CN115562314B - Carrier rocket sublevel landing zone control method, system, medium and computer equipment - Google Patents
Carrier rocket sublevel landing zone control method, system, medium and computer equipment Download PDFInfo
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Abstract
The invention discloses a carrier rocket sublevel landing zone control method, a carrier rocket sublevel landing zone control system, a carrier rocket sublevel landing zone control medium and computer equipment, wherein the carrier rocket sublevel landing zone control method comprises the following steps of: obtaining an attack angle instruction alpha c (t) for controlling rocket sublevel attitude; subtracting the actual attack angle alpha of the rocket from the attack angle command alpha c (t) to obtain a first control deviation delta alpha; filtering the first control deviation delta alpha according to a filtering algorithm; the filtering algorithm is used for filtering rocket elastic interference signals in the first control deviation delta alpha; calculating the filtered first control deviation delta alpha according to a designed correction network, and obtaining a control instruction delta of a control mechanism; and controlling the attitude of the attack angle of the rocket sublevel by using the control command delta.
Description
Technical Field
The application relates to the technical field of rocket control, in particular to a carrier rocket sublevel landing zone control method, a carrier rocket sublevel landing zone control system, a carrier rocket sublevel landing zone control medium and computer equipment.
Background
With the rapid development of commercial carrier rockets, the satellite orbits launched by commercial carrier rockets have a diversified development trend. When a rocket launches different satellites, the positions of the landing points of the rocket sub-stages are changed greatly due to different launching orientations and ballistic inclination angles, and the rocket sub-stages mainly fly and land by free falling bodies due to limited capability of the rocket sub-stages, so that the scattering of the positions of the landing points of the sub-stages is also large, and the launch of the carrier rocket is influenced due to dense population in a landing point scattering area and high evacuation cost.
Adjusting launch azimuth and ballistic inclination of a launch vehicle affects the carrying capacity of the launch vehicle, and due to limited carrying capacity of the launch vehicle, it is difficult to solve the problem of sub-level landing points by adjusting the launch azimuth or the ballistic inclination, but the sub-level of the launch vehicle does not have a streamline aerodynamic shape, has complex aerodynamic performance, and has faster speed change and difficult control when flying in the atmosphere. Therefore, the control precision of the landing point position of the current carrier rocket sub-level is not high.
Disclosure of Invention
Aiming at the sub-stage of the carrier rocket, the invention provides a method, a system, a medium and computer equipment for controlling the landing zone of the sub-stage of the carrier rocket, which have the characteristics of strong adaptability, high control robustness and low equipment performance requirement, and can adjust the actual attack angle of the sub-stage of the carrier rocket in real time, thereby realizing the accurate control of the landing point position of the sub-stage of the carrier rocket.
In order to solve the technical problems, the first aspect of the invention discloses a carrier rocket sublevel landing zone control method, which comprises the following steps:
Obtaining an attack angle instruction alpha c (t) for controlling rocket sublevel attitude;
subtracting the actual attack angle alpha of the rocket from the attack angle command alpha c (t) to obtain a first control deviation delta alpha;
filtering the first control deviation delta alpha according to a filtering algorithm; the filtering algorithm is used for filtering rocket elastic interference signals in the first control deviation delta alpha;
Calculating the filtered first control deviation delta alpha according to a designed correction network, and obtaining a control instruction delta of a control mechanism;
And controlling the attitude of the attack angle of the rocket sublevel by using the control command delta.
Optionally, the obtaining the attack angle command α c (t) for controlling the rocket sublevel attitude specifically includes:
Calculating the maximum available attack angle alpha k (t) of the rocket sub-stage at each moment point by utilizing the aerodynamic data and standard trajectory of the rocket sub-stage after the rocket sub-stage is separated from the main body; wherein the maximum usable angle of attack α k (t) of the rocket stage at each point in time is limited by the maximum allowed angle of attack and rudder deflection; each time point is as follows: t, t+Δt, t+2Δt …;
Setting up a falling point control coordinate system O LxLyLzL by taking a rocket sublevel theoretical falling point as a coordinate zero point O L; wherein, each coordinate axis of the falling point control coordinate system is parallel to each coordinate axis of the emission coordinate system;
combining aerodynamic data, current position information and speed information after the rocket stage is separated from the main body, and taking an attack angle alpha (t) to be calculated as one of three attack angle states respectively: the rocket flight trajectory is extrapolated and calculated on a landing point control coordinate system O LxLyLzL until the rocket lands, so that the landing point positions x L1、xL2、xL3 in three attack angle states are respectively obtained; wherein x= [ x L1 xL2 xL3],y＝[-αk(t) 0 αk (t) ];
interpolation is carried out based on the falling point positions x L1、xL2、xL3 in three attack angle states, so that a corresponding attack angle instruction alpha c (t) when x=0 is obtained; wherein the clipping range of alpha c (t) is [ -alpha k(t),αk (t) ].
Optionally, the controlling the attitude of the attack angle of the rocket sublevel by using the control command delta specifically includes:
and in the time period of t+delta t, performing attitude control on the attack angle of the rocket sublevel by using a control command delta, and calculating a new attack angle command after the time is greater than t+delta t.
Optionally, after the obtaining the angle of attack instruction α c (t) for controlling the rocket sublevel attitude, the method further includes:
Converting an attack angle command alpha c (t) into an rocket overload command n c (t) by utilizing aerodynamic data obtained by theoretical calculation of rocket sublevel;
subtracting the rocket body overload instruction n c (t) from the rocket body actual rocket body overload n y to obtain a second control deviation delta n, delta n=n c(t)-ny;
And calculating the second control deviation delta n according to a designed overload correction network to obtain an attack angle attitude instruction alpha cp (t).
Optionally, subtracting the actual attack angle α of the rocket from the attack angle command α c (t) to obtain a first control deviation Δα specifically includes:
subtracting the actual attack angle alpha of the rocket from the attack angle gesture command alpha cp (t), and obtaining the first control deviation delta alpha.
Optionally, the design method of the overload correction network is as follows:
wherein k jz1 is the correction network gain, T 1 is the correction network pole time constant, and specific values of k jz1 and T 1 are confirmed according to the carrier rocket performance parameters and the classical control theory lead-lag link design method.
Optionally, the design method of the correction network is as follows:
Wherein k jz is the correction network gain, ζ z is the correction network zero damping, ω z is the correction network zero frequency, ζ p is the correction network pole damping, ω p is the correction network pole frequency, the specific value of the zero pole is confirmed according to the carrier rocket performance parameter and the classical control theory lead-lag link design method, and the correction network is added with an integral link.
In a second aspect of the present invention, a carrier rocket sublevel landing zone control system is disclosed, comprising: a navigation computer, a control mechanism;
The navigation computer is used for:
Obtaining an attack angle instruction alpha c (t) for controlling rocket sublevel attitude;
subtracting the actual attack angle alpha of the rocket from the attack angle command alpha c (t) to obtain a first control deviation delta alpha;
filtering the first control deviation delta alpha according to a filtering algorithm; the filtering algorithm is used for filtering rocket elastic interference signals in the first control deviation delta alpha;
Calculating the filtered first control deviation delta alpha according to a designed correction network, and obtaining a control instruction delta of a control mechanism;
And the control mechanism is used for controlling the attitude of the attack angle of the rocket sublevel by utilizing the control command delta.
Optionally, the navigation computer is configured to:
Calculating the maximum available attack angle alpha k (t) of the rocket sub-stage at each moment point by utilizing the aerodynamic data and standard trajectory of the rocket sub-stage after the rocket sub-stage is separated from the main body; wherein the maximum usable angle of attack α k (t) of the rocket stage at each point in time is limited by the maximum allowed angle of attack and rudder deflection; each time point is as follows: t, t+Δt, t+2Δt …;
Setting up a falling point control coordinate system O LxLyLzL by taking a rocket sublevel theoretical falling point as a coordinate zero point O L; wherein, each coordinate axis of the falling point control coordinate system is parallel to each coordinate axis of the emission coordinate system;
combining aerodynamic data, current position information and speed information after the rocket stage is separated from the main body, and taking an attack angle alpha (t) to be calculated as one of three attack angle states respectively: the rocket flight trajectory is extrapolated and calculated on a landing point control coordinate system O LxLyLzL until the rocket lands, so that the landing point positions x L1、xL2、xL3 in three attack angle states are respectively obtained; wherein x= [ x L1 xL2 xL3],y＝[-αk(t) 0 αk (t) ];
interpolation is carried out based on the falling point positions x L1、xL2、xL3 in three attack angle states, so that a corresponding attack angle instruction alpha c (t) when x=0 is obtained; wherein the clipping range of alpha c (t) is [ -alpha k(t),αk (t) ].
Optionally, the navigation computer is configured to:
and in the time period of t+delta t, performing attitude control on the attack angle of the rocket sublevel by using a control command delta, and calculating a new attack angle command after the time is greater than t+delta t.
Converting an attack angle command alpha c (t) into an rocket overload command n c (t) by utilizing aerodynamic data obtained by theoretical calculation of rocket sublevel;
subtracting the rocket body overload instruction n c (t) from the rocket body actual rocket body overload n y to obtain a second control deviation delta n, delta n=n c(t)-ny;
And calculating the second control deviation delta n according to a designed overload correction network to obtain an attack angle attitude instruction alpha cp (t).
Optionally, the navigation computer is further configured to:
subtracting the actual attack angle alpha of the rocket from the attack angle gesture command alpha cp (t), and obtaining the first control deviation delta alpha.
Optionally, the design method of the overload correction network is as follows:
wherein k jz1 is the correction network gain, T 1 is the correction network pole time constant, and specific values of k jz1 and T 1 are confirmed according to the carrier rocket performance parameters and the classical control theory lead-lag link design method.
Optionally, the design method of the correction network is as follows:
Wherein k jz is the correction network gain, ζ z is the correction network zero damping, ω z is the correction network zero frequency, ζ p is the correction network pole damping, ω p is the correction network pole frequency, the specific value of the zero pole is confirmed according to the carrier rocket performance parameter and the classical control theory lead-lag link design method, and the correction network is added with an integral link.
In a third aspect of the present invention, a computer-readable storage medium is disclosed, on which a computer program is stored which, when being executed by a processor, implements the steps of the above-described method.
In a fourth aspect of the invention, a computer device is disclosed comprising a memory, a processor and a computer program stored on the memory and executable on the processor, said processor implementing the steps of the above method when executing said program.
Through one or more technical schemes of the invention, the invention has the following beneficial effects or advantages:
The invention discloses a carrier rocket sublevel landing zone control method, a carrier rocket sublevel landing zone control system, a carrier rocket sublevel landing zone control medium and computer equipment, wherein an attack angle command alpha c (t) for controlling the posture of a carrier rocket sublevel is calculated to carry out deviation control on an actual attack angle alpha of the rocket, a filtering algorithm is adopted to filter rocket elastic interference signals in the control deviation delta alpha, and a correction network is utilized to carry out correction calculation on the control signals so as to obtain a control command delta of a control mechanism to carry out posture control on the attack angle of the rocket sublevel.
The foregoing description is only an overview of the present invention, and is intended to be implemented in accordance with the teachings of the present invention in order that the same may be more clearly understood and to make the same and other objects, features and advantages of the present invention more readily apparent.
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Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to designate like parts throughout the figures. In the drawings:
FIG. 1 illustrates a flow chart of a method of controlling landing zones of a carrier rocket sub-stage according to one embodiment of the present invention;
FIG. 2 illustrates a particular process diagram for obtaining angle of attack instructions α c (t) for controlling rocket sublevel attitude according to one embodiment of the present invention;
FIG. 3 illustrates a control loop architecture diagram for attitude control of the angle of attack of a rocket sublevel according to one embodiment of the present invention;
FIG. 4 illustrates another control loop architecture diagram for attitude control of the angle of attack of a rocket sublevel according to one embodiment of the present invention;
FIG. 5 illustrates a schematic diagram of a carrier rocket sublevel landing control system according to one embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
The embodiment of the invention discloses a carrier rocket sublevel landing zone control method, a carrier rocket sublevel landing zone control system, a carrier rocket sublevel landing zone control medium and computer equipment, wherein an attack angle command alpha c (t) for controlling the posture of a carrier rocket sublevel is calculated to carry out deviation control on an actual attack angle alpha of the rocket, a filtering algorithm is adopted to filter out rocket elastic interference signals in the control deviation delta alpha, and a correction network is utilized to correct and calculate the control signals so as to obtain a control command delta of a control mechanism to carry out posture control on the attack angle of the rocket sublevel.
For convenience of explanation and explanation, the following technical schemes introduce a method for controlling the landing zone of the carrier rocket sub-stage. The control mechanism is used for carrying out drop point control on the carrier rocket sub-stage, and as the carrier rocket sub-stage is generally axisymmetric, the pitching and yawing control algorithms are consistent, and the following technical scheme is described by taking a pitching channel as an example.
Referring to fig. 1, the technical solution described in this embodiment includes the following steps:
Step 101, obtaining an attack angle command alpha c (t) for controlling rocket sublevel attitude.
In this embodiment, the rocket stage calculates an attack angle command α c (t) of the rocket stage gesture at each time point, where in this embodiment, each time point is: t, t+Δt, t+2Δt …, and so on.
In a specific calculation, referring to fig. 3, the method comprises the following steps:
Step 201, calculating the maximum available attack angle alpha k (t) of the rocket sub-stage at each moment point by using the aerodynamic data and standard trajectory of the rocket sub-stage after being separated from the main body.
Wherein, when calculating the maximum available attack angle alpha k (t) of the rocket sublevel at each moment, the maximum allowable attack angle and rudder deflection angle of the rocket sublevel need to be considered.
Step 202, a rocket sublevel theoretical landing point is taken as a coordinate zero point O L to establish a landing point control coordinate system O LxLyLzL.
Wherein, each coordinate axis of the drop point control coordinate system is parallel to each coordinate axis of the emission coordinate system. For example, the x-axis and z-axis are horizontal and the y-axis is vertical.
Step 203, combining aerodynamic data, current position information and speed information after the rocket sublevel is separated from the main body, and taking an attack angle alpha (t) to be calculated as one of three attack angle states respectively: And (3) extrapolating and calculating a rocket flight trajectory on a landing point control coordinate system O LxLyLzL until the rocket lands, and respectively obtaining landing point positions x L1、xL2、xL3 under three attack angle states.
Wherein x= [ x L1 xL2 xL3],y＝[-αk(t) 0 αk (t) ].
Step 204, interpolate based on the falling point positions x L1、xL2、xL3 under the three attack angle states, to obtain the corresponding attack angle command α c (t) when x=0.
Wherein the clipping range of alpha c (t) is [ -alpha k(t),αk (t) ].
Specifically, x=0 represents a theoretical landing point of the rocket sublevel, and in attitude control of the rocket sublevel, the final objective is to control the rocket sublevel to accurately fall on the theoretical landing point of the rocket sublevel, so in this embodiment, interpolation is required based on the landing point positions x L1、xL2、xL3 in three attack angle states, so that x=0 represents a corresponding attack angle command α c (t), thereby realizing control of the rocket sublevel to accurately fall on the theoretical landing point of the rocket sublevel. Any interpolation method can be selected when the difference value is obtained, for example, an intermediate interpolation method obtains an attack angle command alpha c (t) corresponding to x=0.
Generally, after the angle of attack command α c (t) for controlling the rocket stage attitude is obtained, the obtained angle of attack command α c (t) is used as a control command to control the rocket stage attitude in the time period of t+Δt, after the time is longer than t+Δt, the above steps are repeated to calculate a new angle of attack command α c (t), the value of Δt is generally not less than 3 times, generally 3 to 5 times of the rise time of the step response of the angle of attack control loop, and Δt can be increased when the ground clearance is high, and the specific value can be determined through simulation. The actual attack angle α of the rocket stage may deviate from the attack angle command α c (t) due to the actual environmental factors, so that after the attack angle command α c (t) for controlling the attitude of the rocket stage is obtained in step 101, steps 102 to 105 are performed to restore the control accuracy of the landing point position caused by the deviation.
Step 102, subtracting the actual attack angle alpha of the rocket from the attack angle command alpha c (t) to obtain a first control deviation delta alpha.
Wherein Δα=α c (t) - α, and the actual angle of attack α of the rocket is calculated from the measurement.
Step 103, filtering the first control deviation delta alpha according to a filtering algorithm.
The filtering algorithm is used for filtering rocket elastic interference signals in the first control deviation delta alpha. The filter can adopt a notch filter or a band-stop filter, and the central value of the filter is the frequency of the elastic interference signal.
Step 104, calculating the filtered first control deviation delta alpha according to a designed correction network, and obtaining a control command delta of a control mechanism.
In this embodiment, the correction network design may be a conventional lead-lag design, with design parameters determined based on rocket specific characteristics.
In this embodiment, the correction network design method is as follows:
k jz is correction network gain, ζ z is correction network zero damping, ω z is correction network zero frequency, ζ p is correction network pole damping, ω p is correction network pole frequency, and the specific value of the zero pole is confirmed according to the carrier rocket performance parameter and the classical control theory lead-lag link design method. It is worth noting that the integration link is added in the correction network of the embodiment, so that the error of the control system can be effectively reduced and the stability margin of the frequency domain of the control system can be improved.
Step 105, attitude control is performed on the attack angle of the rocket sublevel by using the control command delta.
In the present embodiment, the control mechanism for attitude control of the attack angle of the rocket sublevel includes, but is not limited to: grid rudder, attitude control spray pipe and swing spray pipe.
In a specific control process, in a t+Δt time period, attitude control is performed on the attack angle of the rocket sublevel by a control command delta, after the time is greater than t+Δt, a new attack angle command alpha c (t) is calculated according to steps 201 to 204, attitude control is performed on the attack angle of the rocket sublevel in a t+2Δt time period by a new control command delta according to steps 102 to 105, and so on, so that attack angle deviation is repaired at each moment of the rocket sublevel, and the rocket sublevel is accurately controlled to fall at a theoretical falling point of the rocket sublevel. In this embodiment, the value of Δt is generally not less than 3 times, generally 3 to 5 times, of the rising time of the step response of the attack angle control loop, and Δt can be increased when the ground clearance is high, and the specific value can be determined through simulation.
The above is a specific technical scheme for performing attitude control on the attack angle of the rocket sublevel in this embodiment, and a specific control loop structure is shown in fig. 3. In practical application, the acquisition of the angle of attack alpha value of the rocket stage is influenced by the combination precision of inertial measurement, and meanwhile, when the rocket stage flies in an atmosphere, the angle of attack alpha value obtained by navigation calculation according to the combination measurement value of the inertial measurement cannot reflect the influence of a high-altitude wind field on a flight track. In order to further improve the position control precision of the rocket sub-stage, an overload calculation loop is added on the basis of an attitude control loop when flying in an atmosphere (the control loop structure diagram is shown in fig. 4), after an attack angle command alpha c (t) for controlling the attitude of the rocket sub-stage is obtained in step 101, the attack angle command alpha c (t) is converted into an rocket overload command n c (t) by utilizing aerodynamic data obtained by theoretical calculation of the rocket sub-stage; subtracting the rocket body overload instruction n c (t) from the rocket body actual rocket body overload n y to obtain a second control deviation delta n, delta n=n c(t)-ny; calculating the second control deviation delta n according to a designed overload correction network to obtain an attack angle attitude instruction alpha cp (t); substituting the attack angle command alpha cp (t) for the attack angle command alpha c (t), and subtracting the attack angle command from the actual attack angle alpha of the rocket to obtain a first control deviation delta alpha; the control command delta of the control mechanism is calculated according to the method in the step 104 to control the rocket sublevel flight.
In this embodiment, the overload correction network may be designed using a conventional lead-lag design, with design parameters determined based on rocket specific characteristics. The design method is as follows:
wherein k jz1 is the correction network gain, T 1 is the correction network pole time constant, and specific values of k jz1 and T 1 are confirmed according to the carrier rocket performance parameters and the classical control theory lead-lag link design method.
Based on the same inventive concept, the following embodiments disclose a carrier rocket sublevel landing control system, see fig. 5, comprising: inertial measurement unit 501, navigation computer 502, and control mechanism 503. Wherein the control of the landing point position of the sub-stage of the carrier rocket requires the combination of inertial measurement 501, navigation computer 502 and control mechanism 503 to cooperate with each other. The inertial measurement unit 501 is mainly used for measuring angular velocity and acceleration information in the carrier rocket sub-stage flight process, the navigation computer 502 is used for motion information calculation in the carrier rocket sub-stage flight process and control instruction calculation of the control mechanism 503, and the control mechanism 503 is mainly used for controlling the attitude of the carrier rocket sub-stage. It is noted that the present technical solution is not limited to the rocket sublevel landing control using the grid rudder control as the control mechanism 503, and the landing control can be performed by using the present technical solution by using the attitude control nozzle and the swing nozzle as the rocket sublevel of the control mechanism 503.
For ease of illustration and explanation of the present solution, the inertial measurement unit 501, the navigation computer 502, and the control mechanism 503 each function are described below.
Wherein, the navigation computer 502 is configured to:
Obtaining an attack angle instruction alpha c (t) for controlling rocket sublevel attitude;
subtracting the actual attack angle alpha of the rocket from the attack angle command alpha c (t) to obtain a first control deviation delta alpha;
filtering the first control deviation delta alpha according to a filtering algorithm; the filtering algorithm is used for filtering rocket elastic interference signals in the first control deviation delta alpha;
Calculating the filtered first control deviation delta alpha according to a designed correction network, and obtaining a control command delta of the control mechanism 503;
The control mechanism 503 is used for controlling the attitude of the attack angle of the rocket sublevel by using the control command delta.
In some alternative embodiments, the navigation computer 502 is configured to:
Calculating the maximum available attack angle alpha k (t) of the rocket sub-stage at each moment point by utilizing the aerodynamic data and standard trajectory of the rocket sub-stage after the rocket sub-stage is separated from the main body; wherein the maximum usable angle of attack α k (t) of the rocket stage at each point in time is limited by the maximum allowed angle of attack and rudder deflection; each time point is as follows: t, t+Δt, t+2Δt …;
Setting up a falling point control coordinate system O LxLyLzL by taking a rocket sublevel theoretical falling point as a coordinate zero point O L; wherein, each coordinate axis of the falling point control coordinate system is parallel to each coordinate axis of the emission coordinate system;
combining aerodynamic data, current position information and speed information after the rocket stage is separated from the main body, and taking an attack angle alpha (t) to be calculated as one of three attack angle states respectively: the rocket flight trajectory is extrapolated and calculated on a landing point control coordinate system O LxLyLzL until the rocket lands, so that the landing point positions x L1、xL2、xL3 in three attack angle states are respectively obtained; wherein x= [ x L1 xL2 xL3],y＝[-αk(t) 0 αk (t) ];
interpolation is carried out based on the falling point positions x L1、xL2、xL3 in three attack angle states, so that a corresponding attack angle instruction alpha c (t) when x=0 is obtained; wherein the clipping range of alpha c (t) is [ -alpha k(t),αk (t) ].
In some alternative embodiments, the navigation computer 502 is configured to:
and in the time period of t+delta t, performing attitude control on the attack angle of the rocket sublevel by using a control command delta, and calculating a new attack angle command after the time is greater than t+delta t.
In some alternative embodiments, because in practical application, the acquisition of the angle of attack alpha value of the rocket sublevel is influenced by the combination precision of inertial measurement, and meanwhile, when the rocket sublevel flies in an atmosphere, the angle of attack alpha value obtained by performing navigation calculation according to the combination measurement value of the inertial measurement cannot reflect the influence of the high-altitude wind field on the flight trajectory. In order to further improve the position control precision of the rocket sublevel, an overload calculation loop is added on the basis of an attitude control loop when flying in an atmosphere (the control loop structure diagram is shown in fig. 4), so the navigation computer 502 is further used for converting an attack angle command alpha c (t) into an rocket overload command n c (t) by utilizing aerodynamic data obtained by theoretical calculation of the rocket sublevel after obtaining the attack angle command alpha c (t) for controlling the attitude of the rocket sublevel; subtracting the rocket body overload instruction n c (t) from the rocket body actual rocket body overload n y to obtain a second control deviation delta n, delta n=n c(t)-ny; calculating the second control deviation delta n according to a designed overload correction network to obtain an attack angle attitude instruction alpha cp (t); substituting the attack angle command alpha cp (t) for the attack angle command alpha c (t), and subtracting the attack angle command from the actual attack angle alpha of the rocket to obtain a first control deviation delta alpha; the control command delta of the control mechanism is calculated according to the method in the step 104 to control the rocket sublevel flight.
In some alternative embodiments, the overload correction network may employ a conventional lead-lag link design, with design parameters determined based on rocket specific characteristics. The design method is as follows:
wherein k jz1 is the correction network gain, T 1 is the correction network pole time constant, and specific values of k jz1 and T 1 are confirmed according to the carrier rocket performance parameters and the classical control theory lead-lag link design method.
In some alternative embodiments, the correction network is designed as follows:
Wherein k jz is the correction network gain, ζ z is the correction network zero damping, ω z is the correction network zero frequency, ζ p is the correction network pole damping, ω p is the correction network pole frequency, the specific value of the zero pole is confirmed according to the carrier rocket performance parameter and the classical control theory lead-lag link design method, and the correction network is added with an integral link.
Based on the same inventive concept as in the previous embodiments, the embodiments of the present invention also disclose a computer readable storage medium having stored thereon a computer program which when executed by a processor realizes the steps of any of the methods described above.
Based on the same inventive concept as in the previous embodiments, the embodiments of the present invention also disclose a computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of any of the methods described above when executing the program.
Through one or more embodiments of the present invention, the present invention has the following benefits or advantages:
The invention discloses a carrier rocket sublevel landing zone control method, a carrier rocket sublevel landing zone control system, a carrier rocket sublevel landing zone control medium and computer equipment, wherein an attack angle command alpha c (t) for controlling the posture of a carrier rocket sublevel is calculated to carry out deviation control on an actual attack angle alpha of the rocket, a filtering algorithm is adopted to filter rocket elastic interference signals in the control deviation delta alpha, and a correction network is utilized to carry out correction calculation on the control signals so as to obtain a control command delta of a control mechanism to carry out posture control on the attack angle of the rocket sublevel.
The algorithms and displays presented herein are not inherently related to any particular computer, virtual system, or other apparatus. Various general-purpose systems may also be used with the teachings herein. The required structure for a construction of such a system is apparent from the description above. In addition, the present invention is not directed to any particular programming language. It will be appreciated that the teachings of the present invention described herein may be implemented in a variety of programming languages, and the above description of specific languages is provided for disclosure of enablement and best mode of the present invention.
In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the above description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be construed as reflecting the intention that: i.e., the claimed invention requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.
Those skilled in the art will appreciate that the modules in the apparatus of the embodiments may be adaptively changed and disposed in one or more apparatuses different from the embodiments. The modules or units or components of the embodiments may be combined into one module or unit or component and, furthermore, they may be divided into a plurality of sub-modules or sub-units or sub-components. Any combination of all features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or units of any method or apparatus so disclosed, may be used in combination, except insofar as at least some of such features and/or processes or units are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings), may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
Furthermore, those skilled in the art will appreciate that while some embodiments herein include some features but not others included in other embodiments, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the following claims, any of the claimed embodiments can be used in any combination.
Various component embodiments of the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that some or all of the functions of some or all of the components in a gateway, proxy server, system according to embodiments of the present invention may be implemented in practice using a microprocessor or Digital Signal Processor (DSP). The present invention can also be implemented as an apparatus or device program (e.g., a computer program and a computer program product) for performing a portion or all of the methods described herein. Such a program embodying the present invention may be stored on a computer readable medium, or may have the form of one or more signals. Such signals may be downloaded from an internet website, provided on a carrier signal, or provided in any other form.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, third, etc. do not denote any order. These words may be interpreted as names.
Claims (7)
1. A method for controlling a landing zone of a carrier rocket, the method comprising:
obtaining an attack angle command alpha c (t) for controlling rocket sublevel attitude, which specifically comprises: calculating the maximum available attack angle alpha k (t) of the rocket sub-stage at each moment point by utilizing the aerodynamic data and standard trajectory of the rocket sub-stage after the rocket sub-stage is separated from the main body; wherein the maximum usable angle of attack α k (t) of the rocket stage at each point in time is limited by the maximum allowed angle of attack and rudder deflection; each time point is as follows: t, t+Δt, t+2Δt …; setting up a falling point control coordinate system O LxLyLzL by taking a rocket sublevel theoretical falling point as a coordinate zero point O L; wherein, each coordinate axis of the falling point control coordinate system is parallel to each coordinate axis of the emission coordinate system; combining aerodynamic data, current position information and speed information after the rocket stage is separated from the main body, and taking an attack angle alpha (t) to be calculated as one of three attack angle states respectively: The rocket flight trajectory is extrapolated and calculated on a landing point control coordinate system O LxLyLzL until the rocket lands, so that the landing point positions x L1、xL2、xL3 in three attack angle states are respectively obtained; wherein x= [ x L1 xL2 xL3],y＝[-αk(t) 0 αk (t) ]; interpolation is carried out based on the falling point positions x L1、xL2、xL3 in three attack angle states, so that a corresponding attack angle instruction alpha c (t) when x=0 is obtained; wherein, the alpha c (t) amplitude limiting range is [ -alpha k(t),αk (t) ];
Converting an attack angle command alpha c (t) into an rocket overload command n c (t) by utilizing aerodynamic data obtained by theoretical calculation of rocket sublevel;
subtracting the rocket body overload instruction n c (t) from the rocket body actual rocket body overload n y to obtain a second control deviation delta n, delta n=n c(t)-ny;
calculating the second control deviation delta n according to a designed overload correction network to obtain an attack angle attitude instruction alpha cp (t);
Subtracting the actual attack angle alpha of the rocket from the attack angle gesture command alpha cp (t) to obtain a first control deviation delta alpha;
filtering the first control deviation delta alpha according to a filtering algorithm; the filtering algorithm is used for filtering rocket elastic interference signals in the first control deviation delta alpha;
Calculating the filtered first control deviation delta alpha according to a designed correction network, and obtaining a control instruction delta of a control mechanism;
And controlling the attitude of the attack angle of the rocket sublevel by using the control command delta.
2. A method according to claim 1, wherein the attitude control of the angle of attack of the rocket sublevel using control command δ comprises:
and in the time period of t+delta t, performing attitude control on the attack angle of the rocket sublevel by using a control command delta, and calculating a new attack angle command after the time is greater than t+delta t.
3. The method of claim 1, wherein the overload correction network is designed as follows:
wherein k jz1 is the correction network gain, T 1 is the correction network pole time constant, and specific values of k jz1 and T 1 are confirmed according to the carrier rocket performance parameters and the classical control theory lead-lag link design method.
4. The method of claim 1, wherein the correction network is designed as follows:
Wherein k jz is the correction network gain, ζ z is the correction network zero damping, ω z is the correction network zero frequency, ζ p is the correction network pole damping, ω p is the correction network pole frequency, the specific value of the zero pole is confirmed according to the carrier rocket performance parameter and the classical control theory lead-lag link design method, and the correction network is added with an integral link.
5. A launch vehicle sublevel landing control system, comprising: a navigation computer, a control mechanism;
The navigation computer is used for:
obtaining an attack angle command alpha c (t) for controlling rocket sublevel attitude, which specifically comprises: calculating the maximum available attack angle alpha k (t) of the rocket sub-stage at each moment point by utilizing the aerodynamic data and standard trajectory of the rocket sub-stage after the rocket sub-stage is separated from the main body; wherein the maximum usable angle of attack α k (t) of the rocket stage at each point in time is limited by the maximum allowed angle of attack and rudder deflection; each time point is as follows: t, t+Δt, t+2Δt …; setting up a falling point control coordinate system O LxLyLzL by taking a rocket sublevel theoretical falling point as a coordinate zero point O L; wherein, each coordinate axis of the falling point control coordinate system is parallel to each coordinate axis of the emission coordinate system; combining aerodynamic data, current position information and speed information after the rocket stage is separated from the main body, and taking an attack angle alpha (t) to be calculated as one of three attack angle states respectively: The rocket flight trajectory is extrapolated and calculated on a landing point control coordinate system O LxLyLzL until the rocket lands, so that the landing point positions x L1、xL2、xL3 in three attack angle states are respectively obtained; wherein x= [ x L1 xL2 xL3],y＝[-αk(t) 0 αk (t) ]; interpolation is carried out based on the falling point positions x L1、xL2、xL3 in three attack angle states, so that a corresponding attack angle instruction alpha c (t) when x=0 is obtained; wherein, the alpha c (t) amplitude limiting range is [ -alpha k(t),αk (t) ];
Converting an attack angle command alpha c (t) into an rocket overload command n c (t) by utilizing aerodynamic data obtained by theoretical calculation of rocket sublevel;
subtracting the rocket body overload instruction n c (t) from the rocket body actual rocket body overload n y to obtain a second control deviation delta n, delta n=n c(t)-ny;
calculating the second control deviation delta n according to a designed overload correction network to obtain an attack angle attitude instruction alpha cp (t);
Subtracting the actual attack angle alpha of the rocket from the attack angle gesture command alpha cp (t) to obtain a first control deviation delta alpha;
filtering the first control deviation delta alpha according to a filtering algorithm; the filtering algorithm is used for filtering rocket elastic interference signals in the first control deviation delta alpha;
Calculating the filtered first control deviation delta alpha according to a designed correction network, and obtaining a control instruction delta of a control mechanism;
And the control mechanism is used for controlling the attitude of the attack angle of the rocket sublevel by utilizing the control command delta.
6. A computer readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the steps of the method according to any of claims 1-4.
7. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any of claims 1-4 when the program is executed.
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| CN117011263B (en) * | 2023-08-03 | 2024-05-10 | 东方空间技术(山东)有限公司 | Defect detection method and device for rocket sublevel recovery section |
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