CN-121448819-B - Tower mechanical arm control method, device and equipment for rocket recovery

CN121448819BCN 121448819 BCN121448819 BCN 121448819BCN-121448819-B

Abstract

The invention relates to the technical field of rocket recovery, and discloses a control method, a device and equipment for a tower mechanical arm for rocket recovery, wherein the method comprises the steps of obtaining state parameters of a rocket to be recovered, including the height of a recovery hook from the mechanical arm; the mechanical arm is controlled to dynamically center the rocket to be recovered when the recovery hook is at a first height from the mechanical arm, so that the rocket to be recovered is positioned at the center line of the mechanical arm when the recovery hook is at a second height from the mechanical arm, the mechanical arm is controlled to dynamically close the mechanical arm, so that the mechanical arm is closed when the recovery hook is at a third height from the mechanical arm, and the mechanical arm is controlled to keep unchanged when the recovery hook is at the third height from the mechanical arm until the rocket to be recovered falls to the mechanical arm. According to the invention, the action of the mechanical arm in the rocket capturing process is associated with the real-time state of the rocket, so that the collision between the mechanical arm and the rocket in the recovery process is avoided, the rocket recovery safety is improved, and the rocket recovery process is divided into three stages, namely centering-arm combining-holding, so that the reliable rocket recovery is completed.

Inventors

CHEN SHUGUANG
XU RUI
LIU LIZHI
WANG QIYANG
LIU RUIZHE
CHEN XU

Assignees

北京大航跃迁科技有限公司

Dates

Publication Date: 20260512
Application Date: 20251110

Claims (9)

1. A method of controlling a tower robotic arm for rocket recovery, the method comprising: acquiring state parameters of the rocket to be recovered in real time, wherein the state parameters comprise the height of a recovery hook of the rocket to be recovered from the mechanical arm; When the recovery hook is at a first height from the mechanical arm, triggering control of the mechanical arm, and controlling the mechanical arm to dynamically center the rocket to be recovered, so that the rocket to be recovered is positioned at the central line of the mechanical arm when the recovery hook is at a second height from the mechanical arm; When the recovery hook is at the second height from the mechanical arm, controlling the mechanical arm to dynamically close the mechanical arm, so that the mechanical arm completes closing the mechanical arm when the recovery hook is at the third height from the mechanical arm; When the recovery hook is at the third height from the mechanical arm, controlling the state of the mechanical arm to be unchanged until the rocket to be recovered falls to the mechanical arm; when the recovery hook is at a first height from the mechanical arm, triggering control on the mechanical arm, controlling the mechanical arm to dynamically center the rocket to be recovered, enabling the rocket to be recovered to be located at a central line of the mechanical arm when the recovery hook is at a second height from the mechanical arm, and comprising the following steps: When the recovery hook is at the first height from the mechanical arm, calculating an included angle parameter of a first total descending time and a start control time based on a state parameter of the rocket to be recovered at the start control time; calculating the angular speed of the starting control moment based on the first total descending time and the included angle parameter of the starting control moment; determining a first transition time based on the first total falling time, and calculating a first transition angular velocity based on the angular velocity at the start control time; in the first transition time, controlling the angular speed of the mechanical arm to transition to the first transition angular speed through a parabolic transition algorithm; Calculating a first residual time, an included angle parameter and an overall angular velocity corresponding to the first transition ending time based on the state parameter of the rocket to be recovered at the first transition ending time of the first transition time, wherein the first residual time represents the time for the recovery hook to descend from the current height to the second height; calculating the first residual time corresponding to the next moment based on the first residual time, the included angle parameter, the overall angular velocity and the state parameter of the rocket to be recovered at the next moment, which correspond to the first transition ending moment; based on the state parameter and the first residual time at the next moment, predicting a first intermediate included angle parameter and the overall angular velocity of the mechanical arm at the next moment, and controlling the included angle parameter and the angular velocity of the mechanical arm to respectively transit to the corresponding first intermediate included angle parameter and the overall angular velocity through a parabolic transition algorithm; And continuously calculating a first residual time, a first intermediate included angle parameter and an overall angular speed corresponding to the next moment, and correspondingly controlling the mechanical arm until the recovery hook is away from the second height of the mechanical arm.
2. A method according to claim 1, wherein after the acquiring of the state parameters of the rocket to be recovered in real time, the method further comprises: taking the rotation center of the mechanical arm as an origin; Taking the length direction of the mechanical arm in the arm closing zero position as an X axis; taking a direction vertical to the X axis as a Y axis; Determining a Z axis by a right hand rule based on the X axis and the Y axis; A tower coordinate system is established based on the origin, the X-axis, the Y-axis, and the Z-axis.
3. The method of claim 2, wherein the angle parameter at the start-up time is calculated by the formula: In the formula, An included angle between the central line and the X axis at the starting control moment is shown; an included angle between the horizontal projection and the X axis at the starting control moment is shown; representing the coordinate of the center of the arrow body cross section of the lower end surface of the recovery hook at the Z axis at the starting and controlling moment; representing the coordinates of the center of the arrow body cross section at the lower end surface of the recovery hook at the X axis at the starting and controlling moment; An included angle between the horizontal projection and the central line at the starting control moment is shown; the first intermediate angle parameter is calculated by the following formula: In the formula, Representing the included angle between the central line at the nth moment and the X axis; representing the included angle between the central line and the X axis at the n-1 time; Indicating the overall angular velocity at time n-1; Representing a time step; representing the included angle between the horizontal projection at the nth moment and the X axis; representing the coordinate of the center of the arrow body cross section of the lower end surface of the recovery hook at the Z axis at the nth moment; Representing the coordinates of the center of the arrow body cross section of the lower end surface of the recovery hook at the nth moment on the X axis; representing the included angle between the horizontal projection and the central line at the nth moment; the overall angular velocity is calculated by the following formula: In the formula, Indicating the overall angular velocity at the nth time; Representing low pass filter coefficients; Angular velocity representing the start-up time; The first remaining time at the nth time is indicated.
4. The method of claim 2, wherein the robotic arms comprise a left robotic arm and a right robotic arm; the method further comprises the steps of: acquiring a target included angle parameter when the recovery hook is at the second height from the mechanical arm; calculating a first initial included angle parameter of the left mechanical arm and a second initial included angle parameter of the right mechanical arm based on the target included angle parameter and the state parameter of the rocket to be recovered at the starting control moment; And acquiring a target overall angular velocity of the recovery hook at the moment of the second height from the mechanical arm, and taking the target overall angular velocity as a first initial angular velocity of the left mechanical arm and a second initial angular velocity of the right mechanical arm.
5. The method of claim 4, wherein the first initial included angle parameter and the second initial included angle parameter are calculated by the following formula: In the formula, Representing the included angle between the left mechanical arm and the X axis; representing the included angle between the central line and the X axis in the target included angle parameter; The opening angle of the mechanical arm at the starting control moment is shown; and the included angle between the right mechanical arm and the X axis is shown.
6. The method of claim 4, wherein controlling the robotic arm to dynamically engage the arm when the recovery hook is at the second height from the robotic arm such that the robotic arm completes engaging the arm when the recovery hook is at the third height from the robotic arm comprises: when the recovery hook is at the second height from the mechanical arm, calculating a second total descending time based on state parameters of the rocket to be recovered at the stage starting moment; Based on the target included angle parameter, the first initial included angle parameter and the second initial included angle parameter, calculating an included angle parameter of the left mechanical arm and an included angle parameter of the right mechanical arm at the initial moment of the stage respectively; based on the second total descending time, the included angle parameter of the left mechanical arm at the stage starting moment and the included angle parameter of the right mechanical arm, respectively predicting a first transition angular velocity of the left mechanical arm and a second transition angular velocity of the right mechanical arm; Determining a second transition time based on the second total descent time, and controlling the left mechanical arm to transition from the first initial angular velocity to the first transition angular velocity through a parabolic transition algorithm in the second transition time, and controlling the right mechanical arm to transition from the second initial angular velocity to the second transition angular velocity; Calculating a second remaining time, an included angle parameter and an angular speed of the left mechanical arm and an included angle parameter and an angular speed of the right mechanical arm corresponding to the second transition end time based on the state parameter of the rocket to be recovered at the second transition end time of the second transition time, wherein the second remaining time represents the time for the recovery hook to descend from the current height to the third height; Calculating a second residual time corresponding to the next moment based on the second residual time corresponding to the second transition end moment, the included angle parameter and the angular velocity of the left mechanical arm, the included angle parameter and the angular velocity of the right mechanical arm and the state parameter of the rocket to be recovered at the next moment; Based on the state parameter and the second remaining time of the next moment, predicting a second intermediate included angle parameter and an angular velocity of the left mechanical arm and a third intermediate included angle parameter and an angular velocity of the right mechanical arm at the next moment, controlling the included angle parameter and the angular velocity of the left mechanical arm to be respectively transited to the corresponding second intermediate included angle parameter and the angular velocity through a parabolic transition algorithm, and controlling the included angle parameter and the angular velocity of the right mechanical arm to be respectively transited to the corresponding third intermediate included angle parameter and the angular velocity; and continuously calculating a second residual time corresponding to the next moment, a second middle included angle parameter and angular velocity of the left mechanical arm and a third middle included angle parameter and angular velocity of the right mechanical arm, and correspondingly controlling the left mechanical arm and the right mechanical arm until the recovery hook is away from the mechanical arm by the third height.
7. The method of claim 6, wherein the angle parameter of the left arm or the angle parameter of the right arm at the stage start time is calculated by the following formula: In the formula, An included angle between a connecting line of an arrow center and an origin of the rocket to be recovered and the left mechanical arm or the right mechanical arm at the initial moment of the stage; an included angle between the horizontal projection and the X axis at the initial moment of the stage is shown; the second intermediate included angle parameter or the third intermediate parameter is calculated by the following formula: In the formula, Indicating the included angle between the left mechanical arm or the right mechanical arm and the X axis at the j moment; the included angle between the left mechanical arm or the right mechanical arm and the X axis at the j-1 moment is shown; The angular velocity of the left mechanical arm or the right mechanical arm at the j-1 th moment is represented; representing the included angle between the horizontal projection and the X axis at the j moment; The included angle between the connecting line of the arrow center and the origin at the j-th moment and the left mechanical arm or the right mechanical arm is shown; The angular velocity or angular velocity is calculated by the following formula: In the formula, The angular velocity of the left mechanical arm or the right mechanical arm at the j-th moment is represented; The angular velocity of the left mechanical arm or the right mechanical arm at the j-1 th moment is represented; The second remaining time at the j-th time is indicated.
8. A tower robotic arm control device for rocket recovery, the device comprising: the first acquisition module is used for acquiring state parameters of the rocket to be recovered in real time, wherein the state parameters comprise the height of a recovery hook of the rocket to be recovered from the mechanical arm; The first control module is used for triggering the control of the mechanical arm when the recovery hook of the rocket to be recovered is at a first height from the mechanical arm, and controlling the mechanical arm to dynamically center the rocket to be recovered, so that the rocket to be recovered is positioned at the central line of the mechanical arm when the recovery hook is at a second height from the mechanical arm; The second control module is used for controlling the mechanical arm to dynamically close the arm when the recovery hook is at the second height from the mechanical arm, so that the mechanical arm completes closing the arm when the recovery hook is at the third height from the mechanical arm; the third control module is used for controlling the state of the mechanical arm to be unchanged when the recovery hook is at the third height from the mechanical arm until the rocket to be recovered falls to the mechanical arm; Wherein the first control module comprises: The first calculation unit is used for calculating an included angle parameter of a first total descending time and a starting control time based on a state parameter of the rocket to be recovered at the starting control time when the recovery hook is at the first height from the mechanical arm; The second calculating unit is used for calculating the angular speed of the starting control moment based on the first total descending time and the included angle parameter of the starting control moment; A third calculation unit, configured to determine a first transition time based on the first total descent time, and calculate a first transition angular velocity based on an angular velocity at the start control time; The first control unit is used for controlling the angular speed of the mechanical arm to transition to the first transition angular speed through a parabolic transition algorithm in the first transition time; A fourth calculating unit, configured to calculate, based on a state parameter of the rocket to be recovered at a first transition end time of the first transition time, a first remaining time, an included angle parameter, and an overall angular velocity corresponding to the first transition end time, where the first remaining time represents a time when the recovery hook descends from the current height to the second height; A fifth calculating unit, configured to calculate a first remaining time corresponding to a next moment based on a first remaining time, an included angle parameter, an overall angular velocity, and a state parameter of the rocket to be recovered at the next moment, where the first remaining time corresponds to the first transition end moment; The second control unit is used for predicting a first intermediate included angle parameter and the overall angular velocity of the mechanical arm at the next moment based on the state parameter and the first residual time at the next moment, and controlling the included angle parameter and the angular velocity of the mechanical arm to be respectively transited to the corresponding first intermediate included angle parameter and the corresponding overall angular velocity through a parabolic transition algorithm; And the third control unit is used for continuously calculating the first remaining time, the first intermediate included angle parameter and the overall angular speed corresponding to the next moment, and correspondingly controlling the mechanical arm until the recovery hook is away from the second height of the mechanical arm.
9. An electronic device, comprising: A memory and a processor communicatively coupled to each other, the memory having stored therein computer instructions that, upon execution, perform the method of controlling a tower robotic arm for rocket recovery of any of claims 1-7.

Description

Tower mechanical arm control method, device and equipment for rocket recovery Technical Field The invention relates to the technical field of rocket recovery, in particular to a control method, a device and equipment for a tower mechanical arm for rocket recovery. Background In the aerospace field, the core value of rocket recovery is to break through the limitation that the traditional disposable rocket is scrapped after being launched. The reuse of key parts of the rocket body is realized through rocket recovery, so that the hardware cost of single space launching can be greatly reduced, and economic support is provided for large-scale propulsion of space missions. At present, the main rocket recovery technical scheme is that landing legs are recovered vertically and a tower mechanical arm is used for capturing and recovering. The landing leg related structure on the rocket body can be omitted through capturing and recycling of the tower mechanical arm, so that the dry weight of the rocket body can be effectively reduced, and the carrying capacity of the rocket can be further improved. In the process of recovering the rocket, the success or failure of the recovery task is directly determined by the control of the tower mechanical arm. Therefore, how to control the tower mechanical arm to recover the rocket is a problem to be solved. Disclosure of Invention The invention provides a control method, a device and equipment for a tower mechanical arm for rocket recovery, and aims to solve the problem of rocket recovery by controlling the tower mechanical arm. In a first aspect, the present invention provides a method of controlling a tower robotic arm for rocket recovery, the method comprising: Acquiring state parameters of the rocket to be recovered in real time, wherein the state parameters comprise the height of a recovery hook of the rocket to be recovered from the mechanical arm; when the recovery hook is at a first height from the mechanical arm, triggering control on the mechanical arm, and controlling the mechanical arm to dynamically center the rocket to be recovered, so that the rocket to be recovered is positioned at the central line of the mechanical arm when the recovery hook is at a second height from the mechanical arm; when the recovery hook is at a second height from the mechanical arm, controlling the mechanical arm to dynamically close the mechanical arm, so that the mechanical arm completes closing the mechanical arm when the recovery hook is at a third height from the mechanical arm; When the recovery hook is at a third height from the mechanical arm, the state of the mechanical arm is controlled to be unchanged until the rocket to be recovered falls to the mechanical arm. According to the invention, the state parameters of the rocket to be recovered are obtained in real time, so that the control of the mechanical arm can be dynamically adjusted along with the actual falling state of the rocket, and the action of the mechanical arm in the rocket capturing process is associated with the real-time state of the rocket, so that the method can adapt to different returning trajectory of the rocket, and meanwhile, the collision between the mechanical arm and the rocket in the recovery process is avoided, and the rocket recovery safety is improved. When the recovery hook reaches the first height, the mechanical arm is controlled to dynamically center, so that the rocket is positioned at the center line of the mechanical arm when the recovery hook reaches the second height, and the arm closing difficulty of the mechanical arm is reduced. When the recovery hook reaches the second height, the mechanical arm is controlled to dynamically close the arm, so that the closing of the arm is completed when the recovery hook reaches the third height, and the arm can be effectively ensured to finally fall onto the mechanical arm when the rocket vertically falls down. When the recovery hook reaches the third height, the mechanical arm is controlled to keep the state until the rocket falls to the mechanical arm, and reliable rocket recovery is completed. In a second aspect, the present invention provides a tower robotic arm control device for rocket recovery, the device comprising: The first acquisition module is used for acquiring state parameters of the rocket to be recovered in real time, wherein the state parameters comprise the height of a recovery hook of the rocket to be recovered from the mechanical arm; the first control module is used for triggering the control of the mechanical arm when the recovery hook of the rocket to be recovered is at a first height from the mechanical arm, and controlling the mechanical arm to dynamically center the rocket to be recovered, so that the rocket to be recovered is positioned at the central line of the mechanical arm when the recovery hook is at a second height from the mechanical arm; The second control module is used for controlling the mechanical arm to dynamicall