CN114384799B - Combined thrust vector control method for boosting and core-level engine - Google Patents
Combined thrust vector control method for boosting and core-level engine Download PDFInfo
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Abstract
The application discloses a combined thrust vector control method of a boosting and core-level engine. The method comprises the following steps: two servo actuators are arranged for bidirectional swinging of three booster engines and one core engine in a rocket configuration, and pitch, yaw and rolling channel control moment are provided; calculating the control moment contribution of a single servo actuator to pitching, yawing or rolling channels based on the attitude angle deviation signals, constructing a servo mechanism installation matrix and a servo mechanism distribution matrix, and realizing the execution distribution decoupling of three channels; when one or two boosting engines reach a thrust descending section, setting a control strategy; based on the set control strategy, the control capability analysis is performed by considering system structure interference, pneumatic interference and three boosting shutdown asynchronous interference. By adopting the technical scheme of the application, the carrying efficiency is greatly improved, the comprehensive performance is superior, and the combined thrust vector control of 3 solid boosting and 1 solid core level asymmetric layout is realized.
Description
Technical Field
The application relates to the field of rocket thrust control, in particular to a combined thrust vector control method of a boosting and core-level engine.
Background
The heavy carrier rocket is the basis for space science and application such as future manned lunar, exploration of Mars and the like. As the scale of aerospace activity continues to increase, the need for access to space increases. The number of series of rockets increases to bring unrealizable engineering risks, and a large rocket selects a parallel configuration; the heavy binding rocket of core grade and a plurality of boosters represents the highest level of the current disposable carrier rocket technology, and the development of the heavy binding rocket is taken as an important direction all over the world.
The parallel configuration carrier rocket increases the disturbance moment while improving the carrying capacity, and the traditional scheme for controlling only the swing of the core engine is difficult to meet the requirement of stable control. The internationally advanced large carrier rockets all adopt the combined swing control, namely the combined control strategy of a boosting engine and a core-level engine.
The boost engine and the core-level engine are controlled in a combined mode to act in a coordinated mode, parameter selection is reasonable, stable linkage can be achieved, and stable flight is achieved. The technology changes the carrier rocket from univariate control to multivariate control, and from core level single control to boosting and core level two-class engine combined control, has stronger universality, is universally applicable to all carrier rockets with the boosting engine swing participating in control, and provides a beneficial reference for the development of new-generation space transportation systems and heavy carrier rockets.
However, the swing layout scheme of the combination of the multiple engines and the multiple servos ensures that the swing of the booster engine participates in gesture control, the whole rocket has complex pneumatic and elastic characteristics, and the elastic mode has the characteristic of spatial distribution; the problem of eccentric quality of the boosting engine and the problem of asynchronous startup and shutdown of each boosting engine exist, so that larger structural interference and control interference are introduced. Therefore, the swing control scheme combining multiple engines and multiple servos provides great challenges for rocket attitude control while improving control capability.
Although the existing combined control technology of the liquid binding carrier rocket (liquid core level+liquid boosting or liquid core level+solid boosting) has been broken through and verified by application, the control and distribution problem still exists for the all-solid binding carrier rocket (solid core level+solid boosting), mainly because the thrust of the solid rocket engine cannot be actively controlled, the thrust of a plurality of engines is difficult to ensure to be kept uniform and consistent when the solid charging design and process are realized, and the working thrust and the working time length of the solid charging design and process are obviously changed along with the temperature of a storage environment, so that the solid binding scheme has the uncertainty in interference moment, control moment magnitude and time period, the robustness of the control and distribution scheme needs to be improved, and the dynamic distribution is properly carried out according to the flight state.
Disclosure of Invention
The application provides a combined thrust vector control method of a boosting and core-level engine, which comprises the following steps:
two servo actuators are arranged for bidirectional swinging of three booster engines and one core engine in a rocket configuration, and pitch, yaw and rolling channel control moment are provided;
calculating the control moment contribution of a single servo actuator to pitching, yawing or rolling channels based on the attitude angle deviation signals, constructing a servo mechanism installation matrix, determining a servo mechanism distribution matrix according to the servo mechanism installation matrix, and distributing swing angle instructions based on the servo mechanism distribution matrix to realize execution distribution decoupling of three channels;
when one or two booster engines reach the thrust descending section, the following control strategy is set: for boosting of the thrust descending section which is not reached, the control force is considered to be controllable, and the boosting thrust vector which is not reached to the thrust descending section is used for participating in balancing of the disturbance moment; when the boosting is about to enter the post-effect section, the thrust is considered as unavailable control force and is used as interference force for analysis;
based on the set control strategy, the control capability analysis is performed by considering system structure interference, pneumatic interference and three boosting shutdown asynchronous interference.
A combined boost and core engine thrust vectoring method as described above wherein each of the three boost engines and each of the core engines in the rocket configuration are each configured A, B with two servo actuators for bi-directional oscillation providing pitch, yaw and roll channel control moments.
The combined thrust vector control method of the boosting and core-level engine comprises the following steps ofδ ψ 、δ γ In order to calculate the required swing angles of three pitching, yawing and rolling channels based on attitude angle deviation signals, the control moment contribution of a single servo actuator to the pitching, yawing or rolling channels is as follows:
wherein,and->Respectively engines B 0 Actuator A, B corresponds to the pivot angle->And->Respectively engines B 1 Actuator A, B corresponds to the pivot angle->And->Respectively engines B 2 Actuator A, B corresponds to the pivot angle->And->Respectively engines B 3 The actuator A, B corresponds to a pivot angle.
The combined thrust vector control method of the boosting and core-level engine comprises the following steps of:
the servo mechanism distribution matrix D is constructed as follows:
wherein m·d=e 3 ，E 3 Is a third-order identity matrix.
The method for controlling the combined thrust vector of the boosting and core-level engine comprises the step of setting the boosting thrust value of delayed shutdown as last second thrust as P disturb Distance L between swing center of jet pipe of boosting engine and central axis B The method comprises the steps of carrying out a first treatment on the surface of the 1 or 2 boosting delay shutdown and thrust line and X 1 The maximum interference when the axes are parallel, and the modes of the synthesized interference moment caused by the shutdown asynchronism are equal
The combined thrust vector control method of the boosting and core-level engine comprises the following steps of: (1) interference starting time: corresponding ballistic boosting shutdown time; (2) interference end time: and the shutdown time of the corresponding ballistic core-stage engine.
The combined thrust vector control method of the boosting and core-level engine comprises the following steps of n,0 Upper bias trajectory delta μ,0 Lower deviant trajectory delta d,0 The method comprises the steps of carrying out a first treatment on the surface of the Near the boost-depleted shutdown time, arrow body mass and heart migration, if substantially completely counteracted the boostWhen the machine is turned off, the torque is not synchronously disturbed, the included angle between the required boosting thrust line and the longitudinal axis of the arrow body is about beta CG The method comprises the steps of carrying out a first treatment on the surface of the Comprehensively considering the improvement degree of the control capability and the scheme feasibility, and setting the preset swing angle after the boost installation angle is depleted as beta 0 ，β 0 ＜β CG The interference moment arm is reduced as much as possible.
The boosting and core-level engine combined thrust vector control method comprises the steps of setting a preset swing angle to be beta after boosting installation angle and exhaustion 0 Under the condition of equal interference, the maximum value of static trim swing angles is respectively the nominal trajectory delta n,1 Upper bias trajectory delta μ,1 Lower deflection trajectory delta d,1 Each corresponds to 1/3 of the original ballistic trim angle.
The beneficial effects achieved by the application are as follows: according to the rocket configuration scheme, the I level adopts the binding layout of 3 solid boosting+1 solid core level, the scale is smaller, the number of used engines is minimum in various alternative schemes on the premise of meeting the launching task, the carrying efficiency is greatly improved, and the comprehensive performance is excellent; and a corresponding control strategy is provided, so that the combined thrust vector control of 3 solid boosting and 1 solid core-level asymmetric layout is realized.
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In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings may be obtained according to these drawings for a person having ordinary skill in the art.
FIG. 1 is a schematic view of a rocket configuration according to a first embodiment of the present application;
FIG. 2 is a schematic illustration of an engine layout and polarity definition of actuators;
FIG. 3 is a flow chart of a method of combined boost and core engine thrust vector control.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Before describing a combined thrust vector control method of a boosting and core-stage engine, the application relates to a rocket configuration, and as shown in fig. 1, a rocket I-stage power system consists of three boosting and a core-stage engine. Wherein the theoretical length of the whole arrow is L; CG0 represents the position of the rocket mass center at the moment of taking off, and the distance between the rocket mass center and the theoretical vertex is L CG0 The method comprises the steps of carrying out a first treatment on the surface of the CG1 represents the position of the rocket mass center at the depletion moment of the boosting engine, and the distance between the rocket mass center and the theoretical vertex is L CG1 . FIG. 2 is a layout of a boost and core engine, shown in FIG. 2, O 1 Representing the rocket mass center, i.e. the origin of the rocket body coordinate system, X 1 、Y 1 、Z 1 Respectively three orthogonal coordinate axes of rocket body system, O 1 X 1 Pointing forward along the longitudinal axis of the arrow body, O 1 Y 1 Shaft and O 1 X 1 Vertical, upward in the longitudinal symmetry plane of the arrow body, O 1 Z 1 The axis is determined by the right hand rule. Wherein B is 0 The theoretical value of the swing center is positioned at the longitudinal axis X of the rocket body for the core-level engine 1 Applying; b (B) 1 ，B 2 ，B 3 Is three boosting engines, which are uniformly distributed on concentric circumferences, and the circle center is positioned at the longitudinal axis X of the rocket body 1 On B 2 Theoretical pendulum center and rocket longitudinal axis X 1 Perpendicular to Y and Y 1 The axes are parallel; it can be seen that the arrow structure is relative to X 1 O 1 Z 1 The plane is asymmetric. The diameter of the boosting engine is basically equivalent to the total energy, so that the structure has universality; but in order to ensure that rocket flight continuously has stable control capability, the rated charge working time t of the core-stage engine is designed 0 Rated charge working time t of boosting engine 1 ，t 1 <t 0 I.e. the boost engine is shut down earlier than the core engine.
Because the three boosting shutdown time has an asynchronous condition and the control force is unavailable in the thrust descending stage, the boosting thrust entering the thrust descending stage is introduced into the attitude control system as large interference, and the problem that the design scheme of the application needs to mainly overcome.
Example 1
As shown in fig. 3, a first embodiment of the present application provides a method for controlling a combined thrust vector of a boost and core engine, including:
step 310, two servo actuators are configured for two-way swing of three boosting and one core engine in a rocket configuration, and pitch, yaw and rolling channel control moments are provided;
in the engine layout and actuator polarity definition schematic diagram shown in fig. 2, each engine flexible nozzle is provided with A, B two servo actuators to swing bidirectionally to provide pitch, yaw and roll channel control moment, and redundancy on the servo mechanism configuration enables the system to have certain fault absorption capacity;and->Respectively engines B 0 Actuator A, B corresponds to the pivot angle->And (3) withRespectively engines B 1 Actuator A, B corresponds to the pivot angle->And->Respectively engines B 2 Actuator A, B corresponds to the pivot angle->And->Respectively engines B 3 The actuator A, B corresponds to a swing angle; the solid arrow direction of the actuator position in the figure indicates the yaw angle forward direction.
Step 320, calculating the control moment contribution of a single servo actuator to pitching, yawing or rolling channels based on the attitude angle deviation signals, constructing a servo mechanism installation matrix, determining a servo mechanism distribution matrix according to the servo mechanism installation matrix, and distributing swing angle instructions based on the servo mechanism distribution matrix to realize the execution distribution decoupling of three channels;
is provided withδ ψ 、δ γ For the pitch, yaw, roll three-channel demand yaw calculated based on the attitude angle deviation signal, based on the polarity definition in step 310, the control moment contribution of a single servo actuator to the pitch, yaw, or roll channel is:
the constructed servo mechanism installation matrix M is as follows:
the servo mechanism distribution matrix D is constructed as follows:
verified that m·d=e 3 ，E 3 As a third-order identity matrix, it can be known that the three-channel execution allocation decoupling can be realized through the design.
Step 330, when one or both booster engines reach the thrust down section, the following control strategy is set: for boosting of the thrust descending section which is not reached yet, the control force is considered to be controllable, and the thrust vector of the boosting is used for participating in balancing of the disturbance moment; when the boosting is about to enter the post-effect section, the thrust is considered as unavailable control force and is used as interference force for analysis;
specifically, the internal pressure sensor can be used for accurately identifying the thrust descending section, and the delay switching strategy is combined for carrying out final-section self-adaptive gain adjustment so as to exert the control function of boosting to the greatest extent.
Step 340, based on the set control strategy, taking system structure interference, pneumatic interference and three boosting shutdown asynchronous interference into consideration, and carrying out control capability analysis;
specifically, the boost thrust value of delayed shutdown is set to be the last second thrust value P disturb (about 10% of rated thrust value as known by ballistic characteristics), the distance L between the swing center of the jet pipe of the boosting engine and the central axis B The method comprises the steps of carrying out a first treatment on the surface of the 1 or 2 boosting delay shutdown and thrust line and X 1 The maximum interference when the axes are parallel, and the modes of the synthesized interference moment caused by the shutdown asynchronism under the two conditions are equal and areThe boosting working time is designed to be slightly shorter than the core level, so that the adaptability to the working deviation of a plurality of solid boosting engines is improved;
the shutdown asynchronous interference state is set as follows: (1) interference starting time: corresponding ballistic boosting shutdown time; (2) interference end time: the shutdown time of the corresponding ballistic core engine;
through simulation calculation, the maximum value of static trim swing angle is delta respectively n,0 (nominal trajectory), δ μ,0 (upper bias trajectory), delta d,0 (downward trajectory); as shown in FIG. 1, near the boost depleting shutdown time, the arrow body centroid is migrated from CG0 to CG1, and if the asynchronous disturbance moment of the boost shutdown is substantially completely counteracted, the included angle between the required boost force line and the arrow body longitudinal axis is about beta CG . The design proposal of the application comprehensively considers the improvement degree of the control capability and the realizability of the proposal, and sets the preset swing angle after the boosting installation angle is used up as beta 0 ，β 0 ＜β CG As far as possibleThe amount reduces the disturbance moment arm.
Through simulation calculation, the preset swing angle after boosting installation angle and exhaustion is set as beta 0 Under the condition of equal interference, the maximum value of static trim swing angles is delta respectively n,1 (nominal trajectory), delta μ,1 (upper bias trajectory), delta d,1 The lower deflection trajectory is about 1/3 of the corresponding trajectory balancing swing angle before the scheme improvement, so that the control capability is improved greatly and the requirements are met.
The technical scheme of the application achieves the following technical effects:
(1) Each engine flexible spray pipe is respectively provided with 2 servo actuators for bidirectional swinging, pitch, yaw and rolling channel control moment are provided, and the redundancy on the servo mechanism configuration enables the system to have certain fault absorption capacity;
(2) The correct and effective distribution of channel swing angle instructions of the 4-engine and 8-servo combined control system is realized;
(3) The boosting control function can be exerted to the greatest extent for the asynchronous processing strategy of boosting shutdown, and the control efficiency is improved;
(4) Setting the preset swing angle after the boosting installation angle is + is used up to beta 0 The interference force arm is reduced, and the system control capability is further improved;
(5) By integrating the design, the effective control of the 3-boosting+1-core combined thrust vector is realized, so that the optimal configuration scheme of the related emission task is feasible, and the carrying efficiency and the comprehensive performance are greatly improved.
The foregoing embodiments have been provided for the purpose of illustrating the general principles of the present application in further detail, and are not to be construed as limiting the scope of the application, but are merely intended to cover any modifications, equivalents, improvements, etc. based on the teachings of the application.
Claims (7)
1. A combined thrust vector control method of a boosting and core-level engine is characterized by comprising the following steps:
two servo actuators are arranged for bidirectional swinging of three booster engines and one core engine in a rocket configuration, and pitch, yaw and rolling channel control moment are provided;
calculating the control moment contribution of a single servo actuator to pitching, yawing or rolling channels based on the attitude angle deviation signals, constructing a servo mechanism installation matrix, determining a servo mechanism distribution matrix according to the servo mechanism installation matrix, and distributing swing angle instructions based on the servo mechanism distribution matrix to realize execution distribution decoupling of three channels;
when one or two booster engines reach the thrust descending section, the following control strategy is set: for boosting of the thrust descending section which is not reached, the control force is considered to be controllable, and the boosting thrust vector which is not reached to the thrust descending section is used for participating in balancing of the disturbance moment; when the boosting is about to enter the post-effect section, the thrust is considered as unavailable control force and is used as interference force for analysis;
based on a set control strategy, considering system structure interference, pneumatic interference and three boosting shutdown asynchronous interference to perform control capability analysis;
each engine flexible nozzle of three booster engines and one core engine in rocket configuration is respectively provided with A, B with two servo actuators to swing in a bidirectional manner to provide pitch, yaw and rolling channel control moment;
is provided withδ ψ 、δ γ In order to calculate the required swing angles of three pitching, yawing and rolling channels based on attitude angle deviation signals, the control moment contribution of a single servo actuator to the pitching, yawing or rolling channels is as follows:
wherein,and->Corresponding swing angles of the engine B0 actuator A, B respectively, < ->And->Corresponding swing angles of the engine B1 actuator A, B respectively, < ->And->Corresponding swing angles of the engine B2 actuator A, B respectively, < ->And->The corresponding pivot angles of the actuators A, B of the engine B3 are respectively provided.
2. The combined thrust vector control method of a boosting and core engine as set forth in claim 1, wherein the constructed servo mechanism installation matrix M is:
the servo mechanism distribution matrix D is constructed as follows:
wherein m·d=e 3 ，E 3 Is of the third orderA bit matrix.
3. The method for combined thrust vectoring of a boost and core engine of claim 1 wherein the thrust value of the boost delayed shut down is set to be the last second thrust to be P disturb The distance LB from the swing center of the jet pipe of the boosting engine to the central axis; 1 or 2 boosting delay shutdown, and the maximum interference when the thrust line is parallel to the X1 axis, and the modes of the synthesized interference moment caused by the asynchronous shutdown are equal
4. A combined boost and core engine thrust vector control method as set forth in claim 3, wherein the shutdown dyssynchrony disturbance state is set as follows: (1) interference starting time: corresponding ballistic boosting shutdown time; (2) interference end time: and the shutdown time of the corresponding ballistic core-stage engine.
5. A combined boost and core engine thrust vector control method as claimed in claim 1 wherein the static trim swing angle maxima are each the nominal trajectory δ n,0 Upper bias trajectory delta μ,0 Lower deviant trajectory delta d,0 The method comprises the steps of carrying out a first treatment on the surface of the Near the boosting and exhausting shutdown time, the arrow body migrates from the heart, if the asynchronous interference moment of boosting and shutdown is basically completely counteracted, the included angle between the required boosting force line and the longitudinal axis of the arrow body is beta CG The method comprises the steps of carrying out a first treatment on the surface of the Comprehensively considering the improvement degree of the control capability and the scheme feasibility, and setting the preset swing angle after the boost installation angle is depleted as beta 0 ，β 0 ＜β CG 。
6. A combined boost and core engine thrust vector control method as defined in claim 5, wherein the boost mounting angle + the post-exhaustion preset swing angle is set to β 0 Under the condition of equal interference, the maximum value of static trim swing angles is respectively the nominal trajectory delta n,1 Upper bias trajectory delta μ,1 Lower deflection trajectory delta d,1 Each corresponds to 1/3 of the original ballistic trim angle.
7. A rocket configuration comprising three boosters and a core engine, wherein the three boosters and the core engine are configured to perform a combined boost and core engine thrust vector control method as recited in any one of claims 1-6.
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| CN116025486A (en) * | 2023-01-31 | 2023-04-28 | 东方空间技术(山东)有限公司 | Method and system for controlling posture of boosting section of carrier rocket |
| CN116382124B (en) * | 2023-05-29 | 2023-08-18 | 东方空间技术(山东)有限公司 | Carrier rocket attitude control simulation method and system |
| CN117555227B (en) * | 2023-06-05 | 2024-03-29 | 东方空间技术(山东)有限公司 | Control method, computing equipment and storage medium of carrier rocket |
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| 适应伺服机构卡死故障的控制指令重分配技术研究;程堂明;陈宇;;导弹与航天运载技术(第01期);全文 * |
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