CN114938258B - Rocket control clock synchronization device, flight controller and rocket control computer - Google Patents
Rocket control clock synchronization device, flight controller and rocket control computer Download PDFInfo
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- H04J3/0635—Clock or time synchronisation in a network
- H04J3/0685—Clock or time synchronisation in a node; Intranode synchronisation
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- H03L—AUTOMATIC CONTROL, STARTING, SYNCHRONISATION OR STABILISATION OF GENERATORS OF ELECTRONIC OSCILLATIONS OR PULSES
- H03L7/00—Automatic control of frequency or phase; Synchronisation
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- H04J—MULTIPLEX COMMUNICATION
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- H04J3/02—Details
- H04J3/06—Synchronising arrangements
- H04J3/0635—Clock or time synchronisation in a network
- H04J3/0685—Clock or time synchronisation in a node; Intranode synchronisation
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Abstract
The invention relates to the technical field of aerospace, and provides a rocket control clock synchronization device, a flight controller and a rocket control computer, wherein the device comprises: the external clock input module is used for sending the received real-time external clock pulse to the time difference conversion module; the time difference and phase difference conversion module is used for receiving the real-time control clock pulse sent by the control clock generation module and determining the phase difference between the real-time external clock pulse and the real-time control clock pulse; the control clock generation module is used for generating real-time control clock pulses and adjusting the real-time control clock pulses based on the phase difference so as to keep the real-time control clock pulses and real-time external clock pulses synchronous; the set period of the real-time control clock pulse is identical to the set period of the real-time external clock pulse. The device provided by the invention improves the accuracy of the rocket control clock and improves the control reliability and control stability of the rocket control computer.
Description
Technical Field
The invention relates to the technical field of aerospace, in particular to a rocket control clock synchronization device, a flight controller and a rocket control computer.
Background
Currently, in the control process of a launch vehicle, a control algorithm needs to be executed at a fixed control period. The time reference of the control period mainly comes from the inertia device, and the inertia device outputs a synchronous pulse every other control period. However, in the flight process of the carrier rocket, the output signals of the inertia device are transmitted through the cable, the signals are easily interfered, and even the output abnormality of the inertia device may occur. In the case of signal interference or abnormal inertial device, the launch vehicle still requires to be able to operate with a fixed control period, and usually requires the rocket control computer itself to also be able to generate local control period pulses.
Since the inertial device and the rocket control computer belong to two different devices, the control periodic pulses are generated by clock frequency division inside the respective devices, and the clock frequencies of the two devices cannot be completely consistent, so that the respective generated periodic pulses have deviation, and the deviation is larger and larger as time goes on. Therefore, the accuracy of the existing rocket-controlled clock is poor.
Disclosure of Invention
The invention provides a rocket control clock synchronization device, a flight controller and a rocket control computer, which are used for solving the technical problem of poor accuracy of a rocket control clock.
The invention provides a rocket control clock synchronization device, which comprises an external clock input module, a time difference conversion module and a control clock generation module, wherein the external clock input module is used for inputting a time difference;
the output end of the external clock input module is connected with the first input end of the time difference and phase difference conversion module and used for sending the received real-time external clock pulse to the time difference and phase difference conversion module;
the second input end of the time difference and phase difference conversion module is connected with the output end of the control clock generation module, and the output end of the time difference and phase difference conversion module is connected with the input end of the control clock generation module and is used for receiving the real-time control clock pulse sent by the control clock generation module and determining the phase difference between the real-time external clock pulse and the real-time control clock pulse;
the control clock generation module is used for generating the real-time control clock pulse and adjusting the real-time control clock pulse based on the phase difference so as to keep the real-time control clock pulse and the real-time external clock pulse synchronous; the set period of the real-time control clock pulse is consistent with the set period of the real-time external clock pulse.
According to the rocket control clock synchronization device provided by the invention, the time difference and phase difference conversion module is specifically used for:
determining a corresponding relationship between a plurality of real-time control clock pulses and a plurality of real-time external clock pulses;
determining the lead time of the real-time control clock pulse relative to a real-time external clock pulse based on the rising edge time of the current real-time control clock pulse and the rising edge time of the real-time external clock pulse corresponding to the current real-time control clock pulse;
determining the lag time of the real-time control clock pulse relative to the real-time external clock pulse based on the rising edge time of the next real-time control clock pulse and the rising edge time of the real-time external clock pulse corresponding to the current real-time control clock pulse;
determining a phase difference between the real-time external clock pulse and the real-time control clock pulse based on the lead time and the lag time.
According to the rocket control clock synchronization device provided by the invention, the time difference and phase difference conversion module is further specifically used for:
determining a phase difference between the real-time external clock pulse and the real-time control clock pulse based on the lead time and setting an adjustment direction of the phase difference to a lag direction in a case where the lead time is less than the lag time;
in a case where the lead time is greater than the lag time, a phase difference between the real-time external clock pulse and the real-time control clock pulse is determined based on the lag time, and an adjustment direction of the phase difference is set to a lead direction.
The rocket control clock synchronization device provided by the invention also comprises an input validity judgment module;
the input end of the input validity judging module is connected with the output end of the external clock input module, the output end of the input validity judging module is connected with the first input end of the time difference conversion module, and the input validity judging module is used for determining a clock pulse period fluctuation range based on a pulse period fluctuation set value and a rocket control clock pulse period set value, and determining a validity judging result of the real-time external clock pulse based on the clock pulse period fluctuation range and the real-time external clock pulse.
According to the rocket-controlled clock synchronization device provided by the invention, the input validity judgment module is further used for:
continuously acquiring a plurality of external clock pulses of a preset number; the plurality of external clock pulses are sent by an external clock source connected with the external clock input module;
and under the condition that the validity judgment result of each external clock pulse is valid, determining that the external clock source is a valid clock source, and sending the clock pulse sent by the external clock source to the time difference conversion module as a real-time external clock pulse.
According to the rocket control clock synchronization device provided by the invention, the external clock input module is connected with a plurality of candidate clock sources; the candidate clock sources comprise an inertial device clock source and clock sources in each flight controller of the rocket control computer;
the external clock input module is further configured to:
determining the priority of each candidate clock source;
based on the priority level of each candidate clock source, performing descending order arrangement on each candidate clock source to generate a candidate clock source selection sequence;
selecting a next candidate clock source as an external clock source in the candidate clock source selection sequence if the current candidate clock source is determined to be an invalid clock source.
The rocket control clock synchronization device provided by the invention also comprises a digital filtering module;
the input end of the digital filtering module is connected with the output end of the time difference and phase difference conversion module, and the output end of the digital filtering module is connected with the input end of the control clock generation module and used for filtering the digital signals corresponding to the phase difference.
The rocket control clock synchronization device provided by the invention also comprises a phase difference validity judgment module;
the input end of the phase difference validity judging module is connected with the output end of the time difference and phase difference conversion module, and the output end of the phase difference validity judging module is connected with the input end of the digital filtering module and used for judging the validity of the phase difference based on a preset pulse phase adjusting threshold value; and under the condition that the judgment result of the validity of the phase difference is valid, sending the digital signal corresponding to the phase difference to the digital filtering module.
The invention provides a flight controller, which comprises the rocket control clock synchronization device.
The invention provides an arrow control computer, which comprises at least one flight controller.
According to the rocket control clock synchronization device, the flight controller and the rocket control computer, the external clock input module is used for receiving real-time external clock pulses; the time difference and phase difference conversion module is used for receiving the real-time control clock pulse sent by the control clock generation module and generating a phase difference according to the phase difference between the real-time external clock pulse and the real-time control clock pulse; the control clock generation module is used for adjusting the real-time control clock pulse according to the phase difference; the rocket control clock synchronization device can be applied to the scene of external clock loss, and can automatically adjust the phase of the real-time control clock pulse according to the phase difference under the condition that the external clock is not lost, so that the rocket control clock synchronization device can keep synchronization with the real-time external clock pulse, is not interfered by the complex electromagnetic environment on the rocket, improves the accuracy of the rocket control clock, and improves the control reliability and the control stability of a control computer on the rocket.
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In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic diagram of a rocket-controlled clock synchronization apparatus according to the present invention;
FIG. 2 is a schematic diagram of a time difference conversion method according to the present invention;
FIG. 3 is a second schematic view of a rocket-controlled clock synchronization device according to the present invention;
FIG. 4 is a third schematic structural diagram of a rocket-controlled clock synchronization apparatus according to the present invention;
FIG. 5 is a fourth schematic structural diagram of a rocket-controlled clock synchronization device according to the present invention;
FIG. 6 is a schematic structural diagram of a flight controller provided in the present invention;
FIG. 7 is a schematic structural diagram of an arrow control computer provided by the present invention.
The attached drawings are as follows:
100: a rocket-controlled clock synchronization device; 110: an external clock input module; 120: a time difference and phase difference conversion module; 130: a control clock generation module; 140: an input validity judgment module; 150: a digital filtering module; 160: a phase difference validity judgment module; 600: a flight controller; 700: and the arrow control computer.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.
It should be noted that the terms "first", "second", etc. in the present invention are used for distinguishing similar objects, and are not necessarily used for describing a particular order or sequence. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Fig. 1 is a schematic structural diagram of a rocket-controlled clock synchronization apparatus provided in the present invention, and as shown in fig. 1, the apparatus includes an external clock input module 110, a time difference conversion module 120, and a control clock generation module 130.
The output end of the external clock input module 110 is connected to the first input end of the time difference and phase difference conversion module 120, and is configured to send the received real-time external clock pulse to the time difference and phase difference conversion module 120;
a second input end of the time difference and phase difference conversion module 120 is connected to an output end of the control clock generation module 130, and an output end of the time difference and phase difference conversion module 120 is connected to an input end of the control clock generation module 130, and is configured to receive a real-time control clock pulse sent by the control clock generation module 130, and determine a phase difference between a real-time external clock pulse and the real-time control clock pulse;
the control clock generating module 130 is configured to generate a real-time control clock and adjust the real-time control clock based on the phase difference, so that the real-time control clock and a real-time external clock are synchronized; the set period of the real-time control clock pulse is identical to the set period of the real-time external clock pulse.
Specifically, the rocket control clock synchronization device in the embodiment of the invention may be a component in a flight processor in a rocket control computer. The rocket-controlled clock synchronization device can be realized by a software program or a hardware circuit arranged in the flight processor.
And the real-time external clock pulse is used for correcting the real-time control clock pulse in the rocket control computer, so that various flight control algorithms running in the flight processor can be executed according to a fixed period. And the real-time control clock pulse is used for triggering various flight control algorithms running in the rocket flight processor to execute according to a certain time sequence. For example, the real-time external clock may be 10ms (milliseconds), and the real-time control clock should be 10ms.
The input end of the external clock input module 110 is connected to a plurality of external clock sources, and may obtain real-time external clock pulses sent by the plurality of external clock sources. For example, the external clock source may be an inertial device clock source (such as various crystal oscillators), or may be a satellite clock source (such as various satellite navigation systems). After receiving the real-time external clock, the external clock input module 110 may perform denoising processing on the real-time external clock, and send the denoised real-time external clock to the time difference conversion module 120.
The time difference conversion module 120 has two input ends, a first input end is connected to the output end of the external clock input module 110, and is configured to obtain a real-time external clock pulse; the second input terminal is connected to the output terminal of the control clock generating module 130, and is used for acquiring the real-time control clock pulse. The time difference/phase difference conversion module 120 uses the real-time external clock as a reference signal and the real-time control clock as a feedback signal, and obtains the phase difference between the real-time external clock and the real-time control clock after calculating the deviation between the two signals. If the phase difference is zero, the two clock pulses are synchronous signals, and if the phase difference is not zero, the two clock pulses are asynchronous signals. The time difference/phase difference conversion module 120 is configured to adjust the phase of the real-time control clock according to the phase difference.
The control clock generating module 130 may be a digitally controlled oscillator for generating real-time control clock pulses. The setting period of the real-time control clock pulse coincides with the setting period of the real-time external clock pulse, and may be 10ms, for example.
After the control clock generating module 130 receives the phase difference, the control clock generating module 130 may adjust the output frequency of the real-time control clock pulse according to the frequency change value, so that the output frequency of the real-time control clock pulse changes, thereby changing the output phase, and keeping the phase of the real-time control clock pulse consistent with the phase of the real-time external clock pulse, thereby implementing synchronization of the two clock pulses. The frequency variation value and the phase difference are in one-to-one corresponding direct proportion relation.
According to the rocket control clock synchronization device provided by the embodiment of the invention, the external clock input module is used for receiving real-time external clock pulses; the time difference and phase difference conversion module is used for receiving the real-time control clock pulse sent by the control clock generation module and generating a phase difference according to the phase difference between the real-time external clock pulse and the real-time control clock pulse; the control clock generation module is used for adjusting real-time control clock pulses according to the phase difference; the rocket control clock synchronization device can be applied to the scene of external clock loss, and can automatically adjust the phase of the real-time control clock pulse according to the phase difference under the condition that the external clock is not lost, so that the rocket control clock synchronization device can keep synchronization with the real-time external clock pulse, is not interfered by the complex electromagnetic environment on the rocket, improves the accuracy of the rocket control clock, and improves the control reliability and the control stability of a control computer on the rocket.
Based on the above embodiment, the time difference and phase difference conversion module is specifically configured to:
determining a corresponding relationship between a plurality of real-time control clock pulses and a plurality of real-time external clock pulses;
determining the lead time of the real-time control clock pulse relative to the real-time external clock pulse based on the rising edge time of the current real-time control clock pulse and the rising edge time of the real-time external clock pulse corresponding to the current real-time control clock pulse;
determining the lag time of the real-time control clock pulse relative to the real-time external clock pulse based on the rising edge time of the next real-time control clock pulse and the rising edge time of the real-time external clock pulse corresponding to the current real-time control clock pulse;
a phase difference between the real-time external clock pulse and the real-time control clock pulse is determined based on the lead time and the lag time.
Specifically, after obtaining the plurality of real-time control clock pulses output by the control clock generating module and the plurality of real-time external clock pulses output by the external clock input module, the time difference conversion module may determine a correspondence between the real-time control clock pulses and the real-time external clock pulses.
FIG. 2 is a schematic diagram of the time difference and phase difference conversion method provided by the present invention, as shown in FIG. 2, for controlling the clock pulse in any real timeFor the current real-time control clock pulse, the rising edge time of the current real-time control clock pulse is taken as a timing starting point, the rising edge time of the real-time external clock pulse corresponding to the current real-time control clock pulse is taken as a timing end point, and the lead time of the real-time control clock pulse relative to the real-time external clock pulse is obtained
. The rising edge time of the next real-time control clock pulse of the current real-time control clock pulse is taken as a timing starting point, the rising edge time of the real-time external clock pulse corresponding to the current real-time control clock pulse is taken as a timing end point, and the lag time of the real-time control clock pulse relative to the real-time external clock pulse is obtained
。
Because the clock pulses are periodic signals, the time can be advanced according to the time
And lag time
The phase difference between the real-time external clock pulse and the real-time control clock pulse is determined.
Based on any of the above embodiments, the time difference and phase difference conversion module is further specifically configured to:
determining a phase difference between the real-time external clock pulse and the real-time control clock pulse based on the lead time and setting an adjustment direction of the phase difference as a lag direction in a case where the lead time is less than the lag time;
in the case where the lead time is greater than the lag time, a phase difference between the real-time external clock pulse and the real-time control clock pulse is determined based on the lag time, and an adjustment direction of the phase difference is set to a leading direction.
In particular, the real-time external clock pulse and the real-time control clock pulse have the same period and can be used
And (4) showing. One cycle corresponds to a phase of
。
At lead time
Less than lag time
In the case of (2), the phase difference can be adjusted
The determination is as follows:
At lead time
Greater than lag time
In the case of (3), the phase difference may be adjusted
The determination is as follows:
Through the time difference and phase difference conversion, the adjustment amplitude of the phase difference can be reduced, the adjustment process of the real-time control clock pulse can be kept smooth, the influence degree on the rocket control clock is reduced, and the control reliability and the control stability of the rocket control computer are improved.
Based on any of the above embodiments, fig. 3 is a second schematic structural diagram of the rocket-controlled clock synchronization apparatus provided by the present invention, and as shown in fig. 3, the apparatus further includes an input validity determination module 140, configured to determine a clock pulse period fluctuation range based on a pulse period fluctuation set value and a rocket-controlled clock pulse period set value, and determine a validity determination result of a real-time external clock pulse based on the clock pulse period fluctuation range and the real-time external clock pulse.
An input end of the input validity decision module 140 is connected to an output end of the external clock input module 110, and an output end of the input validity decision module 140 is connected to a first input end of the time difference conversion module 120.
Specifically, due to the interference of the complex electromagnetic environment on the rocket, the signal distortion generated by the real-time external clock pulse may be caused, and the validity of the signal distortion may be determined by the input validity determining module 140.
A pulse period fluctuation set value and a rocket-controlled clock period set value may be set in the input validity decision module 140 to determine the clock period fluctuation range. For example, a pulse period fluctuation set value is set to 0.5ms, a rocket control clock period set value is set to 10ms, and a clock period fluctuation range is determined to [9.5ms,10.5ms ]. And if the period of the real-time external clock pulse is within the clock pulse period fluctuation range, judging the validity of the real-time external clock pulse to be valid, otherwise, judging the validity to be invalid.
The valid real-time external clock pulses may be sent to the time difference conversion module without processing the invalid real-time external clock pulses.
The rocket control clock synchronization device provided by the embodiment of the invention judges the effectiveness of real-time external clock pulse, improves the accuracy of the rocket control clock, and improves the control reliability and control stability of a rocket control computer.
Based on any of the above embodiments, the input validity decision module is further configured to:
continuously acquiring a plurality of external clock pulses of a preset number; the external clock pulses are sent by an external clock source connected with an external clock input module;
and under the condition that the validity judgment results of all the external clock pulses are valid, determining that the external clock source is a valid clock source, and sending the clock pulses sent by the external clock source as real-time external clock pulses to the time difference conversion module.
In particular, under the interference of a complex electromagnetic environment, a failure of an external clock source may occur, which may be indicated that an individual external clock pulse is effective, and at this time, a judgment needs to be performed according to a plurality of continuous external clock pulses.
The input validity judgment module can continuously acquire a plurality of external clock pulses with preset number and judge the validity of each external clock pulse. The preset number may be set as desired.
And under the condition that the validity judgment results of all the external clock pulses are valid, the input validity judgment module can determine that the external clock source is a valid clock source, otherwise, the external clock source is an invalid clock source.
When the external clock source is an effective clock source, the input validity judgment module keeps the connection with the external clock source, and the clock pulse sent by the external clock source is used as a real-time external clock pulse to be sent to the time difference conversion module. When the external clock source is an invalid clock source, the input validity judgment module can select to switch to other external clock sources.
The rocket control clock synchronization device provided by the embodiment of the invention judges the effectiveness of an external clock source, improves the accuracy of the rocket control clock, and improves the control reliability and the control stability of a rocket control computer.
Based on any of the above embodiments, the external clock input module is connected with a plurality of candidate clock sources; the candidate clock sources comprise an inertial device clock source and clock sources in each flight controller of the rocket control computer;
the external clock input module is further configured to:
determining the priority of each candidate clock source;
based on the priority levels of the candidate clock sources, performing descending order on the candidate clock sources to generate a candidate clock source selection sequence;
in a case where the current candidate clock source is determined to be an invalid clock source, a next candidate clock source is selected as an external clock source in the candidate clock source selection sequence.
Specifically, a plurality of flight controllers may be provided in the rocket control computer, and each flight controller executes a different flight control algorithm and also generates a different real-time control clock pulse. Thus, there may be multiple candidate clock sources in the arrow controlling computer.
The external clock input module in any flight controller can also select an effective clock source from a plurality of candidate clock sources to adjust the real-time control clock pulse generated by the control clock generation module in the flight controller.
The external clock input module may determine a priority of each candidate clock source. For example, when the rocket-controlled clock synchronization apparatus may be implemented by a software program, the priority of the clock source of the inertial device may be set to be the highest, and then the priority of the clock source in each flight controller may be determined according to the real-time processor utilization rate and/or the real-time memory utilization rate of each flight controller. The flight processor with lower real-time processor utilization rate and/or lower real-time memory utilization rate bears lower real-time algorithm load, and the real-time control clock pulse generated in the flight processor can be considered to have higher reliability and accuracy and can be determined to have higher priority.
And the external clock input module performs descending order on each candidate clock source according to the priority of each candidate clock source to generate a candidate clock source selection sequence. For example, the candidate clock source selection sequence may be { an inertial device clock source; a clock source in the flight controller 1; a clock source in the flight controller 2; clock source in flight controller 3 }.
In a case where the current candidate clock source is determined to be an invalid clock source, the external clock input module selects a next candidate clock source as the external clock source in the candidate clock source selection sequence. For example, for the flight processor 3, the current candidate clock source is an inertial device clock source, and when it is determined to be an inactive clock source, the clock source in the flight controller 1 may be used as an external clock source.
The rocket control clock synchronization device provided by the embodiment of the invention carries out priority sequencing on the candidate clock sources and selects the effective clock source as the external clock source, thereby improving the accuracy of the rocket control clock and the control reliability and the control stability of the rocket control computer.
Based on any of the above embodiments, fig. 4 is a third schematic structural diagram of the rocket-controlled clock synchronization apparatus provided in the present invention, as shown in fig. 4, further including a digital filtering module 150;
the input end of the digital filtering module 150 is connected to the output end of the time difference/phase difference conversion module 120, and the output end of the digital filtering module 150 is connected to the input end of the control clock generation module 130, and is configured to filter the digital signal corresponding to the phase difference.
In particular, the complex electromagnetic environment on the rocket may also interfere with the digital signal corresponding to the phase difference, and therefore, the digital filtering module 150 may be configured to perform the filtering process.
The digital filtering module 150 may employ a second-order low-pass filtering algorithm, a clipping and jitter-removing filtering method, a median filtering method, an arithmetic mean filtering method, and the like.
Based on any of the above embodiments, fig. 5 is a fourth schematic structural diagram of the rocket-controlled clock synchronization apparatus provided in the present invention, as shown in fig. 5, further including a phase difference validity determination module 160;
the input end of the phase difference validity judging module 160 is connected with the output end of the time difference and phase difference converting module 120, and the output end of the phase difference validity judging module 160 is connected with the input end of the digital filtering module 150, and is used for judging the validity of the phase difference based on a preset pulse phase adjusting threshold value; if the result of the phase difference validity determination is valid, the digital signal corresponding to the phase difference is sent to the digital filtering module 150.
Specifically, the phase difference validity determination module is configured to determine whether the phase difference is valid.
After the time difference and phase difference conversion module generates a phase difference, if the phase difference is greater than a preset pulse phase adjustment threshold, it indicates that the time difference and phase difference conversion module may make a mistake, and the obtained validity judgment result of the phase difference is invalid and cannot be used for phase adjustment. The preset pulse phase adjustment threshold may be set to
The numerical value in between.
The phase difference validity decision module 160 sends the digital signal corresponding to the phase difference to the digital filtering module 150 when the result of the phase difference validity decision is valid.
The rocket control clock synchronization device provided by the embodiment of the invention carries out effectiveness judgment on the phase difference through the phase difference effectiveness judgment module, improves the accuracy of the rocket control clock, and improves the control reliability and the control stability of a rocket control computer.
Based on any of the above embodiments, fig. 6 is a schematic structural diagram of a flight controller provided in the present invention, and as shown in fig. 6, the flight controller 600 includes the rocket-controlled clock synchronization apparatus 100 in the above embodiments.
Specifically, the flight controller is mainly used for operating a flight control program of the rocket, and the flight control program calculates a time sequence control instruction of each control device to control the rocket to complete the flight control functions of ignition, separation, attitude adjustment and the like.
The flight controller provided by the embodiment of the invention is internally provided with the rocket control clock synchronization device, so that the accuracy of the rocket control clock is improved, and the control reliability and the control stability of a rocket control computer are improved.
Based on any one of the above embodiments, fig. 7 is a schematic structural diagram of an arrow control computer provided by the present invention, and as shown in fig. 7, the arrow control computer 700 includes at least one flight controller 600 as in the above embodiments.
Specifically, a plurality of flight controllers can be redundantly arranged in the rocket control computer to execute different flight control programs, and the number of the redundancy arrangements can be set according to needs.
The rocket-mounted control computer provided by the embodiment of the invention improves the real-time performance of flight control and can meet the flight requirements of rockets.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one position, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment may be implemented by software plus a necessary general hardware platform, and may also be implemented by hardware. Based on the understanding, the above technical solutions substantially or otherwise contributing to the prior art may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes several commands for enabling a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the various embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A rocket control clock synchronization device is characterized by comprising an external clock input module, a time difference conversion module and a control clock generation module;
the output end of the external clock input module is connected with the first input end of the time difference and phase difference conversion module and used for sending the received real-time external clock pulse to the time difference and phase difference conversion module;
the second input end of the time difference and phase difference conversion module is connected with the output end of the control clock generation module, and the output end of the time difference and phase difference conversion module is connected with the input end of the control clock generation module and is used for receiving the real-time control clock pulse sent by the control clock generation module and determining the phase difference between the real-time external clock pulse and the real-time control clock pulse;
the control clock generation module is used for generating the real-time control clock pulse and adjusting the real-time control clock pulse based on the phase difference so as to keep the real-time control clock pulse and the real-time external clock pulse synchronous; the set period of the real-time control clock pulse is consistent with the set period of the real-time external clock pulse.
2. A rocket-controlled clock synchronization device according to claim 1, wherein said time-difference-to-phase conversion module is specifically configured to:
determining a corresponding relationship between a plurality of real-time control clock pulses and a plurality of real-time external clock pulses;
determining the lead time of the real-time control clock pulse relative to the real-time external clock pulse based on the rising edge time of the current real-time control clock pulse and the rising edge time of the real-time external clock pulse corresponding to the current real-time control clock pulse;
determining the lag time of the real-time control clock pulse relative to the real-time external clock pulse based on the rising edge time of the next real-time control clock pulse and the rising edge time of the real-time external clock pulse corresponding to the current real-time control clock pulse;
determining a phase difference between the real-time external clock pulse and the real-time control clock pulse based on the lead time and the lag time.
3. A rocket-controlled clock synchronization device according to claim 2, wherein said time-difference-to-phase conversion module is further specifically configured to:
determining a phase difference between the real-time external clock pulse and the real-time control clock pulse based on the lead time and setting an adjustment direction of the phase difference to a lag direction in a case where the lead time is less than the lag time;
in a case where the lead time is greater than the lag time, a phase difference between the real-time external clock pulse and the real-time control clock pulse is determined based on the lag time, and an adjustment direction of the phase difference is set to a lead direction.
4. A rocket controlled clock synchronizing device according to any one of claims 1 to 3 further comprising an input validity decision module;
the input end of the input validity judging module is connected with the output end of the external clock input module, the output end of the input validity judging module is connected with the first input end of the time difference conversion module, and the input validity judging module is used for determining a clock pulse period fluctuation range based on a pulse period fluctuation set value and a rocket control clock pulse period set value, and determining a validity judging result of the real-time external clock pulse based on the clock pulse period fluctuation range and the real-time external clock pulse.
5. A rocket controlled clock synchronization device as recited in claim 4, wherein said input validity decision module is further configured to:
continuously acquiring a plurality of external clock pulses with a preset number; the plurality of external clock pulses are sent by an external clock source connected with the external clock input module;
and under the condition that the validity judgment result of each external clock pulse is valid, determining that the external clock source is a valid clock source, and sending the clock pulse sent by the external clock source to the time difference conversion module as a real-time external clock pulse.
6. A rocket controlled clock synchronizing device according to claim 5 wherein said external clock input module is connected to a plurality of candidate clock sources; the candidate clock sources comprise an inertial device clock source and clock sources in each flight controller of the rocket control computer;
the external clock input module is further configured to:
determining the priority of each candidate clock source;
based on the priority levels of the candidate clock sources, performing descending order on the candidate clock sources to generate a candidate clock source selection sequence;
selecting a next candidate clock source as an external clock source in the candidate clock source selection sequence if the current candidate clock source is determined to be an invalid clock source.
7. A rocket controlled clock synchronizing device according to any one of claims 1 to 3 further comprising a digital filtering module;
the input end of the digital filtering module is connected with the output end of the time difference and phase difference conversion module, and the output end of the digital filtering module is connected with the input end of the control clock generation module and used for filtering the digital signals corresponding to the phase difference.
8. A rocket controlled clock synchronizing device according to claim 7 further comprising a phase difference validity decision module;
the input end of the phase difference validity judging module is connected with the output end of the time difference and phase difference conversion module, and the output end of the phase difference validity judging module is connected with the input end of the digital filtering module and used for judging the validity of the phase difference based on a preset pulse phase adjusting threshold value; and under the condition that the judgment result of the validity of the phase difference is valid, sending the digital signal corresponding to the phase difference to the digital filtering module.
9. A flight controller comprising a rocket controlled clock synchronisation device as claimed in any one of claims 1 to 8.
10. An on-arrow control computer comprising at least one flight controller according to claim 9.
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