CN115817859A - Reusable carrier rocket rolling channel control method - Google Patents

Reusable carrier rocket rolling channel control method Download PDF

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CN115817859A
CN115817859A CN202310122973.1A CN202310122973A CN115817859A CN 115817859 A CN115817859 A CN 115817859A CN 202310122973 A CN202310122973 A CN 202310122973A CN 115817859 A CN115817859 A CN 115817859A
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rolling
ducted fan
attitude angle
control period
roll
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CN115817859B (en
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张亚婷
巫源清
赵帅楠
严赐
尹利钧
张天程
董检柱
章成亮
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Xi'an Future Aerospace Engine Technology Co ltd
Xi'an Sky Engine Technology Co ltd
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Xi'an Future Aerospace Engine Technology Co ltd
Xi'an Sky Engine Technology Co ltd
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Abstract

The invention relates to a rocket rolling channel control method, in particular to a reusable carrier rocket rolling channel control method, aiming at solving the defects that when a swing engine is used for control, the swing mass is large, the rotational inertia is large, and a control loop is easily influenced, when a grid rudder is used for control, the structural form is complex, data processing is difficult to a certain extent, when reaction force is used for control, the control force is small and fixed, and the required fuel and the scale thereof are required to be increased when the control force is increased. The invention discloses a method for controlling a rolling channel of a reusable carrier rocket by controlling a ducted fan, which comprises the following steps: the method comprises the steps of measuring an arrow body rolling attitude angle and a rolling angular speed, calculating rolling attitude angle deviation and rolling angular speed deviation, calculating a rolling channel instruction, determining a speed regulation mark quantity, determining the working state of each ducted fan, and driving the ducted fan to change the arrow body rolling attitude angle by a ducted fan controller.

Description

Reusable carrier rocket rolling channel control method
Technical Field
The invention relates to a control method of a rocket rolling channel, in particular to a control method of a reusable carrier rocket rolling channel.
Background
At present, the reusable carrier rocket rolling channel control methods mainly comprise three methods: swing engine Control, grid rudder Control, and Reaction force Control (RCS). When the swing engine is used as a control actuating mechanism, the engine swings under the pushing of the servo mechanism to provide control torque to realize the attitude control of the rolling channel, and the mode has the defects that the large engine has large swing mass and large rotary inertia around a swing shaft, and meanwhile, the engine-servo local loop has low frequency and is easy to be overlapped with the elastic frequency of a whole rocket so as to influence a control loop. When the grid rudder is adopted as a control execution mechanism, the grid rudder is usually folded and tightly attached to the outer wall of an arrow body in a take-off acceleration stage, the grid rudder is unfolded when needed, and the rudder deflection angle of the grid rudder is adjusted through rotation of a rudder shaft, so that the attitude control of a rolling channel is realized. When the reaction force control system is used as an actuating mechanism, the rocket attitude is adjusted by using the thrust generated by the jet flow of the attitude control engine, and the attitude control engine is generally laterally and fixedly arranged on the rocket body.
Disclosure of Invention
The invention aims to solve the defects that in the prior art, when a swing engine is used for control, the swing mass is large, the rotational inertia is large, a control loop is easily influenced, when a grid rudder is used for control, the structural form is complex, data processing is difficult, when reaction force is used for control, the control force is small and fixed, fuel needs to be added when the control force is increased, and the scale of the fuel needs to be increased.
In order to achieve the above purpose, the technical solution provided by the present invention is as follows:
a reusable carrier rocket rolling channel control method is characterized in that: in the rolling channel control method, two groups of ducted fans are arranged on the periphery of an rocket body of a rocket, the directions of control forces generated by the two groups of ducted fans are opposite and are arranged at intervals, and each group comprises at least two ducted fans; the control method comprises the following steps:
s1, measuring the rolling attitude angle of the arrow body
Figure SMS_1
And angular velocity of arrow roll
Figure SMS_2
；
S2, calculating the deviation of the rolling attitude angle
Figure SMS_3
And deviation of roll angular velocity
Figure SMS_4
；
S3, calculating a rolling channel instruction through the following formula
Figure SMS_5
：
Figure SMS_6
，
Wherein, the first and the second end of the pipe are connected with each other,
Figure SMS_7
proportional, derivative and integral feedback coefficients in the PID control method,
Figure SMS_8
a compensation term for disturbance error; the rolling channel instruction is control force which needs to be applied to the arrow body to realize the rolling attitude angle;
s4, determining a speed regulation mark quantity according to the motor temperature T of the ducted fan
Figure SMS_9
；
Figure SMS_10
，
Wherein the content of the first and second substances,
Figure SMS_11
if so, the speed cannot be adjusted;
Figure SMS_12
the speed can be adjusted;
s5, determining the speed regulation mark quantity according to the S4
Figure SMS_13
And the working state of the ducted fan in the last control period, and determining the working state of each ducted fan in the current control period
Figure SMS_14
(ii) a The working state is a rotating speed;
when in use
Figure SMS_15
If the rotational speed of the ducted fan in the previous control period is the highest, the rotational speed of the current control period is set to be the lowest rotational speed;
when in use
Figure SMS_16
And the rotational speed of the ducted fan in the previous control period does not reach the highest rotational speed,
Figure SMS_17
if the duration time is less than or equal to t _ flag, the rotating speed of the current control period is unchanged; the T _ flag is set over-temperature working time, and the over-temperature working time refers to the time for the ducted fan to continuously work when the temperature T of the motor is greater than the set temperature;
when in use
Figure SMS_18
The rotational speed of the ducted fan in the previous control period does not reach the highest rotational speed,
Figure SMS_19
if the duration time is more than t _ flag, the rotating speed of the current control period is set as the lowest rotating speed;
when in use
Figure SMS_20
According to in S3
Figure SMS_21
Obtaining the rotating speed of each ducted fan in the current control period;
s6, sending the working state of each ducted fan in the current control period to a ducted fan controller, wherein the ducted fan controller drives each ducted fan to rotate, and the rolling attitude angle of an arrow body is changed; and returning to S1, and adjusting the next control period.
Furthermore, the two groups of ducted fans comprise the same number of ducted fans, and the same number of the two groups of ducted fans is beneficial to keeping the stable stress of the arrow body in the circumferential direction along the two directions.
Further, in S4, the set temperature is an upper temperature limit of the ducted fan during normal operation, and the adaptive adjustment is performed according to the model of the ducted fan in actual use.
Further, in S2, a roll attitude angle deviation is calculated
Figure SMS_22
And deviation of roll angular velocity
Figure SMS_23
The method specifically comprises the following steps:
s2.1, rolling the attitude angle through an arrow body according to the following formula
Figure SMS_24
And the current desired roll attitude angle
Figure SMS_25
Calculating roll attitude angle deviation
Figure SMS_26
：
Figure SMS_27
，
S2.2. Rolling angular velocity through arrow body according to the following formula
Figure SMS_28
And the currently desired roll rate
Figure SMS_29
Calculating the roll angular velocity deviation
Figure SMS_30
：
Figure SMS_31
，
Further, in S3, the
Figure SMS_32
The calculation method of (a) is as follows:
determination of control parameters using pole placement by
Figure SMS_33
The expected pole in the pole allocation method is determined according to the requirements of dynamic performance and control precision of the rocket roll attitude angle;
Figure SMS_34
，
wherein the content of the first and second substances,
Figure SMS_35
an open loop transfer function for the system;
Figure SMS_36
a transfer function model of the arrow body rolling attitude angle;
Figure SMS_37
a transfer function model of the roll angular velocity of the arrow body;
Figure SMS_38
to incorporate a transfer function model of the roll attitude angle of the navigation system,
Figure SMS_39
a transfer function model of the roll angular velocity of the integrated navigation system;
Figure SMS_40
is a ducted fan transfer function model.
Further, in S3, a disturbance error compensation term
Figure SMS_41
Determined by extended state observer observation, the observer equation is as follows:
Figure SMS_42
，
wherein the content of the first and second substances,
Figure SMS_45
is a control period;
Figure SMS_47
to expand the state observer parameters;
Figure SMS_49
is the process quantity;
Figure SMS_44
the current rolling channel instruction is obtained;
Figure SMS_46
indicating a current control period;
Figure SMS_48
the disturbance error compensation item of the previous control period is used, and the initial value is assigned as a 0 value;
Figure SMS_50
for the attitude angle and the speed of the rolling angle of the arrow body measured by the observer in the current control period,
Figure SMS_43
and the initial values of the arrow body rolling attitude angle and the arrow body rolling angular velocity are assigned according to the measured initial values.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the invention, rocket body rolling is realized by utilizing the ducted fan, the volume of the ducted fan is smaller, and the fan blades are arranged in the ducted channel, so that the influence of the flying environment of the rocket on the blades is smaller, the rolling process of the rocket is more stable, meanwhile, because the influence of the environment on the ducted fan and the mutual influence among the ducted fans are smaller, in the process of calculating the rolling channel instruction, the calculation model is simpler, and the corresponding control force can be adjusted by adjusting the rotating speed of the fan blades; the ducted fan does not need to be associated with an engine and rocket fuel, and the design, assembly and debugging process are simpler and more convenient.
2. The invention is used for calculating the rolling channel instruction
Figure SMS_51
Time-lapse rolling channel control algorithm
Figure SMS_52
The PID control method is not highly adaptive to unknown complex disturbance environment, and the disturbance error compensation item is combined with two models of the PID control method and the disturbance error compensation itemUnknown disturbance can be calculated in real time, and errors are reduced, so that the rolling channel control algorithm after the two models are combined is more accurate, and the control effect of the whole control system is better.
3. In the adjusting process of the working state of the ducted fan, the speed-adjusting mark quantity is increased, the working state of the ducted fan in the current control period is adjusted by combining the temperature of the motor of the ducted fan, the failure of the ducted fan caused by overhigh temperature is avoided, meanwhile, the overtemperature time is also set, and the working state of the ducted fan is more accurately controlled through the cooperation of a plurality of parameters.
4. The ducted fan used by the invention is an existing product, the technology is mature, additional development is not needed, the cost is low, and the size and the control force of the needed fan can be customized according to the requirement.
Drawings
FIG. 1 is a block diagram of the transfer function of the PID control method of the invention;
FIG. 2 is a schematic structural view of a ducted fan and an arrow body in an embodiment of the present invention;
FIG. 3 is a top view of FIG. 2;
description of reference numerals:
100-arrow body, 111-first ducted fan, 112-second ducted fan, 121-third ducted fan, 122-fourth ducted fan, 200-installation plane.
Detailed Description
The invention is described in further detail below with reference to the following figures and specific examples:
the invention discloses a reusable carrier rocket rolling channel control method, which comprises the following steps:
s1, obtaining an arrow body rolling attitude angle through measurement of an arrow navigation system
Figure SMS_53
And angular velocity of arrow roll
Figure SMS_54
；
S2, calculating the deviation of the rolling attitude angle
Figure SMS_55
And deviation of roll angular velocity
Figure SMS_56
The method specifically comprises the following steps:
s2.1, rolling the attitude angle through an arrow body according to the following formula
Figure SMS_57
And the current desired roll attitude angle
Figure SMS_58
Calculating roll attitude angle deviation
Figure SMS_59
：
Figure SMS_60
，
S2.2. Rolling angular velocity through arrow body according to the following formula
Figure SMS_61
And the currently desired roll rate
Figure SMS_62
Calculating the roll angular velocity deviation
Figure SMS_63
：
Figure SMS_64
，
In other embodiments of the present invention, step S2.2 may be performed first, and then step S2.1 may be performed, or steps S2.1 and S2.2 may be performed simultaneously.
S3, controlling an algorithm through a rolling channel according to the rolling attitude angle deviation and the rolling angular speed deviation in the S2
Figure SMS_65
Calculating a roll channel command
Figure SMS_66
：
Figure SMS_67
，
Wherein the content of the first and second substances,
Figure SMS_68
the rolling channel instruction needs control force applied to the arrow body to realize the rolling attitude angle,
Figure SMS_69
proportional, derivative and integral feedback coefficients in the PID control method,
Figure SMS_70
a disturbance error compensation term.
The above-mentioned
Figure SMS_71
The calculation method of (a) is as follows:
the transfer function block diagram of the PID control method is shown in FIG. 1, an expected pole meeting the requirements is set according to index requirements such as dynamic performance of a reusable rocket roll attitude angle, control precision requirements and the like, and control parameters are determined by using a pole configuration method through the following formula
Figure SMS_72
：
Figure SMS_73
，
Wherein the content of the first and second substances,
Figure SMS_76
open loop transfer function for the system;
Figure SMS_77
comprehensively calculating a transfer function model of the rocket body rolling attitude angle according to a kinetic equation and a kinematic equation of the rocket body rolling attitude angle;
Figure SMS_79
is a transfer function model of the angular velocity of the rocket body roll according to the rocketComprehensively calculating a kinetic equation and a kinematic equation of the roll angular velocity;
Figure SMS_75
to incorporate a transfer function model of the roll attitude angle of the navigation system,
Figure SMS_78
to combine a transfer function model of the roll angular velocity of a navigation system,
Figure SMS_80
and
Figure SMS_81
can be determined according to the hardware characteristics of the navigation device;
Figure SMS_74
for the ducted fan transfer function model, the expressions are respectively as follows:
Figure SMS_82
，
Figure SMS_83
，
Figure SMS_84
，
Figure SMS_85
，
Figure SMS_86
，
wherein s is a Laplace operator;
Figure SMS_88
the torque of the ducted fan can be obtained according to the characteristics of the ducted fan;
Figure SMS_91
、
Figure SMS_93
for step S2
Figure SMS_89
And
Figure SMS_92
carrying out Laplace transformation on the roll attitude angle and the roll angular speed;
Figure SMS_94
、
Figure SMS_95
all the components are intermediate in weight percentage,
Figure SMS_87
is the real rolling attitude angle in the rocket running process,
Figure SMS_90
the actual rolling angular velocity in the running process of the rocket;
the disturbance error compensation term
Figure SMS_96
Determined by extended state observer observation, the observer equation is as follows:
Figure SMS_97
，
wherein the content of the first and second substances,
Figure SMS_100
is a control period;
Figure SMS_101
adjusting the observer parameters of the extended state according to the rolling channel condition, and generally determining according to experience;
Figure SMS_103
is a process quantity;
Figure SMS_99
the current rolling channel instruction is obtained;
Figure SMS_102
indicating a current control period;
Figure SMS_104
the initial value is assigned to be 0 for the disturbance error compensation item of the previous control period;
Figure SMS_105
for the attitude angle and the speed of the rolling angle of the arrow body measured by the observer in the current control period,
Figure SMS_98
and the initial values of the arrow body rolling attitude angle and the arrow body rolling angular velocity are assigned according to the measured initial values.
S4, determining a speed regulation mark quantity according to the motor temperature T of the ducted fan
Figure SMS_106
；
Figure SMS_107
，
Wherein the content of the first and second substances,
Figure SMS_108
if so, the speed cannot be adjusted;
Figure SMS_109
the speed can be adjusted; the set temperature is the upper limit of the temperature of the ducted fan when the ducted fan normally works;
in other embodiments of the present invention, step S4 may be executed first, and then step S3 may be executed;
s5, integrating the rolling channel command calculated in the step S3
Figure SMS_110
And the speed regulation flag determined in S4
Figure SMS_111
Determining the working state of each ducted fan in the current control period according to the following formula
Figure SMS_112
；
Figure SMS_113
，
Wherein the content of the first and second substances,
Figure SMS_114
the working state of the ducted fan is the current control period, and the working state of the ducted fan is the rotating speed of the ducted fan;
Figure SMS_115
the lowest rotating speed for the ducted fan to work;
Figure SMS_116
the working state of the ducted fan in the last control period is obtained;
Figure SMS_117
is a function of the rolling channel command and the rotational speed of the ducted fan, generally in a nonlinear form, and is determined by the characteristics of the ducted fan;
when in use
Figure SMS_118
If the rotational speed of the ducted fan in the previous control period is the highest, the rotational speed of the current control period is set to be the lowest rotational speed;
when in use
Figure SMS_119
And the rotational speed of the ducted fan in the previous control period does not reach the highest rotational speed,
Figure SMS_120
if the duration time is less than or equal to t _ flag, the rotating speed of the current control period is unchanged; the T _ flag is set over-temperature working time, and the over-temperature working time refers to the time for the ducted fan to continuously work when the temperature T of the motor is greater than the set temperature;
when in use
Figure SMS_121
The rotational speed of the ducted fan in the previous control period does not reach the highest rotational speed,
Figure SMS_122
if the duration time is more than t _ flag, the rotating speed of the current control period is set as the lowest rotating speed;
when in use
Figure SMS_123
According to in S3
Figure SMS_124
Obtaining the rotating speed of each ducted fan in the current control period;
s6, converting the working state of the ducted fan into a PWM wave instruction, and sending the PWM wave instruction to a ducted fan controller;
s7, the ducted fan controller drives each ducted fan to rotate according to the PWM wave instruction, and the arrow body rolling attitude angle is changed; and returning to S1, and adjusting the next control period.
The rocket structure capable of realizing the reusable carrier rocket rolling passage control method comprises an rocket body 100 and two groups of ducted fans arranged at the periphery of the rocket body 100, wherein the number of the ducted fans arranged in the two groups of ducted fans is the same, the directions of generated control forces are opposite, the two groups of ducted fans are arranged at intervals, each group comprises at least two ducted fans, and the two groups of ducted fans are arranged on the same installation plane 200.
The ducted fans in this embodiment are arranged as shown in fig. 2, and include a first ducted fan 111, a second ducted fan 112, a third ducted fan 121, and a fourth ducted fan 122; wherein, first ducted fan 111, second ducted fan 112 are the first group, third ducted fan 121, fourth ducted fan 122 are the second group, the direction that first group ducted fan produced the control force is the anticlockwise, the second group ducted fan produced the control force direction and is the clockwise, according to the motor rotational speed of ducted fan, can adjust its control force size, consequently, through the control force of adjusting two sets of different wind directions, can realize the control to the arrow body 100 roll passageway.

Claims (6)

1. A reusable carrier rocket rolling channel control method is characterized in that:
in the rolling channel control method, two groups of ducted fans are arranged on the periphery of an rocket body of a rocket, the directions of control forces generated by the two groups of ducted fans are opposite and are arranged at intervals, and each group comprises at least two ducted fans; the control method comprises the following steps:
s1, measuring the rolling attitude angle of arrow body
Figure QLYQS_1
And angular velocity of arrow roll
Figure QLYQS_2
；
S2, calculating the deviation of the rolling attitude angle
Figure QLYQS_3
And deviation of roll angular velocity
Figure QLYQS_4
；
S3, calculating a rolling channel instruction through the following formula
Figure QLYQS_5
：
Figure QLYQS_6
，
Wherein, the first and the second end of the pipe are connected with each other,
Figure QLYQS_7
proportional, derivative and integral feedback coefficients in the PID control method,
Figure QLYQS_8
a compensation term for disturbance error; the roll channel command
Figure QLYQS_9
The control force applied to the arrow body is needed to realize the rolling attitude angle;
s4, determining a speed regulation mark quantity according to the motor temperature T of the ducted fan
Figure QLYQS_10
；
Figure QLYQS_11
，
Wherein the content of the first and second substances,
Figure QLYQS_12
if so, the speed cannot be adjusted;
Figure QLYQS_13
the speed can be adjusted;
s5, determining the speed regulation mark quantity according to S4
Figure QLYQS_14
Determining the working state of each ducted fan in the current control period
Figure QLYQS_15
(ii) a The working state is the rotating speed of the ducted fan;
when in use
Figure QLYQS_16
If the rotational speed of the ducted fan in the previous control period is the highest, the rotational speed of the current control period is set to be the lowest rotational speed;
when in use
Figure QLYQS_17
And the rotational speed of the ducted fan in the previous control period does not reach the highest rotational speed,
Figure QLYQS_18
if the duration time is less than or equal to t _ flag, the rotating speed of the current control period is unchanged; the T _ flag is set over-temperature working time, and the over-temperature working time refers to the time when the motor temperature T is greater than the set temperatureThe time of continuous operation of the fan;
when the temperature is higher than the set temperature
Figure QLYQS_19
The rotational speed of the ducted fan in the previous control period does not reach the highest rotational speed,
Figure QLYQS_20
if the duration time is more than t _ flag, the rotating speed of the current control period is set as the lowest rotating speed;
when in use
Figure QLYQS_21
According to in S3
Figure QLYQS_22
Obtaining the rotating speed of each ducted fan in the current control period;
s6, sending the working state of each ducted fan in the current control period to a ducted fan controller, driving each ducted fan to rotate by the ducted fan controller, and changing the arrow body rolling attitude angle; and returning to S1, and adjusting the next control period.
2. A reusable launch vehicle rolling corridor control method according to claim 1, characterised in that:
the two groups of ducted fans comprise the same number of ducted fans.
3. A method for controlling a rolling passage of a re-usable launch vehicle according to claim 2, wherein:
and S4, setting the temperature as the upper limit of the temperature of the ducted fan during normal work.
4. A method of controlling a rolling passage of a reusable launch vehicle according to claim 3, wherein:
in S2, the roll attitude angle deviation is calculated
Figure QLYQS_23
And deviation of roll angular velocity
Figure QLYQS_24
The method specifically comprises the following steps:
s2.1, rolling the attitude angle through an arrow body according to the following formula
Figure QLYQS_25
And the current desired roll attitude angle
Figure QLYQS_26
Calculating roll attitude angle deviation
Figure QLYQS_27
：
Figure QLYQS_28
，
S2.2. Rolling angular velocity through arrow body according to the following formula
Figure QLYQS_29
And the currently desired roll angular velocity
Figure QLYQS_30
Calculating the roll angular velocity deviation
Figure QLYQS_31
：
Figure QLYQS_32
。
5. A method of controlling a rolling passage of a re-usable launch vehicle according to any one of claims 1 to 4, wherein:
in S3, the
Figure QLYQS_33
The calculation method of (a) is as follows:
determination of control parameters using pole placement by
Figure QLYQS_34
The expected pole in the pole allocation method is determined according to the requirements of dynamic performance and control precision of the rocket roll attitude angle;
Figure QLYQS_35
，
wherein the content of the first and second substances,
Figure QLYQS_36
open loop transfer function for the system;
Figure QLYQS_37
a transfer function model of the arrow body rolling attitude angle;
Figure QLYQS_38
a transfer function model of the angular velocity of the arrow roll;
Figure QLYQS_39
to incorporate a transfer function model of the roll attitude angle of the navigation system,
Figure QLYQS_40
a transfer function model of the roll angular velocity of the integrated navigation system;
Figure QLYQS_41
is a ducted fan transfer function model.
6. A method as claimed in claim 5, wherein the method comprises the steps of:
in S3, a disturbance error compensation term
Figure QLYQS_42
Determined by extended state observer observation, the observer equation is as followsShowing:
Figure QLYQS_43
，
wherein the content of the first and second substances,
Figure QLYQS_45
is a control period;
Figure QLYQS_47
to expand the state observer parameters;
Figure QLYQS_49
is the process quantity;
Figure QLYQS_46
the current rolling channel instruction is obtained;
Figure QLYQS_48
indicating a current control period;
Figure QLYQS_50
the initial value is assigned to be 0 for the disturbance error compensation item of the previous control period;
Figure QLYQS_51
for the attitude angle and the speed of the rolling angle of the arrow body measured by the observer in the current control period,
Figure QLYQS_44
and the initial values of the arrow body rolling attitude angle and the arrow body rolling angular velocity measured by the observer in the previous control period are assigned according to the measured initial values.
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