated function, according to the theoretical time of flight TbAnd corresponding theoretical cumulative apparent velocity delta Wx_bIs mapped by WxCalculating the corresponding standard ignition time tb；
Step three, according to the current speed of the rocket
Figure FDA0003392226410000012
To-be-adjusted attack angle alphanAnd angle of sideslip betanAnd predicting and calculating the speed and the position at the time of track entering, wherein the specific calculation formula is as follows:
Figure FDA0003392226410000013
Figure FDA0003392226410000014
in the formula, Ax_b(T) is an interpolation calculation function based on the theoretical time of flight TbAnd the corresponding theoretical instantaneous acceleration Ax_bCalculating the corresponding instantaneous acceleration at the moment by t; to-be-adjusted attack angle alphanHas an initial value of alpha0Angle of sideslip betanHas an initial value of beta0，
Figure FDA0003392226410000021
Is the velocity vector at the present moment in time,
Figure FDA0003392226410000022
is the position vector at the present moment in time,
Figure FDA0003392226410000023
for predicting the shutdown T of solid rocket enginesb(n)The velocity vector of the moment in time,
Figure FDA0003392226410000024
for predicting the shutdown T of solid rocket enginesb(n)The position vector of the time of day,
Figure FDA0003392226410000025
calculating a function of unit vectors of the thrust direction according to alpha and beta, wherein g is the acceleration of the local gravity;
step four, according to the prediction
Figure FDA0003392226410000026
Calculating corresponding actual apogee geocentric radial rprealAnd track inclination angle irealThe specific calculation formula is as follows:
Figure FDA0003392226410000027
Figure FDA0003392226410000028
in the formula (f)rpAs a position vector from a point on the spatial trajectory
Figure FDA0003392226410000029
Sum velocity vector
Figure FDA00033922264100000210
Calculating function of space orbit apogee geocentric radial, fiAs a position vector from a point on the spatial trajectory
Figure FDA00033922264100000211
Sum velocity vector
Figure FDA00033922264100000212
Calculating a function of the spatial orbit inclination angle;
step five, the computer on the rocket calls the step three and the step four again to calculate the error terms relative to alphan、βnThe specific calculation formula of the partial derivative value is as follows:
Figure FDA00033922264100000213
Figure FDA00033922264100000214
Figure FDA00033922264100000215
Figure FDA00033922264100000216
step six, iteratively calculating an attack angle correction quantity delta alpha and a sideslip angle correction quantity delta beta by a computer on the rocket, and calculating alpha according to the attack angle correction quantity delta alphanCorrected result alphan+1Calculating beta from the slip angle correction amount Delta betanCorrected result betan+1The specific calculation formula is as follows:
Figure FDA0003392226410000031
αn+1＝αn+Δα
βn+1＝βn+Δβ
step seven, judging whether the delta alpha is met by the computer on the rocket2+Δβ2>Δ2Then, skipping to the step three for loop calculation; if Δ α2+Δβ2≤Δ2Then output the generated alpha of the current iterationnAnd betanAnd (3) serving as a program attack angle alpha and a program sideslip angle beta to a rocket control system, wherein delta is an output control threshold of iterative computation, the rocket control system can adjust the posture of the rocket to a corresponding program posture angle according to the attack angle alpha and the sideslip angle beta output by a computer on the rocket, and the rocket flies according to the posture angle until the solid engine is shut down, so that the optimal transfer orbit can be obtained.
2. The solid launch vehicle transfer orbit control method of claim 1, characterized in that: the mapping relation of the ballistic data in the theory of the solid engine is shown in a table 1:
TABLE 1 ballistic data sheet in solid engine theory
Figure FDA0003392226410000032
In table 1, n is a positive integer.
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