CN114690794A - Method and system for tabular real-time control of flight state - Google Patents

Method and system for tabular real-time control of flight state Download PDF

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CN114690794A
CN114690794A CN202210329819.7A CN202210329819A CN114690794A CN 114690794 A CN114690794 A CN 114690794A CN 202210329819 A CN202210329819 A CN 202210329819A CN 114690794 A CN114690794 A CN 114690794A
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reentry
point
real
current
time
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张智境
吴炜平
滕瑶
巩庆涛
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Ludong University
Beijing Zhongke Aerospace Technology Co Ltd
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Ludong University
Beijing Zhongke Aerospace Technology Co Ltd
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    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
    • G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
    • G05D1/0833—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability using limited authority control

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Abstract

The application discloses a method and a system for tabulating real-time control of flight states, wherein the method for tabulating real-time control of flight states specifically comprises the following steps: acquiring a real-time flight state of the rocket; calculating the height of a current point and the speed of the current point according to the real-time flight state of the rocket; judging whether the current height and speed meet the re-entry point condition or not; if the condition of the reentry point is met, acquiring a quality parameter of the reentry point, and acquiring a real-time numerical value of a key parameter of the reentry track according to the acquired quality parameter of the reentry point; acquiring a reentry continuous trajectory according to the real-time numerical value of the reentry trajectory key parameter; and carrying out closed-loop real-time control on the real-time flight state of the rocket according to the reentry continuous track. According to the method and the device, the reentry track can be refined by using a tabulation method, the data storage capacity on the arrow can be effectively reduced, and meanwhile, the calculation efficiency on the arrow is improved.

Description

Method and system for tabular real-time control of flight state
Technical Field
The application relates to the field of rockets, in particular to a method and a system for controlling flight states in real time in a tabulated mode.
Background
At present, a reentry track adopts a nominal program angle, the program angle is obtained by off-line design, interference and deviation in the actual flight process are not considered, and guidance flight is carried out according to the off-line nominal design program angle as a reentry reference track. When the control is carried out according to the off-line nominal design program angle, the position and speed errors accumulated in the ascending section are brought into the re-entering point error, and are influenced by aerodynamic deviation and wind interference in the re-entering flight process, so that the position and speed deviation of the falling point is large, and the recovery precision in a large range can only be realized.
Therefore, how to provide a flight state control method capable of improving the accuracy of the reentry trajectory energy planning and thus improving the landing accuracy is a problem that needs to be solved urgently by those skilled in the art.
Disclosure of Invention
The application provides a method for controlling flight states in real time in a tabular manner, which specifically comprises the following steps: acquiring a real-time flight state of the rocket; calculating the height of a current point and the speed of the current point according to the real-time flight state of the rocket; judging whether the current height and speed meet the re-entry point condition or not; if the condition of the reentry point is met, acquiring a quality parameter of the reentry point, and acquiring a real-time numerical value of a key parameter of the reentry track according to the acquired quality parameter of the reentry point; acquiring a reentry continuous trajectory according to the real-time numerical value of the reentry trajectory key parameter; and carrying out closed-loop real-time control on the real-time flight state of the rocket according to the reentry continuous track.
The real-time flight state of the rocket specifically includes the current-cycle inertial system position and the current-cycle inertial system speed.
As above, wherein the real-time flight status of the rocket specifically includes the current periodic inertial system position
Figure BDA0003574822390000011
Current cycle inertial system velocity
Figure BDA0003574822390000021
Respectively expressed as:
Figure BDA0003574822390000022
Figure BDA0003574822390000023
wherein
Figure BDA0003574822390000024
For the position of the inertial system in the current cycle,
Figure BDA0003574822390000025
for the position of the inertial system in the previous cycle,
Figure BDA0003574822390000026
for the velocity of the inertial system in the current cycle,
Figure BDA0003574822390000027
for the inertial system velocity of the previous cycle,
Figure BDA0003574822390000028
for the acceleration of gravity at the current periodic position,
Figure BDA0003574822390000029
and the gravity acceleration of the position of the previous period is shown, delta W is the apparent velocity increment of the inertial system of the current period, and T is the control period.
The above, wherein before obtaining the current point height, further comprises calculating to obtain the rocket position centroid radius, wherein the rocket position centroid radius
Figure BDA00035748223900000210
The concrete expression is as follows:
Figure BDA00035748223900000211
wherein
Figure BDA00035748223900000212
For the position of the inertial system in the current cycle,
Figure BDA00035748223900000213
is the emission point radial.
As above, the current point height h is specifically expressed as:
Figure BDA00035748223900000214
wherein
Figure BDA00035748223900000215
Representing the earth's center radial of rocket position
Figure BDA00035748223900000216
The mould is taken out of the mould,
Figure BDA00035748223900000217
representing radial of emission point
Figure BDA00035748223900000218
Mould taking out
As above, the current point velocity v is specifically expressed as:
Figure BDA00035748223900000219
namely, the current periodic inertial system velocity is taken as a module to obtain the current point velocity v.
As above, the obtaining of the quality parameter of the reentry point and the obtaining of the real-time value of the key parameter of the reentry trajectory according to the obtained quality parameter of the reentry point includes the following substeps: acquiring quality parameters of a re-entry point; acquiring a quality parameter increment of the reentry point according to the quality parameter of the reentry point; acquiring a pre-designed reentry track interpolation table; acquiring a boundary value of a reentry track interpolation table according to the reentry point quality parameter and the reentry point quality parameter increment; and acquiring the real-time numerical value of the key parameter in the reentry track interpolation table according to the boundary value of the reentry track interpolation table.
As above, the re-entrant trajectory interpolation table comprises 27 rows and comprises the height column Hre-ΔH、Hre、Hre+ Δ H, velocity row Vre-ΔV、Vre、Vre+ Δ V, mass column m0re-Δm0、m0re、m0re+Δm0In which V isreFor re-entering the point nominal design value, Δ V is the speed decision threshold, HreFor the nominal design value of the height of the re-entry point,. DELTA.H is a height judgment threshold value, m0To re-enter the point quality parameter, m0reDesign values for the re-entry point quality parameters. Δ m0For a quality parameter m of the re-entry point0And design value m0reThe increment of (c).
The above, wherein the boundary values are the current point height h, the current point velocity v, and the current mass m0Is obtained by the following equation:
Figure BDA0003574822390000031
wherein (H)re-ΔH，Hre) Is the boundary value of the current point height h, (V)re-ΔV，Vre) The boundary value of the dry point velocity of mulberry, (m)0re，m0re+Δm0) For a quality parameter m of the re-entry point0Boundary value of (H)reFor re-entry point height nominal design value, VreNominal design value for reentry point speed, m0reFor the re-entering point quality nominal design value, Δ H is the height judgment threshold, Δ V is the speed judgment threshold, Δ m0Is the re-entry point quality parameter delta.
A tabulated system for controlling flight states in real time specifically comprises a flight state acquisition unit, a prediction unit, a judgment unit, a reentry track key parameter acquisition unit, a reentry reference track acquisition unit and a control unit; the flight state acquisition unit is used for acquiring the real-time flight state of the rocket; the prediction unit is used for predicting the height and the speed of the current point according to the real-time flight state of the rocket; the judging unit is used for judging whether the height and the speed of the reentry point meet the reentry point condition or not; the reentry track key parameter acquisition unit is used for acquiring a reentry point quality parameter if a reentry point condition is met, and acquiring a real-time numerical value of the reentry track key parameter according to the acquired reentry point quality parameter; the reentry reference trajectory acquisition unit is used for acquiring a reentry continuous trajectory according to the real-time numerical value of the reentry trajectory key parameter; and the control unit is used for carrying out closed-loop real-time control on the real-time flight state of the rocket according to the reentry continuous track.
The application has the following beneficial effects:
(1) according to the method, the reentry track can be refined by using a tabulation method, the data storage capacity on the arrow can be effectively reduced, and meanwhile, the calculation efficiency on the arrow is improved.
(2) According to the method and the device, the height and the speed are used as reference values in closed-loop control, and the state retrieval is carried out by matching with the flight time, so that the state feedback robustness is improved, and the control precision is improved.
(3) The reference track is formed by continuous polynomial provided by dynamics, so that the accurate reentrant track can be provided
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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 needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art according to the drawings.
FIG. 1 is a flow chart of a method for tabulating real-time control flight status provided in accordance with an embodiment of the present application;
fig. 2 is an internal structural diagram of a system for tabulating real-time flight status according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application are clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The application relates to a method and a system for tabular real-time control of flight states. The storage capacity of the arrow can be reduced, the calculation time of the arrow can be shortened, the reentry track energy planning precision can be improved by calculating the characteristic parameters according to the reentry point quality parameters on line, and therefore the landing precision is improved.
Example one
As shown in fig. 1, the method for tabulating a flight status in real time provided by the present application specifically includes the following steps:
step S110: and acquiring the real-time flight state of the rocket.
Specifically, the real-time calculation is carried out on the motion of the rocket body by adopting an inertia recursion algorithm, and the real-time flight state of the rocket specifically comprises the position of an inertia system in the current period
Figure BDA0003574822390000051
Current cycle inertial system velocity
Figure BDA0003574822390000052
Equal amounts.
Wherein the real-time flight state of the rocket specifically comprises the current period inertial system position
Figure BDA0003574822390000053
Current cycle inertial system velocity
Figure BDA0003574822390000054
Respectively expressed as:
Figure BDA0003574822390000055
Figure BDA0003574822390000056
wherein
Figure BDA0003574822390000057
For the position of the inertial system in the current cycle,
Figure BDA0003574822390000058
for the position of the inertial system in the previous cycle,
Figure BDA0003574822390000059
for the velocity of the inertial system in the current cycle,
Figure BDA00035748223900000510
for the inertial system velocity of the previous cycle,
Figure BDA00035748223900000511
is the acceleration of gravity at the current periodic position,
Figure BDA00035748223900000512
and the gravity acceleration of the position of the previous period is shown, delta W is the apparent velocity increment of the inertial system of the current period, and T is the control period.
Step S120: and acquiring the height and the speed of the current point according to the real-time flight state of the rocket.
Before the height h of the current point is obtained, the geocentric radius of the rocket position is obtained through calculation
Figure BDA00035748223900000513
Then the earth center radial diameter is determined by the rocket position
Figure BDA00035748223900000514
Obtaining a current point height h, wherein the current point height h is specifically represented as:
Figure BDA00035748223900000515
Figure BDA00035748223900000516
wherein
Figure BDA00035748223900000517
For the position of the inertial system in the current cycle,
Figure BDA00035748223900000518
is the radial diameter of the emission point,
Figure BDA00035748223900000519
the vector is the geocentric vector of the rocket position, and h is the current flight height of the rocket. Wherein
Figure BDA00035748223900000520
Representing the earth's center radial of rocket position
Figure BDA00035748223900000521
The mould is taken out of the mould,
Figure BDA00035748223900000522
representing radial of emission point
Figure BDA00035748223900000523
And (6) taking a mold.
The current point velocity v is specifically expressed as:
Figure BDA00035748223900000524
namely, the current periodic inertial system velocity is taken as a module to obtain the current point velocity v.
Step S130: and judging whether the current height and speed meet the re-entry point condition or not.
And judging whether the height h and the speed v of the current point meet the specified threshold value, and if so, meeting the condition of the access point.
The specific steps of judging whether the current point height h and the current point speed v meet the specified threshold are that whether the judged current point height h and the judged current point speed v meet the specified threshold
Figure BDA0003574822390000061
Wherein HreFor re-entry point height nominal design value, VreNominal design value for reentry point speed, m0reAnd determining the nominal design value of the quality for the reentry point according to the flight mission. Δ H and Δ V are height and speed determination thresholds, respectively.
If the current point height h and the current point speed v satisfy
Figure BDA0003574822390000062
It means that the current point height h and the current point velocity v satisfy the re-entry point condition, step S140 is executed, otherwise step S110 is executed again.
Step S140: and acquiring a quality parameter of the reentry point, and acquiring a real-time numerical value of a key parameter of the reentry track according to the acquired quality parameter of the reentry point.
Wherein the step S140 specifically includes the following sub-steps:
step S1401: and acquiring quality parameters of the access points.
Wherein the reentry point quality parameter is the current rocket mass m0。
Specifically, according to the mass of the residual propellant at the time of shutdown, the current mass m of the rocket is obtained by considering the evaporation capacity of the gliding section0。
Step S1402: and acquiring the quality parameter increment of the reentry point according to the quality parameter of the reentry point.
In particular, according to the quality parameter m of the re-entry point0And rocket mass design value m0reObtaining the quality parameter m of the current re-entry point of the rocket0And design value m0reIncrement of (Δ m)0. Wherein the rocket mass design value m0reIs a preset value.
Step S1403: and acquiring a pre-designed reentry track interpolation table.
As shown in Table 1, the re-entry trace interpolation table comprises 27 rows and comprises a height column Hre-ΔH、Hre、Hre+ Δ H, velocity row Vre-ΔV、Vre、Vre+ Δ V, mass column m0re-Δm0、m0re、m0re+Δm0Wherein each 1-9 line is a set of speed columns, each 1-3 line is a set of speed columns, and each 1-3 line is a set of quality columns. In the table, all the key parameters a-e have preset fixed values, and in the embodiment, only a few parameters are supplemented as examples, for example, the key parameter a includes data of rows 1-3, such as 0.365, 0.36 and 0.4.
TABLE 1
Figure BDA0003574822390000071
Wherein step S1403 may be acquired before steps S1401 to S1402, or may be acquired after steps S1401 to S1402.
Step S1404: and acquiring a boundary value of the reentry track interpolation table according to the reentry point quality parameter and the reentry point quality parameter increment.
Specifically, the current point height h and the current point velocity v obtained in step S120, and the current re-entry point quality parameter m obtained in the current step0Quality parameter increment of re-entry point Δ m0And obtaining the boundary value of the reentry track interpolation table. Wherein the boundary values are the current point height h, the current point velocity v and the current mass m in the reentry trajectory interpolation table0Wherein the boundary value is obtained by the following equation:
Figure BDA0003574822390000081
wherein (H)re-ΔH，Hre) Is the boundary value of the current point height h, (V)re-ΔV，Vre) The boundary value of the dry point velocity of mulberry, (m)0re，m0re+Δm0) For a quality parameter m of the re-entry point0The boundary value of (1).
Step S1405: and acquiring the real-time numerical value of the key parameter in the reentry track interpolation table according to the boundary value of the reentry track interpolation table.
Wherein the height h, the velocity v and the mass m are respectively measured0The current value is extracted in a distinguishing way to obtainAnd obtaining real-time numerical values of the re-entry trajectory key parameters a-e by using linear interpolation according to the uplink and downlink data of the serial numbers of the uplink and the downlink where the key parameters are located.
Specifically, a line number is obtained, where first a boundary (H) is followedre-ΔH，Hre) And screening in lines 1-27 to obtain lines 1-18. According to (V)re-ΔV，Vre) Screening in lines 1-18 gives lines 1-6, lines 10-15. According to the boundary (m)0re，m0re+Δm0) Lines 1-6, lines 10-15 are finally screened to obtain lines 2-3, lines 5-6, lines 11-12, lines 14-15.
Further, responding to the acquisition of the specific line number, acquiring data corresponding to the specific line number, and according to the current point height h, the current point speed v and the current quality m0And a height column Hre-ΔH、Hre、Hre+ Δ H, velocity row Vre-ΔV、Vre、Vre+ Δ V, mass column m0re-Δm0、m0re、m0re+Δm0And calculating the real-time numerical value of the key parameter.
The calculation process of the real-time value of the key parameter a is as follows:
by mass m0Performing a first-dimensional interpolation calculation for the independent variable, am-up_1For the first difference calculation of the first dimension, am-low_2For the second difference calculation of the first dimension, am_up_3For the third difference calculation of the first dimension, am_low_4The result is calculated for the fourth difference in the first dimension.
Figure BDA0003574822390000091
Figure BDA0003574822390000092
Figure BDA0003574822390000093
Figure BDA0003574822390000094
Wherein m is0To re-enter the point quality parameter, m0reDesign values for the re-entry point quality parameters. Δ m0For a quality parameter m of the re-entry point0And design value m0reThe increment of (c). a 2]、a[3]、a[5]、a[6]、a[11]、a[12]、a[14]、a[15]For the final screening to obtain key parameter a column data corresponding to the 2-3 th row, the 5-6 th row, the 11-12 th row and the 14-15 th row, because 1-3 rows in the quality columns are a group of quality columns, in the first-dimensional interpolation calculation, the data corresponding to the key parameter a of the 2-3 th row is subjected to the first-dimensional first difference calculation, the data corresponding to the key parameter a of the 5-6 th row is subjected to the first-dimensional second difference calculation, the data corresponding to the key parameter a of the 11-12 th row is subjected to the first-dimensional third difference calculation, and the data corresponding to the key parameter a of the 14-15 th row is subjected to the first-dimensional fourth difference calculation.
Performing a second-dimension interpolation calculation by taking the current point velocity v as an independent variable, wherein av_upFor the second dimension first difference calculation result, av_lowThe result is calculated for the second difference for the second dimension.
Figure BDA0003574822390000095
Figure BDA0003574822390000096
Wherein a ism_up_1For the first difference calculation of the first dimension, am_low_2For the second difference calculation of the first dimension, am_up_3For the third difference calculation of the first dimension, am_low_4Calculating the result for the fourth difference of the first dimension, where VreFor the reentry point nominal design value, Δ V is the velocity determination threshold, and V is the reentry point velocity.
The height h of the current point is taken as an independent variable to carry out third-dimensional interpolation calculation to obtain the final valueThe real-time value of the key parameter a is ahvm. Wherein a ishvmThe concrete expression is as follows:
Figure BDA0003574822390000101
wherein a isv_upFor the second dimension first difference calculation result, av_lowFor the second difference calculation of the second dimension, HreAnd in order to obtain the nominal design value of the height of the access point, delta H is a height judgment threshold value, and H is the height of the current point.
The calculation process of the real-time value of the key parameter b is as follows:
by mass m0Performing a first-dimensional interpolation calculation for the independent variable, bm_up_1For the first difference calculation of the first dimension, bm_low_2For the second difference calculation of the first dimension, bm_up_3For the third difference calculation of the first dimension, bm_low_4The result is calculated for the fourth difference value of the first dimension.
Figure BDA0003574822390000102
Figure BDA0003574822390000103
Figure BDA0003574822390000104
Figure BDA0003574822390000105
Wherein b 2, b 3, b 5, b 6, b 11, b 12, b 14, b 15 are the data of key parameter b column corresponding to the final screening obtained from 2-3, 5-6, 11-12, 14-15 rows.
Performing a second-dimension interpolation calculation with the current point velocity v as an independent variable, wherein bv_upFor the second dimension first difference calculation, bv_lowThe result is calculated for the second difference for the second dimension.
Figure BDA0003574822390000106
Figure BDA0003574822390000107
Taking the height h of the current point as an independent variable to carry out third-dimensional interpolation calculation to obtain the final real-time value of the key parameter b as bhvm. Wherein b ishvmThe concrete expression is as follows:
Figure BDA0003574822390000108
wherein the calculation process of the real-time value of the key parameter c is as follows:
by mass m0Performing a first-dimensional interpolation calculation for the independent variable, cm_up_1For the first difference calculation of the first dimension, cm_low_2Calculating the result for the second difference of the first dimension, cm_up_3For the third difference calculation of the first dimension, cm_low_4The result is calculated for the fourth difference in the first dimension.
Figure BDA0003574822390000111
Figure BDA0003574822390000112
Figure BDA0003574822390000113
Figure BDA0003574822390000114
Wherein c 2, c 3, c 5, c 6, c 11, c 12, c 14 and c 15 are the data of key parameter c column corresponding to 2-3, 5-6, 11-12 and 14-15 rows obtained by final screening.
Performing a second-dimension interpolation calculation with the current point velocity v as an independent variable, wherein cv_upFor the second dimension first difference calculation, cv_lowThe result is calculated for the second difference for the second dimension.
Figure BDA0003574822390000115
Figure BDA0003574822390000116
Performing third-dimensional interpolation calculation by taking the height h of the current point as an independent variable to obtain a final real-time value c of the key parameter chvm. Wherein c ishvmThe concrete expression is as follows:
Figure BDA0003574822390000117
wherein the calculation process of the real-time value of the key parameter d is as follows:
by mass m0Performing a first-dimensional interpolation calculation for the independent variable, dm_up_1For the first difference calculation of the first dimension, dm_low_2For the result of the second difference calculation of the first dimension, dm_up_3For the third difference calculation of the first dimension, dm_low_4The result is calculated for the fourth difference value of the first dimension.
Figure BDA0003574822390000121
Figure BDA0003574822390000122
Figure BDA0003574822390000123
Figure BDA0003574822390000124
Wherein d 2, d 3, d 5, d 6, d 11, d 12, d 14 and d 15 are the data of key parameter d column corresponding to the 2-3, 5-6, 11-12 and 14-15 rows obtained by final screening.
Performing a second-dimension interpolation calculation with the current point velocity v as an independent variable, wherein dv_upFor the second dimension first difference calculation, dv_lowThe result is calculated for the second difference for the second dimension.
Figure BDA0003574822390000125
Figure BDA0003574822390000126
Performing third-dimensional interpolation calculation by taking the height h of the current point as an independent variable to obtain a final real-time value d of the key parameter dhvm. Wherein d ishvmThe concrete expression is as follows:
Figure BDA0003574822390000127
wherein the calculation process of the real-time value of the key parameter e is as follows:
by mass m0Performing a first-dimensional interpolation calculation for the independent variable, em_up_1For the first difference calculation of the first dimension, em_low_2For the second difference calculation of the first dimension, em_up_3For the third difference calculation of the first dimension, em_low_4The result is calculated for the fourth difference in the first dimension.
Figure BDA0003574822390000128
Figure BDA0003574822390000129
Figure BDA00035748223900001210
Figure BDA00035748223900001211
Wherein e 2, e 3, e 5, e 6, e 11, e 12, e 14, e 15 are the data of the key parameter e column corresponding to the 2-3, 5-6, 11-12, 14-15 rows obtained by final screening.
Performing a second-dimension interpolation calculation with the current point velocity v as an independent variable, wherein ev_upFor the second dimension first difference calculation result, ev_lowThe result is calculated for the second difference for the second dimension.
Figure BDA0003574822390000131
Figure BDA0003574822390000132
Performing third-dimensional interpolation calculation by taking the height h of the current point as an independent variable to obtain a final real-time value e of the key parameter ehvm. Wherein ehvmThe concrete expression is as follows:
Figure BDA0003574822390000133
step S150: and acquiring a reentry continuous track according to the real-time numerical value of the reentry track key parameter.
And obtaining the reentry continuous trajectory of the rocket in an ideal state according to the real-time numerical values of the polynomial coefficient key parameters a-e extracted from the reentry trajectory spline curve. The rocket can actually fly according to the reentry continuous track.
Specifically, the reentry continuous path comprises a thrust value F required to be generated at the t moment of the engine under the ideal flight state of the rocketref(t) velocity value V to be reached at rocket time tref(t) and the altitude value H to be reached at the moment of rocket tref(t)。
Fref(t)＝(ahvm×t4+bhvm×t3+chvm×t2+dhvm×t+ehvm)×f1(h,v,m0)
Vref(t)＝(ahvm×t4+bhvm×t3+chvm×t2+dhvm×t+ehvm)×f2(h,v,m0)
Href(t)＝(ahvm×t4+bhvm×t3+chvm×t2+dhvm×t+ehvm)×f3(h,v,m0)
Wherein, h, v, m0Respectively representing the height of a current point, the speed of the current point and the current quality; fref、Vref、HrefReference thrust value, speed value and height value, t is the flying timing after re-entry point, f1、f2、f3For a predetermined nominal function, ahvmIs a real-time value of a key parameter, bhvmIs a real-time value of a key parameter b, chvmIs a real-time value of the key parameter c, dhvmIs a real-time value of a critical parameter d, ehvmIs a real-time value of the key parameter e.
Step S160: and carrying out closed-loop real-time control on the real-time flight state of the rocket according to the reentry continuous track.
Wherein, the closed-loop real-time control is carried out on the flight of the rocket according to the reentry continuous track.
Specifically, the current point is highThe value H and the current point velocity value v are respectively connected with H in the reentry continuous trackref(t) and Vref(t) taking the difference to obtain a deviation value. And controlling the flight state of the rocket in real time according to the deviation value, and further adjusting to an ideal landing speed and position. Specifically, the adjustment is carried out through a pitch angle instruction, a yaw angle instruction and actually output thrust.
Wherein it can be solved according to the following control feedback mode:
Figure BDA0003574822390000141
wherein,
Figure BDA0003574822390000142
for pitch angle command, # is yaw angle command, # is actual output thrust, and D (z)-1) For controlling the correction network, the correction network is given by design; a. thectrl(t) assigning a matrix for control; fref(t) shows thrust force V to be generated at time t of the engineref(t) shows the velocity to be achieved at time t of the rocket, Href(t) represents the altitude to be reached by the rocket at time t, v represents the current point speed, and h represents the current point altitude.
Wherein the right side F,
Figure BDA0003574822390000143
And the specific calculation result of psi is the expected value of the flight state, and the thrust, the pitch angle instruction and the yaw angle instruction in the real-time flight state are respectively close to the thrust, the pitch angle instruction and the yaw angle instruction in the expected value of the flight state, so that closed-loop adjustment of the real-time flight state is performed.
Example two
As shown in fig. 2, the present application provides a tabular reentry trajectory planning guidance system, which specifically includes: the flight state acquiring unit 210, the predicting unit 220, the judging unit 230, the reentry trajectory key parameter acquiring unit 240, the reentry reference trajectory acquiring unit 250, and the control unit 260.
The flight state acquiring unit 210 is configured to acquire a real-time flight state of the rocket.
The predicting unit 220 is connected to the flight state acquiring unit 210, and is configured to predict a current point altitude and a current point speed according to a real-time flight state of the rocket.
The determining unit 230 is connected to the predicting unit 220 for determining whether the current point height and the current point speed satisfy the re-entry point condition.
The reentry trajectory key parameter acquiring unit 240 is connected to the determining unit 230, and is configured to acquire a reentry point quality parameter if a reentry point condition is satisfied, and acquire a real-time value of the reentry trajectory key parameter according to the acquired reentry point quality parameter.
The reentry reference trajectory acquisition unit 250 is connected to the reentry trajectory key parameter acquisition unit 240, and is configured to acquire a reentry continuous trajectory according to a real-time value of the reentry trajectory key parameter.
The control unit 260 is respectively connected to the flight state obtaining unit 210 and the reentry reference trajectory obtaining unit 250, and is configured to perform closed-loop real-time control on the real-time flight state of the rocket according to the reentry continuous trajectory.
The application has the following beneficial effects:
(3) according to the method and the device, the reentry track can be refined by using a tabulation method, the data storage capacity on the arrow can be effectively reduced, and meanwhile, the calculation efficiency on the arrow is improved.
(4) According to the method and the device, the height and the speed are used as reference values in closed-loop control, and the state retrieval is carried out by matching with the flight time, so that the state feedback robustness is improved, and the control precision is improved.
(5) The reference trajectory is formed by continuous polynomial proposition by dynamics, and an accurate reentrant trajectory can be provided.
Although the present application has been described with reference to examples, which are intended to be illustrative only and not to be limiting of the application, changes, additions and/or deletions may be made to the embodiments without departing from the scope of the application.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims (10)

1. A method for controlling flight state in real time in a tabular manner is characterized by comprising the following steps:
acquiring a real-time flight state of the rocket;
calculating the height of a current point and the speed of the current point according to the real-time flight state of the rocket;
judging whether the current height and speed meet the re-entry point condition or not;
if the condition of the reentry point is met, acquiring a quality parameter of the reentry point, and acquiring a real-time numerical value of a key parameter of the reentry track according to the acquired quality parameter of the reentry point;
acquiring a reentry continuous trajectory according to the real-time numerical value of the reentry trajectory key parameter;
and carrying out closed-loop real-time control on the real-time flight state of the rocket according to the reentry continuous track.
2. A method for tabulated real-time control of flight status as in claim 1 wherein the real-time flight status of the rocket includes in particular a current cycle inertial system position, a current cycle inertial system velocity.
3. A method for tabulated real-time control of flight status as in claim 1, wherein the real-time flight status of the rocket includes in particular a current cycle inertial system position
Figure FDA0003574822380000011
Current cycle inertial system velocity
Figure FDA0003574822380000012
Respectively expressed as:
Figure FDA0003574822380000013
Figure FDA0003574822380000014
wherein
Figure FDA0003574822380000015
For the position of the inertial system in the current cycle,
Figure FDA0003574822380000016
for the position of the inertial system in the previous cycle,
Figure FDA0003574822380000017
for the velocity of the inertial system in the current cycle,
Figure FDA0003574822380000018
for the inertial system velocity of the previous cycle,
Figure FDA0003574822380000019
for the acceleration of gravity at the current periodic position,
Figure FDA00035748223800000110
and the gravity acceleration of the position of the previous period is shown as delta W, the apparent velocity increment of the inertial system of the current period is shown as delta W, and T is the control period.
4. A method for tabulated real time flight status control as in claim 3 further comprising calculating a rocket position centroid path prior to obtaining the current point altitude, wherein the rocket position centroid path
Figure FDA00035748223800000111
The concrete expression is as follows:
Figure FDA00035748223800000112
wherein
Figure FDA0003574822380000021
For the position of the inertial system in the current cycle,
Figure FDA0003574822380000022
is the emission point radial.
5. A method for tabulated real time control of flight status as set forth in claim 4 wherein the current point height h is specified as:
Figure FDA0003574822380000023
wherein
Figure FDA0003574822380000024
Representing the earth's center radial of rocket position
Figure FDA0003574822380000025
Taking out the mould,
Figure FDA0003574822380000026
representing radial of emission point
Figure FDA0003574822380000027
And (6) taking a mould.
6. A method for tabulated real time control of flight conditions as claimed in claim 3 wherein the current point velocity v is specified as:
Figure FDA0003574822380000028
namely, the current period inertial system velocity is taken as a module to obtain the current point velocity v.
7. A method for tabulated real-time flight status control as set forth in claim 1 wherein a quality parameter of a reentry point is obtained and a real-time value of a key parameter of a reentry trajectory is obtained based on the obtained quality parameter of the reentry point, comprising the sub-steps of:
acquiring a quality parameter of a reentry point;
acquiring a quality parameter increment of the reentry point according to the quality parameter of the reentry point;
acquiring a pre-designed reentry track interpolation table;
acquiring a boundary value of a reentry track interpolation table according to the reentry point quality parameter and the reentry point quality parameter increment;
and acquiring the real-time numerical value of the key parameter in the reentry track interpolation table according to the boundary value of the reentry track interpolation table.
8. The method of claim 1, wherein the reentrant trajectory interpolation table comprises 27 rows and comprises a height column Hre-ΔH、Hre、Hre+ Δ H, velocity row Vre-ΔV、Vre、Vre+ Δ V, mass column m0re-Δm0、m0re、m0re+Δm0In which V isreFor re-entering the point nominal design value, Δ V is the speed decision threshold, HreFor the nominal design value of the height of the re-entry point,. DELTA.H is a height judgment threshold value, m0To re-enter the point quality parameter, m0reFor the design value of the quality parameter of the re-entry point,. DELTA.m0For a quality parameter m of the re-entry point0And design value m0reThe increment of (c).
9. The method of claim 8, wherein the boundary values are a current point height h, a current point velocity v, and a current mass m of the re-entry trajectory interpolation table0Is obtained by the following equation:
Figure FDA0003574822380000031
wherein (H)re-ΔH，Hre) Is the boundary value of the current point height h, (V)re-ΔV，Vre) Boundary value of current point velocity v, (m)0re，m0re+Δm0) For a quality parameter m of the re-entry point0Boundary value of (H)reFor re-entry point height nominal design value, VreNominal design value for reentry point speed, m0reFor the re-entering point quality nominal design value, Δ H is the height judgment threshold, Δ V is the speed judgment threshold, Δ m0Is the re-entry point quality parameter delta.
10. A tabulated system for controlling flight states in real time is characterized by comprising a flight state acquisition unit, a prediction unit, a judgment unit, a reentry track key parameter acquisition unit, a reentry reference track acquisition unit and a control unit;
the flight state acquisition unit is used for acquiring the real-time flight state of the rocket;
the prediction unit is used for predicting the height and the speed of the current point according to the real-time flight state of the rocket;
the judging unit is used for judging whether the current point height and the current point speed meet the re-entry point condition or not;
the reentry track key parameter acquisition unit is used for acquiring a reentry point quality parameter if a reentry point condition is met, and acquiring a real-time numerical value of the reentry track key parameter according to the acquired reentry point quality parameter;
the reentry reference trajectory acquisition unit is used for acquiring a reentry continuous trajectory according to the real-time numerical value of the reentry trajectory key parameter;
and the control unit is used for carrying out closed-loop real-time control on the real-time flight state of the rocket according to the reentry continuous track.
CN202210329819.7A 2022-03-31 2022-03-31 Method and system for tabular real-time control of flight state Pending CN114690794A (en)

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