CN-121994086-A - Rocket first-stage descending-section grid rudder control method

CN121994086ACN 121994086 ACN121994086 ACN 121994086ACN-121994086-A

Abstract

The invention discloses a rocket first-stage descent segment grid rudder control method, in particular relates to the technical field of aerospace control, and aims to solve the problem that the descent segment is poor in effect only by inducing resistance deceleration. The method comprises the steps of calculating a channel rudder deflection angle by combining an instruction attitude angle, an actual attitude angle and a rotation angular velocity, obtaining basic rudder deflection angles of four grid rudders based on a control distribution relation, extracting deflection boundary allowance limiting the basic rudder deflection angles, selecting minimum value optimizing assignment to establish a conversion adjustment quantity, and finally reconstructing a four-dimensional space control instruction by utilizing a four-order orthogonal conversion matrix to drive a rudder surface to deflect. The invention promotes the steering surface to deflect to the limit, and provides scientific support for the efficient deceleration of the rocket and the saving of propellant.

Inventors

SU SEN
TANG WEN
TIAN JICHAO
ZHU XINWEN

Assignees

湖南宇石空间探索航天科技有限公司

Dates

Publication Date: 20260508
Application Date: 20260320

Claims (8)

1. The control method of the rocket one-stage descending section grid rudder is characterized by comprising the following steps of: S1, acquiring pitch, yaw and roll three-channel instruction attitude angles of a sub-level rocket according to a landing point task and a guidance equation, acquiring attitude angle deviation by combining an actual attitude angle, extracting a rotation angular speed of a triaxial around an rocket body, and calculating a three-channel rudder deflection angle based on the attitude angle deviation and the rotation angular speed; S2, performing control quantity distribution on the deflection angles of the channel rudders according to a preset control distribution relation from the channel rudders to the single-piece rudders, and obtaining respective basic deflection angles of the four grid rudders; S3, acquiring preset grid rudder use limits, extracting deflection boundary margins between the grid rudder use limits and basic rudder deflection angles of four grid rudders, combining corresponding adjustment coefficients in an orthogonal transformation matrix, establishing the residual usable rudder deflection margins of the four grid rudders, selecting minimum values in the rudder deflection margins of the multiple grid rudders as adjustment values, optimizing and assigning according to the symbol directions of the basic rudder deflection angles of the grid rudders generating the minimum values, and establishing transformation adjustment values; S4, constructing a preset four-order orthogonal transformation matrix, splicing and constructing a channel rudder deflection angle and a transformation adjustment amount into four-dimensional space control instructions, performing space mapping and characteristic decoupling on the four-dimensional space control instructions through the four-order orthogonal transformation matrix, reconstructing a final rudder deflection angle instruction of the four grid rudders, and sending the final rudder deflection angle instruction to a servo driver to drive the corresponding grid rudders to deflect.
2. The control method of the grid rudder of the first-stage descending section of the rocket according to the claim 1 is characterized in that the three-channel instruction attitude angles of pitch, yaw and roll of the first-stage rocket are obtained according to the landing point task and the guidance equation, and the specific process of obtaining the attitude angle deviation by combining the actual attitude angle is as follows: Calling a guidance equation to generate a pitch channel instruction attitude angle, a yaw channel instruction attitude angle and a roll channel instruction attitude angle corresponding to the drop point task, and splicing the pitch channel instruction attitude angle, the yaw channel instruction attitude angle and the roll channel instruction attitude angle to form a three-dimensional instruction attitude angle vector; Acquiring an actual attitude angle of a pitching channel, an actual attitude angle of a yawing channel and an actual attitude angle of a rolling channel, which are fed back by an arrow-borne sensor in real time, and splicing the actual attitude angles into a three-dimensional actual attitude angle vector; And carrying out node alignment deviation searching on the three-dimensional instruction attitude angle vector and the three-dimensional actual attitude angle vector, and calculating an attitude angle deviation vector comprising a pitch deviation component, a yaw deviation component and a roll deviation component.
3. The control method of the rocket first-stage descent stage grid rudder according to claim 2 is characterized in that the specific process of extracting the rotation angular velocity around the rocket body triaxial and calculating the channel rudder deflection angle of the three channels based on the attitude angle deviation and the rotation angular velocity is as follows: Acquiring an arrow-carrying measurement reference feedback pitch rotation angular velocity, a yaw rotation angular velocity and a roll rotation angular velocity of an arrow-winding body triaxial, and splicing the arrow-carrying measurement reference feedback pitch rotation angular velocity, the yaw rotation angular velocity and the roll rotation angular velocity into rotation angular velocity vectors; constructing a preset proportional control gain diagonal matrix and a differential control gain diagonal matrix; Performing feature mapping on the proportional control gain diagonal matrix and the attitude angle deviation vector to obtain a proportional adjustment component, and performing feature mapping on the differential control gain diagonal matrix and the rotation angular velocity vector to obtain a differential adjustment component; and performing linear state fusion on the proportional adjustment component and the differential adjustment component to obtain a channel rudder deflection angle vector comprising a pitch channel rudder deflection angle, a yaw channel rudder deflection angle and a roll channel rudder deflection angle.
4. The control method of the first-stage descending-section grid rudders of the rocket according to claim 1 is characterized in that according to a preset control allocation relation from a channel rudder to a single-piece rudder, control quantity allocation is carried out on the deflection angles of the channel rudders, and the specific process of obtaining the respective basic rudder deflection angles of the four grid rudders is as follows: Based on a quadrant arrangement structure of four grid rudders on a sub-level rocket body, constructing a preset control quantity distribution matrix with three columns and four rows of dimensions; And performing space lifting dimension mapping on the control quantity distribution matrix and the channel rudder deflection angle vector, decoupling and separating a first basic rudder deflection angle, a second basic rudder deflection angle, a third basic rudder deflection angle and a fourth basic rudder deflection angle which are respectively corresponding to the four grid rudders, and polymerizing to form a basic rudder deflection angle vector.
5. The method for controlling the grid rudders at the descending stage of the rocket first stage is characterized by comprising the following specific processes of obtaining preset grid rudders use limit, extracting deflection boundary allowance between the grid rudders use limit and basic rudders deflection angles of four grid rudders, and combining corresponding adjustment coefficients in an orthogonal transformation matrix to establish rudders deflection allowance which can be used respectively and remained by the four grid rudders: extracting absolute values of respective basic rudder deflection angles of four grid rudders in the basic rudder deflection angle vector, carrying out boundary alignment searching calculation on the grid rudders by using limit and the absolute values, and obtaining absolute deflection boundary allowance of each grid rudder; Extracting symbol direction parameters of the basic rudder deflection angles of the four grid rudders in the basic rudder deflection angle vector; a specific adjustment coefficient column vector in a preset fourth-order orthogonal transformation matrix is called; And performing element-by-element characteristic multiplicative fusion on corresponding row elements in the absolute deflection boundary allowance, the symbol direction parameter and the adjustment coefficient column vector, and calculating a first rudder deflection margin, a second rudder deflection margin, a third rudder deflection margin and a fourth rudder deflection margin which can be used by each of the four grid rudders.
6. The method for controlling the grid rudders at the descending stage of the first sub-stage of the rocket according to claim 5 is characterized in that the minimum value in the rudder deflection margin of a plurality of grid rudders is selected as the magnitude of the adjustment quantity, and optimization assignment is carried out according to the sign direction of the basic rudder deflection angle of the grid rudders generating the minimum value, and the specific process for establishing the conversion adjustment quantity is as follows: extracting respective absolute value parameters of a first rudder deflection margin, a second rudder deflection margin, a third rudder deflection margin and a fourth rudder deflection margin, executing global boundary optimization in the absolute value parameters, and locking a target absolute value parameter with a numerical value in a minimum state; Mapping the target absolute value parameter back to the corresponding original grid rudder control node, and extracting the symbol direction parameter of the basic rudder deflection angle corresponding to the original grid rudder control node; And performing fusion assignment on the target absolute value parameter and the extracted symbol direction parameter, and establishing and outputting a conversion adjustment quantity with a spatial direction characteristic.
7. The method for controlling the grid rudders of the descending section of the rocket first sub-stage according to claim 1 is characterized in that a preset fourth-order orthogonal transformation matrix is constructed, and the specific process of splicing the deflection angle of the channel rudders and the transformation adjustment amount into a four-dimensional space control instruction is as follows: constructing a fourth-order orthogonal transformation matrix with internal element distribution satisfying the product of the internal element distribution and the self transposed matrix being equal to a constant term multiple identity matrix; extracting a pitching channel rudder deflection angle, a yawing channel rudder deflection angle and a rolling channel rudder deflection angle in the channel rudder deflection angle vector; and sequentially arranging the pitching channel rudder deflection angle, the yawing channel rudder deflection angle, the rolling channel rudder deflection angle and the conversion adjustment quantity according to a preset row dimension sequence, and splicing the four-dimensional space control command row vectors.
8. The method for controlling the grid rudders of the descending section of the rocket first stage according to claim 7, wherein the specific process of executing space mapping and characteristic decoupling on four-dimensional space control instructions through a four-order orthogonal transformation matrix to reconstruct a final rudder deflection angle instruction of four grid rudders and sending the final rudder deflection angle instruction to a servo driver to drive the corresponding grid rudders to deflect is as follows: performing linear algebraic mapping on the fourth-order orthogonal transformation matrix and the four-dimensional space control instruction column vector, and reconstructing to generate a four-dimensional output column vector containing the final swing angle characteristics of the four grid rudders; Performing feature separation on the four-dimensional output column vector, and extracting a first final rudder deflection instruction corresponding to the first servo node, a second final rudder deflection instruction corresponding to the second servo node, a third final rudder deflection instruction corresponding to the third servo node and a fourth final rudder deflection instruction corresponding to the fourth servo node; And issuing the first final rudder deflection instruction, the second final rudder deflection instruction, the third final rudder deflection instruction and the fourth final rudder deflection instruction to a servo driver node of a sub-level rocket corresponding to a physical quadrant, and driving the controlled object to finish pose physical deflection.

Description

Rocket first-stage descending-section grid rudder control method Technical Field The invention relates to the technical field of aerospace control, in particular to a rocket first-stage descending-section grid rudder control method. Background With the development of space carrying technology, the speed reduction and recovery control of a sub-level rocket in a descending section become particularly critical. Typically, a grid rudder is disposed on top of a sub-level rocket, and when the rocket is in the descent phase and the grid rudder is deployed, airflow through the grid rudder creates control forces and aerodynamic drag. As the resistance coefficient and the deflection angle of the grid rudder show positive correlation change, the pneumatic resistance of the grid rudder is fully utilized for deceleration in the descending process, and the method is an important way for reducing the work load of the landing thrust-back engine and saving the consumption of the propellant. In the existing one-level descent segment recovery control method, the system only depends on the induced resistance generated by an arrow body and a grid rudder in a normal attitude control state to conduct deceleration. The existing method does not actively and additionally control the grid rudder to perform special deceleration operation, the deflection angle distributed to the grid rudder under normal attitude control is relatively small, the resistance coefficient of the grid rudder is always at a low level, the generated aerodynamic resistance is small, and the final deceleration effect is poor. This forces the rocket to consume more propellant for thrust-back deceleration during the recovery landing phase, reducing the carrying efficiency and economic benefit of the rocket. Disclosure of Invention Aiming at the defects of the prior art, the invention provides a rocket one-stage descending-section grid rudder control method, which solves the problems of the prior art. The control method comprises the following steps of S1, obtaining pitch, yaw and roll three-channel instruction attitude angles of a rocket in a first sub-stage according to a landing task and a guidance equation, obtaining attitude angle deviation by combining the actual attitude angles, extracting rotation angular speeds around three axes of an rocket body, calculating three-channel rudder deflection angles based on the attitude angle deviation and the rotation angular speeds, S2, performing control quantity distribution on the channel rudder deflection angles according to a control distribution relation from a preset channel rudder to a single-chip rudder, obtaining respective basic rudder deflection angles of four-chip rudders, S3, obtaining a preset grid rudder use limit, extracting a deflection boundary allowance between the grid rudder use limit and the basic rudder deflection angles of the four-chip rudders, combining corresponding adjustment coefficients in an orthogonal transformation matrix, establishing rudder deflection margins of the four-chip rudders which can be used respectively, selecting minimum grid rudder deflection values in the grid deflection margins as adjustment quantities, performing optimal transformation according to a direction of a grid rudder symbol of the minimum value, constructing a four-chip rudder deflection command by performing a four-dimensional transformation, and driving the four-dimensional transformation space-dimensional transformation matrix, and constructing a four-dimensional transformation control order, and driving the four-dimensional transformation matrix, and finally, and constructing a four-dimensional transformation matrix, and driving the four-dimensional transformation matrix. The method comprises the steps of obtaining three-channel instruction attitude angles of pitching, yawing and rolling of a sub-level rocket according to a landing task and a guidance equation, and carrying out node alignment deviation searching on the three-dimensional instruction attitude angle vector and the three-dimensional actual attitude angle vector to calculate an attitude angle deviation vector comprising a pitching deviation component, a yawing deviation component and a rolling deviation component. The method comprises the specific processes of obtaining pitch rotation angular velocity, yaw rotation angular velocity and roll rotation angular velocity of an arrow body triaxial, constructing a preset proportional control gain diagonal matrix and a preset differential control gain diagonal matrix, performing feature mapping on the proportional control gain diagonal matrix and the attitude angular deviation vector to obtain a proportional adjustment component, performing feature mapping on the differential control gain diagonal matrix and the rotation angular velocity vector to obtain a differential adjustment component, and performing linear state fusion on the proportional adjustment component and the differential adjustment compon