CN116552819A - Swing control method of rocket and rocket - Google Patents
Swing control method of rocket and rocket Download PDFInfo
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- CN116552819A CN116552819A CN202310423431.8A CN202310423431A CN116552819A CN 116552819 A CN116552819 A CN 116552819A CN 202310423431 A CN202310423431 A CN 202310423431A CN 116552819 A CN116552819 A CN 116552819A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/40—Arrangements or adaptations of propulsion systems
- B64G1/401—Liquid propellant rocket engines
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
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Abstract
The invention provides a swing control method of a rocket and the rocket, wherein the method comprises the following steps: acquiring flight state information of a rocket at the current moment; according to the flight state information, determining the swing angles of the rocket target in at least three axial directions; according to the rocket target swing angle, determining the swing angle of each engine in at least three engines; the rocket comprises a central engine and six engines symmetrically arranged around the central engine, wherein the at least three engines comprise the central engine and at least two engines which are symmetrical about the center of the central engine; controlling the at least three engines to move according to the swing angle; according to the scheme, the rocket control method is effectively simplified, the complexity of control calculation is reduced, and the calculation efficiency is improved.
Description
Technical Field
The invention relates to the technical field of aerospace, in particular to a swing control method of a rocket and the rocket.
Background
For liquid carrier rockets, particularly medium-sized and large-sized liquid carrier rockets, a mode of connecting a plurality of engines in parallel is mostly adopted to increase thrust, so that the size of the carrier rocket is increased, and the carrying capacity of the rocket is increased. On the premise that a plurality of engines connected in parallel adopt the same type of engine, the larger the number of the engines connected in parallel is, the larger the thrust which can be provided is, and the larger the carrying capacity which can be realized by the carrier rocket is.
Under the development background that the carrier rocket is continuously pursuing larger carrying capacity, no rocket adopting 7 engines in parallel layout exists at present, and no related swing control method for the rocket adopting 7 engines in parallel layout exists.
Disclosure of Invention
The invention aims to solve the technical problem of providing a swing control method of a rocket and the rocket, and solves the problem that 7 engines are distributed on the rocket and the blank of the swing control method thereof.
In order to solve the technical problems, the technical scheme of the invention is as follows:
a swing control method of rocket is applied to a flight control computer and comprises the following steps:
acquiring flight state information of a rocket at the current moment;
according to the flight state information, determining the swing angles of the rocket target in at least three axial directions;
according to the rocket target swing angle, determining the swing angle of each engine in at least three engines; the rocket comprises a central engine and six engines symmetrically arranged around the central engine, wherein the at least three engines comprise the central engine and at least two engines which are symmetrical about the center of the central engine;
and controlling the at least three engines to move according to the swing angle.
Optionally, determining, according to the flight state information, a rocket target swing angle of the rocket in at least three axial directions includes:
determining control target moments of the rocket in at least three axial directions; the control target torque includes: pitch control moment, yaw control moment, and roll control moment;
according to the control target moment, calculating to obtain a rocket target swing angle; the rocket target swing angle comprises: rocket pitch angle, rocket yaw angle, and rocket roll angle.
Optionally, according to the control target moment, calculating to obtain a rocket target swing angle, including at least one of the following:
by the formulaDetermining a rocket pitching angle;
by the formula delta ψ ＝asin(M yb /(P·X kz ) Determining a rocket yaw angle;
by the formula delta γ ＝asin(M xb /(P·Z kz ) Determining the rocket rolling swing angle;
wherein ,is rocket pitching angle delta ψ Is the yaw angle delta of rocket γ For rocket roll-to-roll swing angle, M zb For pitch control moment, M yb For yaw control moment, M xb Is the rolling control moment, P is the engine thrust, X kz For controlling arm of force, Z, for pitch and yaw kz The arm of force is controlled for roll.
Optionally, determining the swing angle of each engine of the at least three engines according to the rocket target swing angle includes:
by the formulaCalculating the swing angle of each engine in the first axial direction and the second axial direction of at least three engines;
wherein ,δA1 A first target swing angle delta of the central engine in a first axial direction B1 For a second target yaw angle, delta, of the central engine in a second axial direction A2 A third target yaw angle delta for the first engine in a third axial direction B2 A fourth target yaw angle delta for the first engine in a fourth axial direction A5 A fifth target angle of rotation delta of the fourth engine in a fifth axial direction B5 For a sixth target swash angle of the fourth engine in a sixth axial direction,is rocket pitching angle delta ψ Is the yaw angle delta of rocket γ Is the rocket roll swing angle.
Optionally, controlling the at least three motors to move according to the swing angle includes at least one of the following:
controlling the central engine to move along a first axial direction according to a first target swing angle and along a second axial direction according to a second target swing angle;
controlling the first engine to move along a third axial direction according to a third target swing angle and along a fourth axial direction according to a fourth target swing angle;
and controlling the fourth engine to move along the fifth axial direction according to the fifth target swing angle and along the sixth axial direction according to the sixth target swing angle.
Optionally, the first axial direction is the same as the third axial direction, and the second axial direction is the same as the fourth axial direction;
the fifth axial direction is obtained by rotating the first axial direction by a first preset angle according to a preset rotating direction;
the sixth axial direction is obtained by rotating the second axial direction by a second preset angle according to a preset rotation direction.
The invention also provides a rocket, comprising:
an arrow body;
the flight control computer is arranged on the rocket body and is used for executing the swing control method of the rocket;
the arrow body bottom bracket is fixedly connected with one end of the arrow body;
the central engine is fixedly connected to the center of the arrow body bottom bracket;
and the six engines are symmetrically arranged around the central engine and are fixedly connected with the bracket at the bottom of the rocket body.
Optionally, the six engines form three groups of symmetrical engine units;
wherein the first set of symmetric engine blocks includes a first engine and a fourth engine, the second set of symmetric engine blocks includes a second engine and a fifth engine, and the third set of symmetric engine blocks includes a third engine and a sixth engine.
Optionally, the first, second, third, fourth, fifth and sixth engines are evenly distributed around the central engine.
Optionally, a servo control device is mounted on each of the central engine and at least one set of symmetrical engine blocks, the servo control device being used to control engine movement.
The scheme of the invention at least comprises the following beneficial effects:
according to the scheme, flight state information of the rocket at the current moment is obtained; according to the flight state information, determining the swing angles of the rocket target in at least three axial directions; according to the rocket target swing angle, determining the swing angle of each engine in at least three engines; the rocket comprises a central engine and six engines symmetrically arranged around the central engine, wherein the at least three engines comprise the central engine and at least two engines which are symmetrical about the center of the central engine; controlling the at least three engines to move according to the swing angle; the method solves the blank of layout of 7 engines on the rocket and the swing control method thereof, effectively simplifies the rocket control method, reduces the complexity of control calculation and improves the calculation efficiency.
Drawings
FIG. 1 is a flow chart of a method of controlling oscillation of a rocket in accordance with an embodiment of the present invention;
FIG. 2 is a schematic illustration of the layout of 7 engines on a rocket in an embodiment provided by the present invention;
FIG. 3 is a schematic view of the yaw direction of each of at least three engines according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure 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 disclosure to those skilled in the art.
As shown in fig. 1, an embodiment of the present invention provides a swing control method of a rocket, including:
step 11, acquiring flight state information of a rocket at the current moment;
step 12, according to the flight state information, determining the swing angles of the rocket target in at least three axial directions;
step 13, determining the swing angle of each engine in at least three engines according to the swing angle of the rocket target; wherein the rocket comprises a central engine 11 and six engines symmetrically arranged around the central engine 11, and the at least three engines comprise the central engine 11 and at least two engines of the six engines which are symmetrical about the center of the central engine 11;
and 14, controlling the at least three engines to move according to the swing angle.
In the embodiment, the rocket is provided with 7 engines, wherein the 7 engines comprise a central engine 11 and six engines symmetrically arranged around the central engine 11, the central engine 11 is arranged at the center of the rocket body bottom bracket 2, the six engines form three groups of symmetrical engine units, each group of symmetrical engine units comprises two engines, the two engines in each group are centrally symmetrical about the central engine 11, and based on the 7-engine layout mode, the attitude control of the rocket can be realized only by controlling the central engine 11 and any group of symmetrical engine units, the number of servo control equipment is reduced, and the hardware cost of the rocket is reduced; determining at least three axial rocket target swing angles required by swinging the rocket to a target attitude based on flight state information of the rocket at the current moment, and determining the swing angle of each engine in the at least three engines according to the rocket target swing angles; controlling the rocket to move to a target attitude according to the swing angle of each engine in at least three engines; the rocket control method is effectively simplified, the complexity of control calculation is reduced, and the calculation efficiency is improved.
Here, the layout of 7 engines on a rocket will be described by way of specific examples:
as shown in FIG. 2, in one particular embodiment, the rocket body coordinate system of the rocket is defined by O b X b Y b Z b The body coordinate system of each engine is represented by O i X i Y i Z i Where i is the number of the engine, i=1 is the central engine 11, i=2 is the first engine 12, i=3 is the second engine 13, and so on;
the 7 engines are arranged on the arrow body bottom bracket 2, the center engine 11 is arranged at the center of the arrow body bottom bracket 2, the rest 6 engines are uniformly distributed on the outer circumference of the center engine 11, the 6 engines are respectively clockwise distributed with a first engine 12, a second engine 13, a third engine 14, a fourth engine 15, a fifth engine 16 and a sixth engine 17 around the center engine 11, and the centers of the 6 engines are positioned on the same dividing circle;
the rocket body bottom bracket 2 is arranged on a rocket coordinate system (O b -X b Y b Z b ) In the rocket body, the center of the rocket body bottom bracket 2 and the origin O of the rocket coordinate system b Coinciding, the engine coordinate system of the central engine 11 coincides with the rocket coordinate system;
origin O in the engine coordinate system of the first engine 12 2 Through the origin O of the central engine 11 1 Translating along quadrant I of the rocket coordinate system, wherein the translation distance is line segment O 1 O 2 Coordinate axis Y of engine coordinate system of first engine 12 2 Is directed to the central engine 11 coordinate axis Y of engine coordinate system 1 The same;
the engine coordinate system of the second engine 13 is defined by the engine coordinate system of the first engine 12 along the distance line segment O 1 O 2 Clockwise rotation by a first preset angle, preferably 60 °;
similarly, the third engine 14, the fourth engine 15, the fifth engine 16, and the sixth engine 17 are all along the distance line segment O from the engine coordinate system of the first engine 12 1 O 2 Clockwise rotating a first preset angle to obtain;
first engine 12, second engine 13, third engine 14, fourth engine 15, fifth engine 16, and sixth engineY of machine 17 i The axes all point to the origin of the rocket coordinate system;
the mounting directions of the 6 engines except the center engine 11 are circumferentially symmetrical, the first engine 12 with the number 2 and the fourth engine 15 with the number 5 form a first group of symmetrical engine groups, the second engine 13 with the number 3 and the fifth engine 16 with the number 6 form a second group of symmetrical engine groups, and the third engine 14 with the number 4 and the sixth engine 17 with the number 7 form a third group of symmetrical engine groups;
+O of body coordinate system of each engine i Y i The axis pointing to the rocket center O b ，+O i Z i The axis pointing in a counter-clockwise direction, where counter-clockwise refers to +O when looking at the engine from the bottom of the rocket body to the top of the rocket body i Z i The orientation of the axis;
at least two engines (such as a first engine 12 and a fourth engine 15 are provided with servo control equipment for controlling the oscillation of the nozzle of the engine, and the nozzle of each engine can be controlled along the rocket system + -O) which are symmetrical with respect to the center engine 11 and the center engine 11 b Y b Direction and + -O b Z b To make bidirectional swinging, the swinging angle delta Ai 、δ Bi Wherein A, B is the code number of the oscillating passage of the spray pipe, i is the engine number, delta Ai The spray pipe swings towards the center of the rocket as positive, delta Bi The spray pipe swings to the anticlockwise direction, servo control equipment is not installed on the other 4 engines, and the spray pipe does not swing;
the layout mode and the swing control mode of the 7 engines not only fill the design blank, but also reduce the number of servo control equipment and the rocket hardware cost.
In an alternative embodiment of the present invention, step 12 includes:
step 121, determining control target moments of the rocket in at least three axial directions; the control target torque includes: pitch control moment, yaw control moment, and roll control moment;
step 122, calculating a rocket target swing angle according to the control target moment; the rocket target swing angle comprises: rocket pitch angle, rocket yaw angle, and rocket roll angle.
According to the embodiment of the invention, according to the flight state information of the rocket and the target gesture to which the rocket is to run, the control target moment of the rocket body of the rocket in at least three axial directions is determined; the target swing angle of the rocket can be obtained through calculation; the calculated rocket target swing angle is the swing angle required by the rocket body for realizing the movement to the target gesture, and further, the swing angle required by each engine can be determined according to the numerical value of the rocket target swing angle required by the rocket body, namely, the swing angles of a plurality of engines are controlled to jointly realize the rocket target swing angle.
The flight state information can be used for calculating the control moment of adjusting the rocket to the target attitude; the rocket's flight status information includes at least one of: quality; a centroid; moment of inertia; a location; a speed; acceleration; attitude angle; angular velocity; angular acceleration.
In an alternative embodiment of the present invention, step 122 includes at least one of:
according to the control target moment, calculating to obtain a rocket target swing angle, wherein the rocket target swing angle comprises at least one of the following components:
by the formulaDetermining a rocket pitching angle;
by the formula delta ψ ＝asin(M yb /(P·X kz ) Determining a rocket yaw angle;
by the formula delta γ ＝asin(M xb /(P·Z kz ) Determining the rocket rolling swing angle;
wherein ,is rocket pitching angle delta ψ Is the yaw angle delta of rocket γ For rocket roll-to-roll swing angle, M zb For pitch control moment, M yb For yaw control moment, M xb For rolling overControl moment, P is engine thrust, X kz For controlling arm of force, Z, for pitch and yaw kz For roll control moment arm, asin (·) is an arcsine function.
In the embodiment of the invention, the pitch control moment, the yaw control moment and the roll control moment in the control target moment are determined based on a rocket body coordinate system, and the rocket target swing angles corresponding to the control target moments can be calculated respectively;
based on the pitching control moment, the formula is adoptedDetermining the rocket pitch angle, based on yaw control moment, by the formula +.>Determining rocket yaw angle based on roll control moment by formula +.>Determining the roll swing angle of the rocket; wherein P is the thrust of the engine, and P refers to the thrust of an engine; in order to control the motion of the rocket body by controlling the least number of engines, preferably, each engine in the 7 engines is an engine of the same model, and the thrust generated during the ignition and starting work is the same; thus, only the center engine 11 of the 7 engines and at least two engines symmetrical with respect to the center engine 11 are required to be controlled, and the rocket can be controlled.
In an alternative embodiment of the present invention, step 13 includes:
step 131, by formulaCalculating the swing angle of each engine in the first axial direction and the second axial direction of at least three engines;
wherein ,δA1 A first target pivot angle delta of the central engine 11 in a first axial direction B1 Is the centerSecond target pivot angle δ of engine 11 in the second axial direction A2 A third target pivot angle delta for the first engine 12 in a third axial direction B2 For a fourth target pivot angle, delta, of the first engine 12 in a fourth axial direction A5 A fifth target pivot angle δ in a fifth axial direction for the fourth engine 15 B5 For a sixth target pivot angle of the fourth engine 15 in a sixth axial direction,is rocket pitching angle delta ψ Is the yaw angle delta of rocket γ Is the rocket roll swing angle.
As shown in fig. 3, in the embodiment of the present invention, since at least three engines are controlled as the center engine 11 and two engines are symmetrical about the center engine 11, the swing angle of each engine can be calculated by the relationship between the swing angles of the three engines and the rocket target swing angle in fig. 3.
In an alternative embodiment of the present invention, step 14 includes at least one of:
step 141, controlling the central engine 11 to move along a first axial direction according to a first target swing angle and along a second axial direction according to a second target swing angle;
step 142, controlling the first engine 12 to move along a third axial direction according to a third target swing angle and to move along a fourth axial direction according to a fourth target swing angle;
step 143, controlling the fourth engine 15 to move along the fifth axis according to the fifth target pivot angle and along the sixth axis according to the sixth target pivot angle.
In an alternative embodiment of the present invention, the first axial direction is the same as the third axial direction, and the second axial direction is the same as the fourth axial direction;
the fifth axial direction is obtained by rotating the first axial direction by a first preset angle according to a preset rotating direction;
the sixth axial direction is obtained by rotating the second axial direction by a second preset angle according to a preset rotation direction.
According to the embodiment of the invention, the engine can be controlled to move according to the target swing angle through the two axial target swing angles of each engine obtained through calculation, so that the rocket can be operated to the target attitude;
the axial direction of the engine is the swinging direction of the engine nozzle, the first axial direction and the second axial direction are the Y coordinate axis and the Z coordinate axis of the engine coordinate system of the central engine 11, the third axial direction and the fourth axial direction are the Y coordinate axis and the Z coordinate axis of the engine coordinate system of the first engine 12, and the fifth axial direction and the sixth axial direction are the Y coordinate axis and the Z coordinate axis of the engine coordinate system of the fourth engine 15; since the third engine 14, the fourth engine 15, the fifth engine 16, and the sixth engine 17 are all along the distance line segment O from the engine coordinate system of the second engine 13 1 O 2 The clockwise rotation of the first preset angle is obtained, and the engine coordinate system of the first engine 12 is identical to each axial direction of the engine coordinate system of the center engine 11, so that the first axial direction is identical to the third axial direction, and the second axial direction is identical to the fourth axial direction; the fifth axial direction is obtained by rotating the first axial direction by a first preset angle according to a preset rotating direction; the sixth axial direction is obtained by rotating the second axial direction by a second preset angle, preferably the same, according to a preset rotation direction.
According to the embodiment of the invention, the flight state information of the rocket at the current moment is obtained; according to the flight state information, determining the swing angles of the rocket target in at least three axial directions; according to the rocket target swing angle, determining the swing angle of each engine in at least three engines; wherein the rocket comprises a central engine 11 and six engines symmetrically arranged around the central engine 11, and the at least three engines comprise the central engine 11 and at least two engines of the six engines which are symmetrical about the center of the central engine 11; the at least three engines are controlled to move according to the swing angle, so that the blank of the layout of the 7 engines on the rocket and the swing control method thereof is solved, the rocket control method is effectively simplified, the complexity of control calculation is reduced, and the calculation efficiency is improved.
As shown in fig. 2, an embodiment of the present invention further provides a rocket including:
an arrow body;
the flight control computer is arranged on the rocket body and is used for executing the swing control method of the rocket;
the arrow body bottom bracket 2 is fixedly connected with one end of the arrow body;
a central engine 11, wherein the central engine 11 is fixedly connected to the center of the rocket body bottom bracket 2;
six engines are symmetrically arranged around the central engine 11, and the six engines are fixedly connected with the rocket body bottom bracket 2.
In the embodiment of the invention, the rocket comprises an rocket body, an aerial control computer, an rocket body bottom bracket 2, a central engine 11 and six engines, wherein the aerial control computer is arranged on the rocket body and is used for controlling the swing of the rocket, and the rocket body bottom bracket 2 is fixedly connected to the bottom of the rocket body and provides thrust far away from the bottom for the rocket body; the center engine 11 is fixedly connected to the center of the rocket body bottom bracket 2, six engines are uniformly arranged around the center engine 11, the six engines are fixedly connected with the rocket body bottom bracket 2, and the spray pipe of each engine can swing bidirectionally, namely, the moving axial direction of each engine is two; the 7 engines solve the blank of layout of the 7 engines on the rocket and the swing control method thereof, effectively simplify the rocket control method, reduce the complexity of control calculation and improve the calculation efficiency.
Optionally, the first engine 12, the second engine 13, the third engine 14, the fourth engine 15, the fifth engine 16 and the sixth engine 17 are evenly distributed around the central engine 11.
In the embodiment of the present invention, since the first engine 12, the second engine 13, the third engine 14, the fourth engine 15, the fifth engine 16, and the sixth engine 17 are uniformly distributed, and the second engine 13, the third engine 14, the fourth engine 15, the fifth engine 16, and the sixth engine 17 are each obtained by rotating clockwise by the first preset angle in the engine coordinate system of the first engine 12, the rotation angles between the adjacent engines are the same.
Optionally, the six engines form three groups of symmetrical engine units;
wherein the first set of symmetrical engine blocks comprises a first engine 12 and a fourth engine 15, the second set of symmetrical engine blocks comprises a second engine 13 and a fifth engine 16, and the third set of symmetrical engine blocks comprises a third engine 14 and a sixth engine 17.
Optionally, servo control devices are mounted on both the central engine 11 and at least one set of symmetrical engine blocks, said servo control devices being used to control engine movement.
It should be noted that, the rocket is a rocket corresponding to the above method, and all implementation manners in the above method embodiments are applicable to the rocket embodiments, so that the same technical effects can be achieved.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, and are not repeated herein.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a ROM, a RAM, a magnetic disk, or an optical disk, etc.
Furthermore, it should be noted that in the apparatus and method of the present invention, it is apparent that the components or steps may be disassembled and/or assembled. Such decomposition and/or recombination should be considered as equivalent aspects of the present invention. Also, the steps of performing the series of processes described above may naturally be performed in chronological order in the order of description, but are not necessarily performed in chronological order, and some steps may be performed in parallel or independently of each other. It will be appreciated by those of ordinary skill in the art that all or any of the steps or components of the methods and apparatus of the present invention may be implemented in hardware, firmware, software, or a combination thereof in any computing device (including processors, storage media, etc.) or network of computing devices, as would be apparent to one of ordinary skill in the art after reading this description of the invention.
The object of the invention can thus also be achieved by running a program or a set of programs on any computing device. The computing device may be a well-known general purpose device. The object of the invention can thus also be achieved by merely providing a program product containing program code for implementing said method or apparatus. That is, such a program product also constitutes the present invention, and a storage medium storing such a program product also constitutes the present invention. It is apparent that the storage medium may be any known storage medium or any storage medium developed in the future. It should also be noted that in the apparatus and method of the present invention, it is apparent that the components or steps may be disassembled and/or assembled. Such decomposition and/or recombination should be considered as equivalent aspects of the present invention. The steps of executing the series of processes may naturally be executed in chronological order in the order described, but are not necessarily executed in chronological order. Some steps may be performed in parallel or independently of each other.
While the foregoing is directed to the preferred embodiments of the present invention, it will be appreciated by those skilled in the art that various modifications and adaptations can be made without departing from the principles of the present invention, and such modifications and adaptations are intended to be comprehended within the scope of the present invention.
Claims (10)
1. The swing control method of the rocket is characterized by being applied to a flight control computer and comprising the following steps of:
acquiring flight state information of a rocket at the current moment;
according to the flight state information, determining the swing angles of the rocket target in at least three axial directions;
according to the rocket target swing angle, determining the swing angle of each engine in at least three engines; wherein the rocket comprises a central engine (11) and six engines symmetrically arranged around the central engine (11), and the at least three engines comprise the central engine (11) and at least two engines of the six engines which are symmetrical about the center engine (11);
and controlling the at least three engines to move according to the swing angle.
2. A rocket swing control method according to claim 1, wherein determining rocket target swing angles of said rocket in at least three axial directions based on said flight status information comprises:
determining control target moments of the rocket in at least three axial directions; the control target torque includes: pitch control moment, yaw control moment, and roll control moment;
according to the control target moment, calculating to obtain a rocket target swing angle; the rocket target swing angle comprises: rocket pitch angle, rocket yaw angle, and rocket roll angle.
3. A rocket control method according to claim 2, wherein the rocket target swing angle is calculated according to the control target torque, comprising at least one of the following:
by the formulaDetermining a rocket pitching angle;
by the formula delta ψ ＝asin(M yb /(P·x kz ) Determining a rocket yaw angle;
by the formula delta γ ＝asin(M xb /(P·z kz ) Determining the rocket rolling swing angle;
wherein ,is rocket pitching angle delta ψ Is the yaw angle delta of rocket γ For rocket roll-to-roll swing angle, M zb For pitch control moment, M yb For yaw control moment, M xb Is the rolling control moment, P is the engine thrust, X kz For controlling arm of force, Z, for pitch and yaw kz The arm of force is controlled for roll.
4. A rocket control method according to claim 1, wherein determining a swing angle of each of at least three engines based on the rocket target swing angle comprises:
by the formulaCalculating the swing angle of each engine in the first axial direction and the second axial direction of at least three engines;
wherein ,δA1 A first target swing angle delta of the central engine (11) in a first axial direction B1 For a second target angle of oscillation, delta, of the central engine (11) in a second axial direction A2 For a third target angle of oscillation, delta, of the first engine (12) in a third axial direction B2 For a fourth target pivot angle, delta, of the first engine (12) in a fourth axial direction A5 A fifth target angle of rotation, delta, of the fourth engine (15) in a fifth axial direction B5 A sixth target pivot angle of the fourth engine (15) in a sixth axial direction,is rocket pitching angle delta ψ Is the yaw angle delta of rocket γ Is the rocket roll swing angle.
5. A rocket control method according to claim 4, wherein controlling the at least three engines to move according to the yaw angle comprises at least one of:
controlling the central engine (11) to move along a first axial direction according to a first target swing angle and along a second axial direction according to a second target swing angle;
controlling the first engine (12) to move along a third axial direction according to a third target swing angle and along a fourth axial direction according to a fourth target swing angle;
the fourth motor (15) is controlled to move along a fifth axial direction according to a fifth target swing angle and along a sixth axial direction according to a sixth target swing angle.
6. A rocket control method according to claim 5, wherein the first axial direction is the same as the third axial direction, and the second axial direction is the same as the fourth axial direction;
the fifth axial direction is obtained by rotating the first axial direction by a first preset angle according to a preset rotating direction;
the sixth axial direction is obtained by rotating the second axial direction by a second preset angle according to a preset rotation direction.
7. A rocket, comprising:
an arrow body;
an flight control computer provided on the rocket body for performing the swing control method of the rocket according to any one of claims 1 to 6;
the arrow body bottom bracket (2), the arrow body bottom bracket (2) is fixedly connected with one end of the arrow body;
the center engine (11) is fixedly connected to the center of the arrow body bottom bracket (2);
six engines symmetrically arranged around the central engine (11) are fixedly connected with the rocket body bottom bracket (2).
8. A rocket according to claim 7, wherein the six engines form three sets of symmetrical engine blocks;
wherein the first set of symmetrical engine blocks comprises a first engine (12) and a fourth engine (15), the second set of symmetrical engine blocks comprises a second engine (13) and a fifth engine (16), and the third set of symmetrical engine blocks comprises a third engine (14) and a sixth engine (17).
9. Rocket according to claim 7, characterized in that the first (12), second (13), third (14), fourth (15), fifth (16) and sixth (17) engines are evenly distributed around the central engine (11).
10. A rocket according to claim 7, wherein the central engine (11) and at least one set of symmetrical engine blocks are each provided with servo control means for controlling engine movement.
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