CN114476142A - Precise parafoil recovery system and method for booster landing area safety control - Google Patents
Precise parafoil recovery system and method for booster landing area safety control Download PDFInfo
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- IBSREHMXUMOFBB-JFUDTMANSA-N 5u8924t11h Chemical compound O1[C@@H](C)[C@H](O)[C@@H](OC)C[C@@H]1O[C@@H]1[C@@H](OC)C[C@H](O[C@@H]2C(=C/C[C@@H]3C[C@@H](C[C@@]4(O3)C=C[C@H](C)[C@@H](C(C)C)O4)OC(=O)[C@@H]3C=C(C)[C@@H](O)[C@H]4OC\C([C@@]34O)=C/C=C/[C@@H]2C)/C)O[C@H]1C.C1=C[C@H](C)[C@@H]([C@@H](C)CC)O[C@]11O[C@H](C\C=C(C)\[C@@H](O[C@@H]2O[C@@H](C)[C@H](O[C@@H]3O[C@@H](C)[C@H](O)[C@@H](OC)C3)[C@@H](OC)C2)[C@@H](C)\C=C\C=C/2[C@]3([C@H](C(=O)O4)C=C(C)[C@@H](O)[C@H]3OC\2)O)C[C@H]4C1 IBSREHMXUMOFBB-JFUDTMANSA-N 0.000 title claims abstract description 110
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/62—Systems for re-entry into the earth's atmosphere; Retarding or landing devices
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- 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
- F42B10/32—Range-reducing or range-increasing arrangements; Fall-retarding means
- F42B10/48—Range-reducing, destabilising or braking arrangements, e.g. impact-braking arrangements; Fall-retarding means, e.g. balloons, rockets for braking or fall-retarding
- F42B10/56—Range-reducing, destabilising or braking arrangements, e.g. impact-braking arrangements; Fall-retarding means, e.g. balloons, rockets for braking or fall-retarding of parachute or paraglider type
Abstract
The invention provides a parafoil accurate recovery system and a parafoil accurate recovery method for booster landing area safety control, which adopt a sectional type connection separation and centralized layout design, wherein a head cone of an original integrated booster is divided into a head cap, a head cone middle section and a head cone bottom section, a stabilizing parachute is arranged in the head cap, and other products of the recovery system are intensively arranged on the head cone bottom section through a bearing structure, so that the problem of structural adaptability change of an existing booster is solved; the recovery system adopts a multi-target point and multi-obstacle-avoiding area segmented homing control strategy, improves the drop point precision under the obstacle-avoiding condition, realizes the obstacle avoidance and accurate landing of the booster, and has two control modes, namely an automatic control mode and a ground manual control mode, redundancy backup and system reliability improvement.
Description
Technical Field
The invention belongs to the technical field of spacecraft return deceleration landing design, and particularly relates to a parafoil accurate recovery system and a parafoil accurate recovery method for booster landing zone safety control, which can realize the landing zone control and controllable safety recovery of a booster and are also suitable for accurate recovery of other aircrafts.
Background
The carrier rocket booster generally falls to the ground in an uncontrolled manner after the work is finished, huge manpower, material resources and financial resources are consumed before each launch to organize the clearing and evacuation of a landing area with more than two thousand square kilometers, the safety of the landing area is ensured by evacuation, and the number of people is evacuated to hundreds of thousands due to the rocket launch every year according to statistics. With the improvement of aerospace launching frequency and rapid development of national economy in China, equipment facilities around an original launching aviation/landing area are increasingly dense, the effective range of the landing area is continuously reduced, the evacuation difficulty of residents is increasingly high, the cost is also increasingly high, the coordination work of the landing area becomes increasingly complex, and the realization of safe and controllable recovery of the booster becomes a problem to be solved urgently at present.
The booster is generally a slender body and has larger mass, and the booster falls in an uncontrolled manner after separation, so that the attitude change is larger and the recovery difficulty is very large. For the recovery of the booster, parachute recovery of a solid booster of the American space shuttle, a Soviet Union 'energy' rocket booster and an Alian 5 rocket booster is developed abroad, a group parachute formed by common parachutes is adopted for deceleration recovery, and the parachute is salvaged and recovered in the sea without considering landing area control; in recent years, a heavy falcon rocket booster of the American SpaceX company adopts a reverse thrust engine to carry out vertical landing recovery, has high technical difficulty, puts higher requirements on a rocket propulsion system and a control system, needs fuel for regulating the posture of the rocket and reducing the speed by a small amplitude, has larger influence on carrying capacity, recovers and loses about 20 percent of carrying capacity at sea, recovers and loses about 40 percent of carrying capacity at land, and is not suitable for all application scenes; in addition, a booster horizontal return scheme with wings is proposed abroad, but the scheme is still in conceptual research.
In case of the traditional recovery system, after the parachute is opened, the tail end cannot be controlled, the flight track has the characteristic of drifting along with wind under the influence of the parachute opening height and the current wind condition of a landing area, the landing point is uncontrollable, the spreading range is large, the reverse thrust vertical recovery is difficult to use and cannot be used on the rocket booster in service, and the requirement for safety control of the landing area of the rocket booster at present cannot be met in the domestic development of key technology.
Disclosure of Invention
In order to overcome the defects in the prior art, the inventor of the invention carries out intensive research, provides a precise parafoil recovery system and method for the safety control of a booster landing zone, solves the problem of uncontrolled free falling of the booster, reduces the landing zone area, and realizes the safety control of the landing zone, thereby completing the invention.
The technical scheme provided by the invention is as follows:
on the first hand, the precise parafoil recovery system for safely controlling the landing area of the booster is characterized in that a booster head cone of the booster is divided into an end head cap, a head cone middle section and a head cone bottom section, wherein the end head cap is fixedly connected with the head cone middle section through an ejector, and the head cone middle section is connected with the head cone bottom section through an explosive bolt; the recovery system comprises a bearing structure, a parachute device, a control device, a servo control device and a remote measuring and controlling device;
the parachute device comprises a stabilizing parachute, a speed reducing parachute and a parafoil, wherein the stabilizing parachute is used for stabilizing the posture of the booster and primarily reducing the speed, the speed reducing parachute is used for further reducing the speed to meet the parachute opening condition of the parafoil, and the parafoil is used for maneuvering gliding;
the bearing structure comprises an umbrella cabin and a supporting structure, the supporting structure is arranged on the bottom section of the nose cone, the umbrella cabin, a control device, a servo control device and a remote measuring and controlling device are supported and installed, and the umbrella cabin is used for storing a speed reducing umbrella and a parafoil;
the servo control device comprises a driver, a left motor, a left transmission mechanism, a right motor and a right transmission mechanism, wherein an output shaft of the left motor is fixedly connected with the left transmission mechanism, an output shaft of the right motor is fixedly connected with the right transmission mechanism, steel wire ropes wound on the left transmission mechanism and the right transmission mechanism are connected with a parafoil control rope, and the driver controls the left motor and the right motor to operate under the control instruction of the control device to drive the left transmission mechanism and the right transmission mechanism to receive and release the parafoil control rope so as to realize parafoil control;
the control device is used for establishing an initial state of the homing control of the booster when entering a gliding state, determining flight parameters related to landing, transmitting flight state data to the remote-measuring remote control device and entering a homing flight program; the control device selects a nearest target point, sends an operation command to the driver according to the course deviation angle, the driver in the servo operation device receives the operation command and then rotates and retracts the operation rope through the driving motor, the homing operation is realized, the obstacle avoidance operation control is executed after the driver enters the obstacle avoidance height, finally the driver lands and lands at a preset place, and the landing area safety control of the booster is realized;
the remote measurement and control device comprises an arrow-borne data transmission machine and a ground measurement and control integrated machine, the arrow-borne data transmission machine is used for transmitting signals of the control device and the ground measurement and control integrated machine, the ground measurement and control integrated machine is used for receiving flight state data sent by the control device in an automatic control mode, uploading a parafoil control instruction in a ground control mode, and controlling homing control.
In a second aspect, a method for accurately recovering a parafoil for safely controlling a booster landing area comprises the following steps:
the booster takes off along with the ignition of the carrier rocket, the booster rocket is separated from the main rocket after flying in the active section, the recovery system is powered on, and the booster starts to fall after the booster rocket flies to the highest point through inertia;
when the booster falls to the parachute opening height of the stabilizing parachute, the booster catapult end cap pulls out the stabilizing parachute, and the booster is subjected to posture stabilization and primary deceleration after the stabilizing parachute is opened;
detonating the explosive bolt, separating the middle section of the nose cone, pulling out the drogue parachute by the stabilizing parachute with the middle section of the nose cone, and further decelerating the booster after the drogue parachute is opened;
the parachute and the booster are separated and the parafoil is pulled out, the parafoil is gradually released from closing to full expansion after opening, and the parafoil enters a gliding state after being stabilized;
the control device starts to establish an initial state of booster homing control, determines flight parameters related to landing, transmits flight state data to the remote measuring and controlling device and enters a homing flight program; the control device selects the nearest target point, sends an operation command to the driver according to the course deviation angle, the driver in the servo operation device receives the operation command and then rotates and retracts the operation rope through the driving motor, the homing operation is realized, the obstacle avoidance operation control is executed after the driver enters the obstacle avoidance height, finally the driver lands and lands at a preset place, and the landing area safety control of the booster is realized.
According to the parafoil accurate recovery system and method for booster landing zone safety control, provided by the invention, the beneficial effects are as follows:
(1) the parafoil accurate recovery system and the parafoil accurate recovery method for the booster landing area safety control provided by the invention solve the problem of structural adaptability change of an existing booster through sectional type connection separation and centralized layout design;
(2) according to the parafoil accurate recovery system and method for safety control of the landing area of the booster, the booster is subjected to controlled recovery through the large parafoil, the technical difficulty is relatively small, the applicability is strong, the influence on the carrying capacity is small, and the engineering application is facilitated; the double-cross deceleration group umbrella is adopted for deceleration, and the single umbrella has small opening force, light weight and large safety margin; the design of a conical strip stabilizing umbrella and a double-cross deceleration group umbrella adapts to the initial discrete parachute opening posture of the booster, and the posture of the booster is stabilized and decelerated step by step to be beneficial to controllable recovery;
(3) according to the precise parafoil recovery system and method for safely controlling the landing area of the booster, the problems of structural strength, inflation and closing-up removing control of the large parafoil are solved through auxiliary quick inflation, multi-stage chain type closing-up and high-performance large parafoil design, and maneuvering gliding of the booster is realized;
(4) the parafoil accurate recovery system and the parafoil accurate recovery method for the booster landing zone safety control provided by the invention realize the synchronization and the quick following response of servo control through one-driving-two, high-power and long-stroke (more than 3m) servo drive design;
(5) according to the parafoil accurate recovery system and method for safety control of the landing area of the booster, the servo control device adopts a one-to-two design, can have a sparrow landing control function to perform nondestructive landing, and can realize the repeated use of the booster;
(6) according to the parafoil accurate recovery system and method for safely controlling the landing area of the booster, the orderly retraction of the control rope is realized through the design of the stepped shaft steel wire rope transmission mechanism with guide constraint, and the control precision is improved;
(7) the parafoil accurate recovery system and the parafoil accurate recovery method for the booster landing area safety control, provided by the invention, adopt a multi-target point and multi-obstacle avoidance area segmented homing control strategy, improve the landing point precision under the obstacle avoidance condition, reduce the landing area, realize the obstacle avoidance and accurate landing of the booster and realize the landing area safety control;
(8) the parafoil accurate recovery system and the parafoil accurate recovery method for booster landing area safety control provided by the invention have two control modes, namely an automatic control mode and a ground manual control mode, redundancy backup is realized, and the system reliability is improved.
Drawings
FIG. 1 is a schematic view of a booster designed according to the present invention;
FIG. 2 is a schematic view of the installation layout of the recovery system products on the booster;
FIG. 3 is a schematic view of the installation layout of the servo control device on the booster
FIG. 4 is a schematic view of a structural connection of the servo manipulator;
FIG. 5 is a schematic view of the precise parafoil recovery system during operation;
FIG. 6 is a schematic view of a recovery system homing control flow;
fig. 7 is a schematic view of the transmission mechanism.
Description of the reference numerals
1-stabilizing the umbrella; 2-a catapult; 3-a speed reducing umbrella; 4-umbrella cabin; 5-an antenna of the rocket-borne data transmission machine; 6-a control device; 7-a support structure; 8-explosion bolt; 9-left transmission mechanism; 10-a left motor; 11-a driver; 20-an integrated booster nose cone; 21-end cap; 22-a nose cone middle section; 23-conical bottom section.
Detailed Description
The features and advantages of the present invention will become more apparent and appreciated from the following detailed description of the invention.
The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
According to a first aspect of the invention, a precise parafoil recovery system for safely controlling a booster landing area is provided, which comprises a bearing structure, a parachute device, a control device, a servo control device and a remote measuring and controlling device.
For the structure of the booster, as shown in fig. 1, 2 and 3, in order to minimize the adaptive change of the structure of the booster in active service, a sectional type connecting, separating and centralized layout design is adopted, the original integrated booster head cone 20 is divided into an end head cap 21, a head cone middle section 22 and a head cone bottom section 23, the end head cap 21 is fixedly connected with the head cone middle section 22 through an ejector 2, and the head cone middle section 22 is connected with the head cone bottom section 23 through an explosive bolt 8; stabilizing umbrella 1 and installing in end cap 21, the other products of recovery system pass through bearing structure and concentrate and install on nose awl bottom segment 23, bearing structure includes umbrella cabin 4 and bearing structure 7, bearing structure 7 is installed on nose awl bottom segment 23, umbrella cabin 4, controlling means, servo controlling means and telemetering measurement remote control unit install on bearing structure 7, the antenna 5 of arrow load data transmitter is installed on umbrella cabin 4 in the telemetering measurement remote control unit, drag parachute and large-scale parafoil are deposited in umbrella cabin 4, bearing structure's design, the mechanical interface with the booster has significantly reduced. The stabilizing umbrella 1 is pulled out through the separation of the end head cap 21, the nose cone middle section 22 of the stabilizing umbrella 1 is connected with a hanging point, the stabilizing umbrella is separated from the nose cone middle section 22 through the separation of the nose cone middle section, the stabilizing umbrella drives the nose cone middle section to be separated, an umbrella outlet channel is opened, the speed reducing umbrella is pulled out, the hanging point of the speed reducing umbrella and the nose cone bottom section 23 is connected, the parafoil is pulled out through the separation of the hanging point of the speed reducing umbrella, the separation mode is simplified, and the separation times are reduced.
As for the parachute device, as shown in fig. 2, the parachute device comprises a stabilizing parachute 1, a parachute 3 and a large parafoil, and a seven-stage deceleration scheme consisting of three-stage pneumatic reducers is formed, wherein the stabilizing parachute 1 is a conical band stabilizing parachute, the parachute 3 is a double cross deceleration group parachute, the stabilizing parachute 1 is used for posture stabilization and preliminary deceleration of the booster, the parachute 3 is used for further deceleration to meet parachute opening conditions of the parafoil, and the large parafoil is used for maneuvering gliding.
Furthermore, the lower airfoil surface of the parafoil is provided with a flexible one-way air inlet valve, and the non-bearing rib is provided with a vent hole, so that the parafoil can be assisted to be rapidly inflated and molded to enter a gliding state in the unfolding process.
Furthermore, the parafoil adopts a two-stage chain type closing-in mode.
Through the design of auxiliary quick inflation, multi-stage chain type closing in and a high-performance large parafoil, the problems of structural strength, inflation and closing in release control of the large parafoil are solved, and the maneuvering gliding of the booster is realized.
For the control device, the control device 6 is used for establishing the initial state of the homing control of the booster when the parafoil is opened and reaches the stable state and enters the gliding state, and determining flight parameters such as the distance between the parafoil and a target point and the distance between obstacle avoidance pointsNumber ofGo to and froTransmitting the flying state data to the ground measurement and control integrated machine through the rocket-borne data transmission machine, and entering a homing flying program; the control device selects a nearest target point, sends an operation command to the driver 11 according to the course deviation angle, the driver 11 in the servo operation device receives the operation command and then rotates and retracts the operation rope through the driving motor, homing operation is achieved, obstacle avoidance operation control is executed after the vehicle enters an obstacle avoidance height, finally landing is carried out at a preset place, and falling area safety control of the booster is achieved.
The remote measuring and controlling device comprises an arrow-borne data transmission machine and a ground measurement and control integrated machine, wherein the arrow-borne data transmission machine is used for transmitting signals of the control device and the ground measurement and control integrated machine, and the ground measurement and control integrated machine is used for receiving flight state data sent by the control device in an automatic control mode, uploading a parafoil control instruction in a ground control mode and controlling homing control.
For the servo control device, a design of 1 dragging 2 drive is adopted, one driver controls 2 motors to rotate, the servo control is as shown in fig. 3 and fig. 4 and comprises a driver 11, a left motor 10, a left transmission mechanism 9, a right motor and a right transmission mechanism, an output shaft of the left motor 10 is fixedly connected with the left transmission mechanism 9, an output shaft of the right motor is fixedly connected with the right transmission mechanism, steel wire ropes wound on the left transmission mechanism 9 and the right transmission mechanism are connected with a parafoil control rope, and the driver 11 controls the left motor 10 and the right motor to operate under the control command of the control device to drive the left transmission mechanism 9 and the right transmission mechanism to receive and release the parafoil control rope, so that the parafoil control is realized. Furthermore, the servo control device is provided with a power supply for supplying power to the driver, so that the long-stroke servo driving requirement is met.
Further, the left transmission mechanism 9 and the right transmission mechanism are of winch structures, a combined mode of a guide rod and a guide block is adopted, the guide rod and a stepped shaft are fixed on a winch support in parallel, the stepped shaft serves as a winch steel wire rope winding mechanism, the guide block is installed on the guide rod and is provided with a guide hole or a guide groove for guiding the steel wire rope, the guide block can slide on the guide rod, the winding and unwinding of the steel wire rope are guided and controlled, and the stepped shaft steel wire rope transmission mechanism with guiding constraint is formed through the transmission mechanism.
Furthermore, the left motor 10 and the right motor meet the requirement of retracting and releasing a parafoil control rope of more than 3m, and are high-power long-stroke motors.
Further, when the booster needs to be reused, when the booster is at a certain height from the ground, the rear edge of the parafoil is pulled down on two sides by the driving motor of the driver 11, and the booster can land without damage through the 'sparrow descent' operation.
In the invention, a booster takes off along with the ignition of a carrier rocket, the booster is separated from a main rocket after flying at a driving section of the booster rocket, the booster starts to fall after flying to the highest point through inertia, when the booster falls to a certain height and has an parachute opening condition, the booster pulls out a stabilizing parachute 1 through an ejection end cap 21 of a catapult 2, the stabilizing parachute 1 performs attitude stabilization and primary deceleration on the booster after opening the parachute to create a good condition for opening a parachute 3, then the nose cone middle section 22 is separated, the stabilizing parachute 1 drives the nose cone middle section 22 to separate and open a parachute outlet channel and pull out the parachute 3, the booster is further decelerated after the parachute 3 is opened to create a good condition for opening a parafoil, then the parachute 3 is separated from the booster and pulls out a parafoil, the parafoil is opened and reaches a stable state and then enters a gliding state, a control device starts to establish an initial state of booster return control, a target point-to-target point parachute distance calculation step-by step, a flight distance calculation target point is calculated, Flight parameters such as the distance of obstacle avoidance points and the like, and flight state data are transmitted to the ground measurement and control integrated machine through the rocket-borne data transmission machine, and a homing flight program is entered; the control device selects a nearest target point, sends an operation command to the driver 11 according to the course deviation angle, the driver 11 in the servo operation device receives the operation command and then rotates and retracts the operation rope through the driving motor, homing operation is achieved, obstacle avoidance operation control is executed after the vehicle enters an obstacle avoidance height, finally landing is carried out at a preset place, and falling area safety control of the booster is achieved. When the automatic control fails, the remote measuring and controlling device can convert the automatic control mode into a ground control mode, so that dual-mode backup is realized.
Specifically, the working process of the precise parafoil recovery system is mainly divided into three stages, namely a stabilizing parachute deceleration section, a deceleration parachute deceleration section and a parafoil homing control section, the specific working process of the recovery system in each stage is as follows, and the working process schematic diagram is shown in fig. 5.
Stabilizing parachute deceleration section
1. At T0, after the booster is separated, starting a recovery system, starting the recovery system to fall after the booster flies to the highest point through inertia, and firstly judging whether the flight height of the booster reaches 11km or not through a barometer or an inertial navigation device, or delaying for T1 for backup;
2. t0+ T1, and simultaneously firing ejectors, such as 16 ejectors, the ejection end cap pulls out the stabilizing umbrella,
3. the stabilizing umbrella is straightened and inflated to work in a first-stage closing-up state;
4. at T0+ T2, the stabilizing umbrella releases the first-level closing and works in a fully unfolded state;
(II) deceleration section of deceleration parachute
5. T0+ T3, a plurality of explosive bolts such as 4 are detonated simultaneously, the middle section of the nose cone is unlocked and separated, the stabilizing parachute takes the middle section of the nose cone to separate and pull out the speed reducing parachute,
6. the speed reducing umbrella works in a closed shape after being straightened and inflated;
7. at T0+ T4, the first-stage closing of the speed reducing umbrella is removed, and the speed reducing umbrella works in a fully unfolded state;
(III) parafoil homing control section
8. At T0+ T5, simultaneously detonating a plurality of, for example, 4 parachute unlocking bolts, separating the parachutes, and pulling out the parafoil;
9. the parafoil works in a fully-closed state after being straightened and inflated;
10. at T0+ T6, the parafoil releases the first-level closing and works in a second-level closing state;
11. at T0+ T7, the parafoil is released from the secondary closing, and the parafoil is fully unfolded to glide;
12. at T0+ T8, the parafoil starts homing operation;
13. at T0+ T9, the parafoil navigates back and operates, flies to the target point and avoids an obstacle avoidance area, in the process, if the automatic control mode has problems and navigation operation cannot be performed, the automatic control mode is switched to a ground manual control mode, and the parafoil navigation operation is executed by transmitting a parafoil operation instruction on the ground measurement and control integrated machine, so that the parafoil carries the booster to fly to the target point;
14. at T0+ T10, the parafoil carries the booster to land in a safe area, and when the booster needs to be reused, the rear edge of the parafoil is pulled down at two sides at a certain height away from the ground, and the booster can land without damage through the 'sparrow landing' operation.
According to a second aspect of the invention, a precise recovery method of a parafoil for safety control of a booster landing zone is provided, which is implemented by the recovery system of the first aspect, and comprises the following steps:
the booster takes off along with the ignition of the carrier rocket, the booster rocket is separated from the main rocket after flying in the active section, the recovery system is powered on, and the booster starts to fall after the booster rocket flies to the highest point through inertia;
when the booster falls to the parachute opening height of the stabilizing parachute 1, the booster catapult end cap 21 pulls out the stabilizing parachute 1, and the attitude stabilization and primary deceleration are carried out on the booster after the stabilizing parachute 1 is opened;
detonating a plurality of explosive bolts, separating the nose cone middle section 22, separating the stabilizing parachute 1 with the nose cone middle section 22 to pull out the brake parachute 3, and further decelerating the booster after the brake parachute 3 is opened;
the deceleration parachute 3 is separated from the booster and pulled out, the parafoil is gradually released from closing to full expansion after opening, and enters a gliding state after reaching stability;
the control device starts to establish an initial state of the homing control of the booster, calculates flight parameters such as the distance between the parafoil and a target point and the distance between obstacle avoidance points and the like, transmits flight state data to the ground measurement and control integrated machine through the rocket-borne data transmission machine, and enters a homing flight program; the control device selects a nearest target point, sends an operation command to the driver 11 according to the course deviation angle, the driver 11 in the servo operation device receives the operation command and then rotates and retracts the operation rope through the driving motor, homing operation is achieved, obstacle avoidance operation control is executed after the vehicle enters an obstacle avoidance height, finally landing is carried out at a preset place, and falling area safety control of the booster is achieved.
In the invention, when the automatic control fails, the remote measuring and controlling device can convert the automatic control mode into the ground control mode, upload the parafoil control instruction to the control device, implement homing control and realize dual-mode backup.
In the invention, when the booster needs to be reused and the height is set from the ground, the rear edge of the parafoil is pulled down at two sides by the driving motor of the driver 11, and the booster can land without damage by the 'sparrow descent' operation.
In the invention, a recovery system (a control module or a remote measuring and controlling device) adopts a sectional homing control method, the whole process is divided into a non-obstacle-avoiding section and an obstacle-avoiding section according to the height, two working states of radial homing and spiral pin height are designed above the obstacle-avoiding height, obstacle-avoiding operation is carried out below the obstacle-avoiding height, the position of the recovery system is judged, and if the recovery system is outside the obstacle-avoiding area, the recovery system enters the radial homing state; and if the current position is in the obstacle avoidance area, entering an obstacle avoidance state. Meanwhile, in consideration of safety, when the navigation data is not received within a continuously set time period such as 60s, the hovering and landing working mode is executed, uncontrolled flying of the parafoil is avoided, and the homing control flow is shown in fig. 6.
Further, the obstacle avoidance state is that when the parafoil system is below the obstacle avoidance height and in the obstacle avoidance area, the parafoil system flies out of the obstacle avoidance area at the shortest distance and the fastest speed, and the control target direction is the direction of a connection line between the obstacle avoidance point and the parafoil system.
The invention has been described in detail with reference to specific embodiments and illustrative examples, but the description is not intended to be construed in a limiting sense. Those skilled in the art will appreciate that various equivalent substitutions, modifications or improvements may be made to the technical solution of the present invention and its embodiments without departing from the spirit and scope of the present invention, which fall within the scope of the present invention. The scope of the invention is defined by the appended claims.
Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.
Claims (10)
1. The precise parafoil recovery system for safely controlling the landing area of the booster is characterized in that a booster head cone of the booster is divided into a head cap (21), a head cone middle section (22) and a head cone bottom section (23), the head cap (21) is fixedly connected with the head cone middle section (22) through a catapult (2), and the head cone middle section (22) is connected with the head cone bottom section (23) through an explosive bolt (8); the recovery system comprises a bearing structure, a parachute device, a control device, a servo control device and a remote measuring and controlling device;
the parachute device comprises a stabilizing parachute (1), a speed reducing parachute (3) and a parafoil, wherein the stabilizing parachute (1) is used for stabilizing the posture of the booster and primarily reducing the speed, the speed reducing parachute (3) is used for further reducing the speed to meet the parachute opening condition of the parafoil, and the parafoil is used for maneuvering gliding;
the bearing structure comprises an umbrella cabin (4) and a supporting structure (7), the supporting structure (7) is arranged on the bottom section (23) of the nose cone, the umbrella cabin (4), a control device, a servo control device and a remote measuring and controlling device are supported and installed, and the umbrella cabin (4) is used for storing a speed-reducing umbrella and a parafoil;
the servo control device comprises a driver (11), a left motor (10), a left transmission mechanism (9), a right motor and a right transmission mechanism, wherein an output shaft of the left motor (10) is fixedly connected with the left transmission mechanism (9), an output shaft of the right motor is fixedly connected with the right transmission mechanism, steel wire ropes wound on the left transmission mechanism (9) and the right transmission mechanism are connected with a parafoil control rope, and the driver (11) controls the left motor (10) and the right motor to operate under the control instruction of a control device to drive the left transmission mechanism (9) and the right transmission mechanism to receive and release the parafoil control rope, so that parafoil control is realized;
the control device is used for establishing an initial state of the homing control of the booster when entering a gliding state, determining flight parameters related to landing, transmitting flight state data to the remote-measuring remote control device and entering a homing flight program; the control device selects a nearest target point, sends an operation instruction to the driver (11) according to the course deviation angle, the driver (11) in the servo operation device receives the operation instruction and then rotates and retracts the operation rope through the driving motor to realize homing operation, the obstacle avoidance operation control is executed after the vehicle enters the obstacle avoidance height, and finally the vehicle lands at a preset place to realize the landing safety control of the landing area of the booster;
the remote measurement and control device comprises an arrow-borne data transmission machine and a ground measurement and control integrated machine, the arrow-borne data transmission machine is used for transmitting signals of the control device and the ground measurement and control integrated machine, the ground measurement and control integrated machine is used for receiving flight state data sent by the control device in an automatic control mode, uploading a parafoil control instruction in a ground control mode, and controlling homing control.
2. The parafoil precise recovery system for booster landing zone safety control as claimed in claim 1, wherein said stabilizer parachute (1) is a conical band stabilizer parachute and the drogue parachute (3) is a double cross drogue parachute.
3. The precise parafoil recovery system for the safety control of the landing area of the booster as claimed in claim 1, wherein the lower airfoil surface of the parafoil is provided with a flexible one-way air inlet valve, and the non-bearing rib is provided with an air vent; and/or
The parafoil adopts a two-stage chain type closing-in mode.
4. The parafoil precise recovery system for the safety control of the landing area of the booster as claimed in claim 1, wherein the left transmission mechanism (9) and the right transmission mechanism are of a winch structure, a combination mode of a guide rod and a guide block is adopted, the guide rod and a stepped shaft are fixed on a winch support in parallel, the stepped shaft is used as a steel wire rope winding mechanism, the guide block is mounted on the guide rod and is provided with a guide hole or a guide groove for guiding the steel wire rope, and the guide block can slide on the guide rod to guide and control the winding and unwinding of the steel wire rope.
5. The parafoil precise recovery system for the booster landing zone safety control as claimed in claim 1, wherein the left motor (10) and the right motor meet the requirement of retracting the parafoil control rope > 3 m.
6. A precise recovery method of parafoil for the safety control of the landing zone of a booster, which is carried out by the recovery system of one of claims 1 to 5, comprising the steps of:
the booster takes off along with the ignition of the carrier rocket, the booster rocket is separated from the main rocket after flying in the active section, the recovery system is powered on, and the booster starts to fall after the booster rocket flies to the highest point through inertia;
when the booster falls to the parachute opening height of the stabilizing parachute (1), the booster catapult end cap (21) pulls out the stabilizing parachute (1), and the stabilizing parachute (1) performs posture stabilization and primary deceleration on the booster after parachute opening;
detonating the explosive bolt, separating the nose cone middle section (22), pulling out the drogue (3) by the stabilizing umbrella (1) with the nose cone middle section (22), and further decelerating the booster after the drogue (3) is opened;
the parachute (3) is separated from the booster and pulled out, the parafoil is gradually released from closing to full expansion after opening, and enters a gliding state after reaching stability;
the control device starts to establish an initial state of booster homing control, determines flight parameters related to landing, transmits flight state data to the remote measuring and controlling device and enters a homing flight program; the control device selects a nearest target point, sends an operation instruction to the driver (11) according to the course deviation angle, the driver (11) in the servo operation device receives the operation instruction and then rotates to receive and release the operation rope through the driving motor to realize homing operation, the obstacle avoidance operation control is executed after the driver enters the obstacle avoidance height, and finally the driver lands and lands at a preset place to realize the safe control of the landing zone of the booster.
7. The precise parafoil recovery method for the safety control of the landing area of the booster as claimed in claim 6, wherein when the automatic control fails, the remote measuring and controlling device switches the automatic control mode to the ground control mode, and transmits the parafoil operating command to the control device to perform the homing operation.
8. The precise parafoil recovery method for the safety control of the landing zone of the booster as claimed in claim 6, wherein when the booster is to be reused, the rear edge of the parafoil is pulled down on both sides simultaneously by the driving motor of the driver (11) at a set height from the ground, and the booster is landed without damage by the operation of 'sparrow descent'.
9. The precise parafoil recovery method for safety control of a booster landing area according to claim 6 or 7, characterized in that in the homing flight process, the control module or the remote measurement and control device adopts a segmented homing control method, the whole process is divided into a non-obstacle-avoiding section and an obstacle-avoiding section according to the height, two working states of radial homing and spiral pin height are designed above the obstacle-avoiding height, obstacle-avoiding operation is carried out below the obstacle-avoiding height, the position of the parachute is judged, and if the parachute is outside the obstacle-avoiding area, the parachute enters the radial homing state; if the current position is in the obstacle avoidance area, entering an obstacle avoidance state; and if the navigation data is not received within the continuous set time period, executing a hover landing working mode.
10. The precise parafoil recovery method for safely controlling the landing area of the booster as claimed in claim 9, wherein the obstacle avoidance state is that when the parafoil system is below the obstacle avoidance height and within the obstacle avoidance area, the parafoil system flies out of the obstacle avoidance area at the shortest distance and the fastest speed, and the control direction is the connection direction between the obstacle avoidance point and the parafoil system.
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| CN202111564617.2A CN114476142A (en) | 2021-12-20 | 2021-12-20 | Precise parafoil recovery system and method for booster landing area safety control |
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