CN116045743A

CN116045743A - Self-starting autorotation rotor type rocket recovery system and method thereof

Info

Publication number: CN116045743A
Application number: CN202211562918.6A
Authority: CN
Inventors: 沈俊彪; 李攀
Original assignee: Nanjing University of Aeronautics and Astronautics
Current assignee: Nanjing University of Aeronautics and Astronautics
Priority date: 2022-12-07
Filing date: 2022-12-07
Publication date: 2023-05-02

Abstract

The invention discloses a self-starting autorotation rotor type rocket recovery system and a method thereof in the field of aerospace science and technology, wherein the system comprises a rocket shell, a rotor system part is arranged in the rocket shell, the rotor system part comprises a rotor system fairing, a rotor shaft is arranged in the rotor system fairing, two ends of the rotor shaft are respectively fixedly connected with a task load cabin and an avionics system module, an automatic inclinator is sleeved in the middle of the rotor shaft, a plurality of steering engines and rotor hubs are arranged on the rotor shaft along the circumference of the rotor shaft by taking an axis as the center, the rotor hubs are positioned above the automatic inclinator, the other ends of the rotor hubs are sequentially hinged with a blade folding mechanism and blades, the steering engines are positioned below the automatic inclinator, and the steering engines are movably connected with the automatic inclinator through connecting rods. The scheme integrates the rotor system into the rocket body, has a simple structure, realizes the rotation process of the rotor, only depends on the relative wind in the falling process of the rocket, and realizes the self-starting of the rotation of the rotor and the accurate and efficient recovery of the rocket by controlling the rotor pitch variation through the avionic system.

Description

Self-starting autorotation rotor type rocket recovery system and method thereof

Technical Field

The invention belongs to the field of aerospace science and technology, and particularly relates to a self-starting autorotation rotor type rocket recovery system and a method thereof.

Background

Since the seventies of the last century, technology has been explored that can be used for repeated recovery of rockets. The main current rocket recovery modes are as follows: parachute recovery, controllable parachute recovery, winged recovery and engine reverse thrust vertical recovery. The vertical recovery of power provides a great challenge for the variable thrust technology of an engine, the closed-loop vector thrust and the throttle control technology.

The landing point of the parachute recovery mode is uncontrollable, and more manpower and material resources are consumed for tracking and searching the rocket after landing. Other modes such as controllable parafoil recovery, winged recovery and the like have the defects of large influence by air flow disturbance, lower drop point precision and the like. For small and medium-sized rockets such as sounding rockets, the structure is simple and flexible to launch, but the high-quality development of rocket designs is limited. The medium and small rockets adopt a design scheme of low cost and disposable use. A few small and medium-sized rockets using a recyclable design are also limited to a single parachute recycling mode. The working principle and the performance of the self-starting autorotation rotor wing can enable the rocket to realize position-controllable and stable landing recovery without power, and the recovery mode has the remarkable advantages of low cost, accurate and controllable landing points, small landing impact and the like, and can be widely applied to various rockets, in particular to medium and small rockets with single recovery mode at the present stage. The rocket can realize accurate and efficient recovery, changes the design concept of low price and one-time use in the past, makes people not consider the design cost limit, and is favorable for the rocket to develop towards a higher quality direction.

Disclosure of Invention

The invention aims to provide a self-starting autorotation rotor type rocket recovery system and a method thereof so as to realize accurate and efficient recovery of a rocket.

In order to achieve the above object, the technical scheme of the present invention is as follows: a self-starting autorotation rotor type rocket recovery system comprises a rocket shell, wherein a rotor type system part, a task load cabin, an avionics system module and a propulsion cabin section are arranged in the rocket shell; the rotor system part includes rotor system radome, the radome passes through explosion bolt and mission cabin and impels cabin external structure and is connected, install the rotor shaft in the rotor system radome, rotor shaft both ends respectively with mission load cabin and avionics system module fixed connection, rotor shaft middle part cover is equipped with automatic tilter, the rotor shaft uses the axis as the center to be equipped with a plurality of steering wheels and oar hub along its circumference, the oar hub is located automatic tilter top, the one end that automatic tilter was kept away from to the oar hub articulates in proper order has paddle folding mechanism and paddle, the steering wheel is located automatic tilter below, steering wheel and automatic tilter pass through connecting rod swing joint.

Further, the blade folding mechanism comprises a hinge torsion spring structure and a buckle self-locking mechanism, wherein the hinge torsion spring structure is hinged with one end of the blade, the buckle self-locking mechanism is hinged with the hub, and one end, away from the blade, of the hinge torsion spring structure is hinged with the buckle self-locking mechanism.

Further, the outer side wall of the rocket shell is provided with a plurality of grooves, and blade locking pins are arranged in the grooves.

Further, the number of paddles is equal to the number of grooves.

Further, the blades can change the pitch positively and negatively, and the range of the pitch change is-90 degrees to 30 degrees.

Further, the avionics system module comprises a rocket missile-borne computer, a GPS, a strapdown inertial navigation set, an electromechanical system control panel and a power supply battery pack.

Further, a method for recovering a self-starting autorotation rotor rocket comprises the following steps:

s1, flight data acquisition, analysis and judgment: the missile-borne computer collects real-time flight data of the rocket, plans an optimized self-starting control strategy of a rotor system part, gives an instruction to a control panel and a steering engine, throws out a fairing through an explosion bolt, and implements corresponding follow-up actions;

s2, the rotor wing absorbs relative wind energy and is started automatically: the total distance of the rotor wing is adjusted in real time, the blades are opened to lock and slightly spread, the steering engine drives the automatic inclinator to adjust the attack angle of the blades relative to the airflow in real time, the total distance of the rotor wing is controlled, and the rotating speed of the rotor wing is gradually increased to enter stable autorotation;

s3, controlling the falling rate, the posture and the falling track of the rocket: after the blades absorb relative wind energy and accelerate to spin to a preset rotating speed range, a missile-borne computer dynamically adjusts the total distance and the periodic pitch variation of the rotor blades in real time so as to control the descent rate, the gesture, the horizontal speed and the heading of the rocket;

s4, recovering rocket soft landing: and according to the falling track planned by GPS navigation, the rocket flies to a preset landing point for recovery.

Further, the blades are folded into grooves on the rocket shell when the rocket is in an initial state, and the blades are locked slightly.

Further, the rotor system is partially unpowered, and the steering engine drives the automatic tilter to control the rotor blade collective pitch and cyclic pitch.

The principle of the scheme is as follows:

and the missile-borne computer plans an optimal self-starting control strategy of the rotor in real time according to the collected current flight data, gives an instruction to the electromechanical system controller, throws out the fairing through the explosion bolt, and executes corresponding follow-up actions by the steering engine. At the moment, the steering engine dynamically adjusts the total distance and the period variable distance of the rotor wing in real time, and further controls the attitude of the rocket and the attack angle of the relative airflow speed of the blades, so that the rotor wing absorbs the relative airflow energy and is in the highest efficiency state. In order to optimize the air flow-driven rotor spinning effect, the blades will be maneuvered to the greatest extent possible to the negative pitch. The rotor absorbs relative wind energy to accelerate autorotation, after the autorotation speed is gradually stabilized to a preset working range, the missile-borne computer controls the descending rate of the rocket by dynamically adjusting the total distance of rotor blades in real time, controls the period pitch change in real time to control the posture, horizontal speed and heading of the rocket, and further controls the autorotation controlled by the rocket to fly to a preset landing point by means of the falling track planned by GPS navigation, so that the rocket can greatly slow down the landing speed by obtaining short-time large pulling force through instantaneous distance increase when the altitude of the rocket is about 5m to 30m, and the accurate controllable recovery of the landing point is realized.

After the scheme is adopted, the following beneficial effects are realized:

1. this scheme is integrated into the arrow body with the rotor system of lightweight, simple structure. In the process of realizing the rotation of the rotor, the rotor does not need to additionally provide the power for the rotation of the rotor, and the flight control computer only executes the optimal control strategy to achieve the self-starting of the rotation of the rotor. Because of the characteristics of autorotation flight, the rotor does not generate reactive torque, a reverse torque device such as a tail rotor is not needed to be provided, the structure is simple, the weight is lighter, the falling track of the rocket is effectively controlled, and the success rate of rocket recovery is high;

2. in the falling process of the rocket, the real-time dynamic adjustment of the rotor wing collective pitch is used for controlling the falling rate, and the real-time dynamic control of the periodic pitch is used for controlling the falling gesture, the horizontal speed and the heading. When the rocket is at a certain height from the ground, the rotor wing increases the distance instantly, so that the effect of soft landing recovery is achieved. The scheme is simple and convenient to maintain, and can be used for multiple times in a short interval time; the rocket is supported to be launched rapidly and repeatedly, and the effect of reducing the launching cost is remarkable;

3. the self-starting autorotation rotor type rocket recovery system and the recovery mode provided by the scheme are a rigid novel rocket recovery mode, and have remarkable advantages compared with the traditional parachute and parafoil recovery modes. The method can be used for rocket recovery, projectile recovery, medium-sized and small-sized falling aircraft recovery, unmanned aerial vehicle recovery and the like. Compared with the existing main stream rocket recovery modes, such as vertical thrust landing, parachute landing and the like, the method has the advantages of no need of fuel power, accurate and controllable landing places and multiple repeated use times.

Drawings

FIG. 1 is a cross-sectional view of a recycling system according to an embodiment of the present invention.

Figure 2 is an isometric view of a recovery system with a rotor according to an embodiment of the present invention deployed.

Figure 3 is an isometric view of a portion of a rotor system according to an embodiment of the present invention.

FIG. 4 is an isometric view of a recovery system according to an embodiment of the present invention.

Fig. 5 is an isometric view of a blade folding mechanism according to an embodiment of the present invention.

FIG. 6 is a schematic flow chart of a recycling method according to an embodiment of the invention.

Detailed Description

The following is a further detailed description of the embodiments:

reference numerals in the drawings of the specification include: rotor system part 1, mission load compartment 2, avionics system module 3, propulsion compartment 4, blade folding mechanism 5, blade 6, hub 7, automatic tilter 8, rotor shaft 9, steering engine 10, rotor system fairing 11, snap-in self-locking mechanism 12, hinge torsion spring structure 13, blade locking pin 14.

An example is substantially as shown in figures 1 to 6 of the accompanying drawings:

a self-starting autorotation rotor type rocket recovery system comprises a rocket shell, wherein a rotor type system part 1, a mission load cabin 2, an avionics system module 3 and a propulsion cabin section 4 are arranged in the rocket shell; the rotor system part 1 comprises a rotor system fairing 11, a rotor shaft 9 is arranged in the rotor system fairing 11, two ends of the rotor shaft 9 are respectively and fixedly connected with a task load cabin 2 and an avionics system module 3, an automatic inclinator 8 is sleeved in the middle of the rotor shaft 9, a plurality of steering gears 10 and a rotor hub 7 are arranged on the rotor shaft 9 along the circumference of the rotor shaft around the axis, the rotor hub 7 is positioned above the automatic inclinator 8, one end of the rotor hub 7, which is far away from the automatic inclinator 8, is sequentially hinged with a blade folding mechanism 5 and a blade 6, the steering gears 10 are positioned below the automatic inclinator 8, and the steering gears 10 are movably connected with the automatic inclinator 8 through connecting rods;

the blade folding mechanism 5 comprises a hinge torsion spring structure 13 and a buckle self-locking mechanism 12, wherein the hinge torsion spring structure 13 is hinged with one end of the blade 6, the buckle self-locking mechanism 12 is hinged with the hub 7, and one end of the hinge torsion spring structure 13 away from the blade 6 is hinged with the buckle self-locking mechanism 12;

the outer side wall of the rocket shell is provided with a plurality of grooves, blade locking pins 14 are arranged in the grooves, the number of blades 6 is equal to that of the grooves, the blades 6 can change the pitch positively and negatively, and the range of the pitch change is-90 degrees to 30 degrees;

avionics system module 3 includes a rocket's missile-borne computer, GPS, strapdown inertial navigation set, electromechanical system control panel, power supply battery pack, and the like.

A self-starting autorotation rotor type rocket recovery method comprises the following steps:

s1, acquiring, analyzing and judging flight data, collecting real-time flight data in a rocket falling process by a missile-borne computer, planning an optimized self-starting control strategy of a rotor system part 1, issuing an instruction to a control panel and a steering engine 10, and implementing corresponding actuation;

s2, the rotor wing absorbs relative wind energy to automatically start, the total distance of the rotor wing is adjusted in real time, the blades 6 are opened to lock and slightly spread the blades 6, the steering engine 10 drives the automatic inclinator 8 to adjust the attack angle of the blades 6 relative to the airflow direction in real time, and the total distance of the blades 6 and the rotor wing shaft 9 is controlled, so that the rotor wing gradually increases the rotating speed to enter stable autorotation;

s3, adjusting data such as the descent rate, the posture and the falling track of the rocket, and after the blades 6 absorb relative wind energy and accelerate to spin to a preset rotating speed range, the missile-borne computer adjusts the total distance and the periodic variable distance of the blades 6 and the rotor shaft 9 in real time so as to control the descent rate, the posture, the horizontal speed and the heading of the rocket;

s4, soft landing recovery is carried out on the rocket, and the rocket flies to a preset landing point for recovery according to a falling track planned by GPS navigation.

Wherein, when the rocket is in an initial recovery state, the paddle 6 is folded into a groove on the rocket shell, and the paddle 6 is locked to lock the paddle 6 slightly; the rotor system part 1 is not powered, and the steering engine 10 drives the automatic inclinator 8 to control the collective pitch and the cyclic pitch of the blades 6 and the rotor shaft 9.

The specific implementation process is as follows:

the method comprises the steps of flight data acquisition, analysis and judgment, wherein a rocket flies to a preset height according to task requirements to release load, when the rocket flies to a trajectory roof point, the rocket starts to turn into a falling state, the rocket is seen to move in a vertical direction, the rocket starts to fall from rest under the action of gravity of the earth, at the moment, the rocket is in an initial state of the whole recovery process, blades 6 are folded into grooves on a rocket shell during the initial state of the rocket recovery, the blades 6 are locked to slightly lock the blades 6, a missile-borne computer collects real-time flight data of the rocket, an optimized self-starting control strategy of a rotor system part 1 is planned, and an instruction is issued to a control panel and a steering engine 10;

the rotor wing absorbs relative wind energy in a self-starting stage, when the rocket begins to fall, a rotor wing system fairing 11 is thrown away through an explosion bolt, a blade locking pin 14 is opened, a blade 6 is released, the blade 6 is propped up by a torsion spring, then a self-locking mechanism 12 is buckled to lock the blade 6, so that the blade 6 is fully unfolded, the blade 6 absorbs relative wind energy to start autorotation flight, the zero-rotation speed state of the rotor wing system part 1 is realized, and simultaneously, a steering engine 10 drives an automatic inclinator 8 to adjust the relative airflow attack angle of the blade 6 in real time, and the total distance between the blade 6 and a rotor wing shaft 9 is controlled, so that the rotor wing absorbs relative airflow energy to be in a highest efficiency state;

regulating the data stages of the descent rate, the posture, the falling track and the like of the rocket, and after the blades 6 absorb relative wind energy to accelerate autorotation to a preset rotating speed range, regulating the total distance and the periodic pitch variation of the blades 6 and the rotor shaft 9 in real time by a missile-borne computer so as to control the descent rate, the posture, the horizontal speed and the heading of the rocket;

in the soft landing recovery stage of the rocket, the rocket can fly to a preset landing point in a controlled manner by means of a falling track planned by GPS navigation, and the rocket obtains a short-time large pulling force through instantaneous distance increase when the altitude of the rocket from the ground is about 5m to 30m so as to greatly slow down the landing speed and realize accurate controllable recovery of the landing point.

After the rocket is recovered, the blade can manually unlock the buckle self-locking mechanism 12 and pre-press the torsion spring through a tool to fold and retract the rotor, so as to prepare for the next use; the rocket can execute the next launching task only by filling the propellant and performing simple renovation maintenance.

It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

The foregoing is merely an embodiment of the present invention, and a specific structure and characteristics of common knowledge in the art, which are well known in the scheme, are not described herein, so that a person of ordinary skill in the art knows all the prior art in the application day or before the priority date of the present invention, and can know all the prior art in the field, and have the capability of applying the conventional experimental means before the date, so that a person of ordinary skill in the art can complete and implement the present embodiment in combination with his own capability in the light of the present application, and some typical known structures or known methods should not be an obstacle for a person of ordinary skill in the art to implement the present application. It should be noted that modifications and improvements can be made by those skilled in the art without departing from the structure of the present invention, and these should also be considered as the scope of the present invention, which does not affect the effect of the implementation of the present invention and the utility of the patent. The protection scope of the present application shall be subject to the content of the claims, and the description of the specific embodiments and the like in the specification can be used for explaining the content of the claims.

Claims

1. A self-starting autorotation rotor rocket recovery system, characterized in that: the rocket comprises a rocket shell, wherein a rotor system part, a mission load cabin, an avionics system module and a propulsion cabin section are arranged in the rocket shell; the rotor system part includes rotor system radome, the radome passes through explosion bolt and mission cabin and impels cabin external structure and is connected, install the rotor shaft in the rotor system radome, rotor shaft both ends respectively with mission load cabin and avionics system module fixed connection, rotor shaft middle part cover is equipped with automatic tilter, the rotor shaft uses the axis as the center to be equipped with a plurality of steering wheels and oar hub along its circumference, the oar hub is located automatic tilter top, the one end that automatic tilter was kept away from to the oar hub articulates in proper order has paddle folding mechanism and paddle, the steering wheel is located automatic tilter below, steering wheel and automatic tilter pass through connecting rod swing joint.

2. A self-starting autorotation rocket recovery system in accordance with claim 1, wherein: the blade folding mechanism comprises a hinge torsion spring structure and a buckle self-locking mechanism, the hinge torsion spring structure is hinged with one end of the blade, the buckle self-locking mechanism is hinged with the hub, and one end, away from the blade, of the hinge torsion spring structure is hinged with the buckle self-locking mechanism.

3. A self-starting autorotation rocket recovery system in accordance with claim 1, wherein: the rocket shell is provided with a plurality of grooves on the outer side wall, and blade locking pins are arranged in the grooves.

4. A self-starting autorotation rocket recovery system in accordance with claim 1, wherein: the number of the paddles is equal to the number of the grooves.

5. A self-starting autorotation rocket recovery system in accordance with claim 1, wherein: the blade can change the pitch positively and negatively, and the range of the pitch change is-90 degrees to 30 degrees.

6. A self-starting autorotation rocket recovery system in accordance with claim 1, wherein: the avionics system module comprises a rocket missile-borne computer, a GPS, a strapdown inertial navigation group, an electromechanical system control panel and a power supply battery pack.

7. A recovery method of a self-starting autorotation rotor type rocket recovery system is characterized by comprising the following steps: the method comprises the following steps:

s1, flight data acquisition, analysis and judgment: the missile-borne computer collects real-time flight data in the rocket falling process, plans an optimized self-starting control strategy of a rotor system part, gives an instruction to a control panel and a steering engine, throws out a fairing through an explosion bolt, and implements corresponding follow-up actions;

s2, the rotor wing absorbs relative wind energy and is started automatically: the total distance of the rotor wing is adjusted in real time, the blades are opened to lock and slightly spread out, the steering engine drives the automatic inclinator to adjust the attack angle of the blades relative to the airflow in real time, the total distance of the rotor wing is controlled, and the rotor wing gradually increases the rotating speed to enter stable autorotation;

8. The method for recovering a self-starting autorotation rotor rocket according to claim 7, wherein: when the rocket is in an initial state, the blades are folded into the grooves on the rocket shell, and the blades are locked slightly.

9. The method for recovering a self-starting autorotation rotor rocket according to claim 7, wherein: the rotor system part does not have power, and the steering engine drives the automatic inclinator to control the total pitch and the periodic pitch of the rotor blades so as to realize the self-starting of the rotor.