CN113110539A - Elastic/arrow three-channel control method and control device based on duck rudder - Google Patents
Elastic/arrow three-channel control method and control device based on duck rudder Download PDFInfo
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- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
- G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
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Abstract
The invention discloses a control method and a control device for three channels of a missile/arrow based on a duck rudder, wherein the control method comprises the following steps: measuring the flight parameters of the rocket in real time by adopting optical fiber inertial navigation, and sending the measured values to an rocket-borne computer; according to the received measured value, the rocket-borne computer calculates the deflection instruction information of the digital electric steering engine by adopting an online recognition self-adaptive control algorithm, a comprehensive resolving algorithm, a real-time decoupling algorithm and a rudder instruction comprehensive algorithm, and sends the deflection instruction information to a steering engine controller; according to the received deflection instruction information, the steering engine controller controls the duck rudder of the digital electric steering engine to deflect, and the control of the attitude angle and the angular speed of the rocket is realized. The control method can realize the attitude control and the trajectory control of the pitching yawing channel and the angular speed control of the rolling channel, and reduce the rolling angular speed in the rocket flying process.
Description
Technical Field
The invention relates to the technical field of missile/arrow control, in particular to a missile/arrow three-channel control method and a missile/arrow three-channel control device based on a duck rudder.
Background
The duck-type layout control surface is positioned at the position near the front of the bullet/arrow, and the bullet wings are positioned at the tail part of the bullet body, so that the pneumatic layout mode is commonly used for the current bullet/arrow. Compared with the normal layout, the duck layout has the following main advantages: in the aspect of aerodynamic performance, because the deflection direction of the control surface is the same as the attack angle direction, the lift-drag ratio is large and the response is fast; in the aspect of structural design, the core pressing position of the projectile/arrow can be effectively adjusted by changing the position and the relative distance between the control surface and the airfoil surface, so that the overall design is facilitated; the control surface is close to the inertial guidance component and the missile-borne computer, so that the complexity of a control mechanism is reduced, the weight of the missile/arrow can be reduced, and the miniaturization is facilitated; the control arm of force is big, and the duck rudder size is little, can reduce steering wheel power.
However, the duck layout has the disadvantage of being difficult to roll control. In the duck-shaped layout, the area and the length of the duck rudder are smaller than that of the tail wing under the common condition, when the duck rudder deflects for a certain angle to perform roll control, the lower milling airflow dragged out from the rear edge of the duck rudder acts on the tail wing to generate roll torque opposite to the control direction of the duck rudder, and sometimes the induced roll torque even exceeds the roll torque generated by the duck rudder, so that the roll control of the missile/arrow is difficult.
Disclosure of Invention
In view of the above, the invention provides a control method and a control device for three missile/rocket channels based on a duck rudder, wherein the control method can realize attitude control and trajectory control of a pitching yawing channel and angular speed control of a rolling channel, and reduce the rolling angular speed of a rocket in the flying process.
The invention adopts the following specific technical scheme:
a spring/arrow three-channel control method based on a duck rudder comprises the following steps:
measuring the flight parameters of the rocket in real time by adopting optical fiber inertial navigation, and sending the measured values to an rocket-borne computer;
according to the received measured value, the rocket-borne computer calculates the deflection instruction information of the digital electric steering engine by adopting an online recognition self-adaptive control algorithm, a comprehensive resolving algorithm, a real-time decoupling algorithm and a rudder instruction comprehensive algorithm, and sends the deflection instruction information to a steering engine controller;
according to the received deflection instruction information, the steering engine controller controls the duck rudder of the digital electric steering engine to deflect, and the control of the attitude angle and the angular speed of the rocket is realized.
Further, flight parameters include attitude angle, velocity, angular velocity, and position of the arrow body.
Furthermore, the rocket-borne computer adopts an online identification adaptive control algorithm to carry out proportional control on the angular speed of the rolling channel.
Furthermore, the online identification adaptive control algorithm comprises a roll start control algorithm, a roll abnormity judgment algorithm and a proportional control algorithm.
Furthermore, the rocket-borne computer performs attitude control on the attitude angle of the pitching yawing channel by adopting a comprehensive resolving algorithm and a real-time decoupling algorithm.
Furthermore, the digital electric steering engine adopts a rudder instruction comprehensive algorithm to resolve three-channel rudder instructions of the steering engine controller, and the three-channel rudder instructions are distributed to four steering engine channels.
A three-channel control device for executing any one of the control methods in the technical scheme comprises an optical fiber inertial navigation device, an arrow-mounted computer and a steering engine controller;
the rocket-borne computer is connected with the optical fiber inertial navigation unit and the steering engine controller, and stores computer programs for executing an online identification adaptive control algorithm, a comprehensive resolving algorithm, a real-time decoupling algorithm, a rudder instruction comprehensive algorithm, a filter, an amplitude limiter and an arithmetic unit.
Further, the filter used for the roll channel is a first order low pass filter.
Furthermore, the filter adopted by the pitching yawing channel is a band-stop digital filter.
Further, the rocket-borne computer is a digital flight control computer.
Has the advantages that:
compared with the conventional sounding rocket with rolling in an uncontrolled state, in the three-channel control method, the rocket-borne computer adopts an online identification adaptive control algorithm, a comprehensive calculation algorithm, a real-time decoupling algorithm and a rudder instruction comprehensive algorithm to calculate the deflection instruction information of the digital electric steering engine and send the deflection instruction information to the steering engine controller, and the online identification adaptive control algorithm can carry out rolling channel adaptive control according to the rolling aerodynamic characteristics in flight, so that the rolling control problem caused by duck rudder reaction and aerodynamic coefficient calculation deviation is overcome, the rolling angular velocity in the flying process of the rocket is reduced, and the three-channel control method has the characteristic of good rolling angular velocity control effect; the attitude control and the trajectory control of the pitching yawing channel can be realized by adopting a comprehensive calculation algorithm and a real-time decoupling algorithm, and can be realized by adopting a common device, so that the control method has the characteristics of low cost, simplicity, feasibility and good universality, and is suitable for missile/rocket three-channel control of the first class of duck rudder fixed wings.
Drawings
FIG. 1 is a flow chart of a projectile/arrow three channel control method of the present invention;
FIG. 2 is a schematic diagram of the operation of the three-channel control device of the present invention;
FIG. 3 is an algorithm block diagram of the projectile/arrow three channel control method of the present invention;
FIGS. 4a-4f are flight test data using the projectile/arrow triple channel control method of the present invention;
fig. 5 is a roll-start control strategy for a roll channel employing a three-channel control method.
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
It should be noted that, in the present invention, the projectile/arrow will be collectively referred to as a rocket for convenience of description.
Example one
The embodiment of the invention provides a spring/arrow three-channel control method based on a duck rudder, and with reference to fig. 1 and 3, the control method comprises the following steps:
step S10, adopting optical fiber inertial navigation to measure the flight parameters of the rocket in real time and sending the measured values to an rocket-borne computer; as shown in fig. 3, flight parameters may include attitude angle, velocity, angular velocity, and position of the arrow body;
step S20, according to the received measured value, the rocket-borne computer adopts an online recognition adaptive control algorithm, a comprehensive calculation algorithm, a real-time decoupling algorithm and a rudder instruction comprehensive algorithm to calculate the deflection instruction information of the digital electric steering engine, and sends the deflection instruction information to a steering engine controller; the rocket-borne computer adopts an online identification adaptive control algorithm to carry out proportional control on the angular speed of the rolling channel, wherein the online identification adaptive control algorithm comprises a rolling start control algorithm, a rolling abnormity judgment algorithm and a proportional control algorithm; the rocket-borne computer performs attitude control on the attitude angle of the pitching yawing channel by adopting a comprehensive resolving algorithm and a real-time decoupling algorithm;
step S30, controlling the duck rudder deflection of a digital electric steering engine by a steering engine controller according to the received deflection instruction information, and realizing the control of the attitude angle and the angular velocity of the rocket; the digital electric steering engine adopts a rudder instruction comprehensive algorithm to resolve three-channel rudder instructions of a steering engine controller, and the three-channel rudder instructions are distributed to four steering engine channels.
In the three-channel control method, the flight parameters of the rocket are measured in real time by adopting optical fiber inertial navigation, the rocket-borne computer calculates the deflection instruction information of the digital electric steering engine by adopting an online identification adaptive control algorithm, a comprehensive calculation algorithm, a real-time decoupling algorithm and a rudder instruction comprehensive algorithm and sends the deflection instruction information to the rudder controller, and the rolling channel can be adaptively controlled according to the rolling aerodynamic characteristics in flight by adopting the online identification adaptive control algorithm, so that the rolling control problem caused by the duck rudder reaction and the calculation deviation of the aerodynamic coefficient is overcome, the rolling angular velocity in the flying process of the rocket is reduced, and the method has the characteristic of good rolling angular velocity control effect; according to flight test data, if the roll angular velocity of the rocket is nearly 800 degrees/s at the shutdown point of the engine without roll control, the roll angular velocity can be controlled to be within 15 degrees/s by adopting the control method; the attitude control and the trajectory control of the pitching yawing channel can be realized by adopting a comprehensive calculation algorithm and a real-time decoupling algorithm, and can be realized by adopting a common device, so that the control method has the characteristics of low cost, simplicity, feasibility and good universality, and is suitable for missile/rocket three-channel control of the first class of duck rudder fixed wings.
Fig. 4a-4f illustrate the flight test results of a rocket adopting the three-channel control method, and the three-channel control curves of the rocket in the flight test are shown in the figure, so that the effectiveness of the control method can be seen:
the rocket rolling channel is started and controlled twice, the first rolling starting and control rolling rudder effect is reverse effect, the rolling angular speed is diverged quickly, rolling stopping control is carried out after rolling control abnormal conditions are met, and then the rolling speed is reduced rapidly under the damping action; the rudder effect of the primary section of the second starting control is still reverse effect, but the divergence trend is obviously weakened compared with that of the first starting control, and then the rudder effect is stably converged under the positive effect until the roll angular velocity is stabilized at about-10 degrees/s after the rocket control is finished (30 s); therefore, the effective roll control strategy is demonstrated, when the roll rudder effect is reverse, the roll angular velocity can be prevented from continuously diverging, when the roll rudder effect is positive, the roll angular velocity can be rapidly converged, and the Mach number corresponding to the positive roll rudder effect can be identified to be about 3.2Ma through data; the pitching and yawing dual-channel control effect is good, and the multi-point starting and controlling strategy of the rolling channel has small interference on the dual-channel control.
The control algorithm in fig. 3 is implemented by an rocket-borne computer, and the input of the rocket-borne computer is the pitch angle output by the optical fiber inertial navigation
Yaw angle psi, roll angle gamma, angular velocity (omega)x，ωy，ωz) Navigation system speed (V)E，VN，VU) The outputs are steering engine control commands d1, d2, d3 and d 4.
Example two
As shown in fig. 2, an embodiment of the present invention further provides a three-channel control device for executing the projectile/arrow three-channel control method, where the three-channel control device includes an optical fiber inertial navigation system, an arrow-mounted computer, and a steering engine controller; the optical fiber inertial navigation is used for measuring the flight parameters of the rocket in real time and sending the measured values measured in real time to the rocket-borne computer in a digital quantity form; the rocket-borne computer is connected with the optical fiber inertial navigation unit and the steering engine controller, and stores computer programs for executing an online identification adaptive control algorithm, a comprehensive resolving algorithm, a real-time decoupling algorithm, a rudder instruction comprehensive algorithm, a filter, an amplitude limiter and an arithmetic unit. The rocket-borne computer may be a digital flight control computer. After receiving the rocket body measurement information output by the optical fiber inertial navigation, the rocket-borne computer calculates the steering engine deflection instruction according to a control algorithm in control software and outputs the steering engine deflection instruction to servo mechanisms such as a steering engine controller and the like in a digital quantity form. The rocket-borne computer software instruction resolving period is 5 ms. The steering engine drives the control surface to deflect according to the received actuating instruction, and required pneumatic control force and control torque are generated.
In the three-channel control device, the filter adopted by the rolling channel is a first-order low-pass filter; the filter adopted by the pitching yawing channel is a band-stop digital filter.
By adopting the three-channel control device and the control method, the rolling channel performs proportional control on the rolling angular velocity when the rocket flies, and the rotation of the rocket body is eliminated. Because the pneumatic data has deviation in calculation, three start control points of 1.5Ma, 3Ma and 4.5Ma are set for safety, the roll control is stopped if the roll control is abnormal, and the judgment is carried out according to the real-time roll angular speed after the start control.
Damping and attitude stability augmentation control strategies are adopted for rocket pitching and yawing channels, and the dual-channel control carries out real-time decoupling calculation according to the roll angle during flight.
The control algorithm of the rocket-borne computer adopts closed-loop feedback control based on a PID controller, and the algorithm consists of a filter, an amplitude limiter, an arithmetic unit and a rudder instruction comprehensive algorithm. The filter selects a digital filter and is added to an angular velocity signal output by the optical fiber inertial navigation; the amplitude limiter comprises a measurement signal amplitude limit, a control quantity amplitude limit and an output instruction amplitude limit, and is mainly used for control protection, so that a resolved control instruction is in a controllable range; the arithmetic unit comprises a mathematical operation part and a logic operation part; and the three-channel control instruction is comprehensively distributed to four steering engine channels through the rudder instruction.
The control algorithm adopted in the three-channel control method is described in detail below, and referring to fig. 3, the parameters to be designed comprise calculators P1-P7, limiters 1-7, filters 1-3, pitching/yawing channel instructions, comprehensive resolving, rolling control condition judgment and rudder instruction synthesis;
1. arithmetic units P1-P7
P1＝1～2 (1)
P2＝1～4 (2)
P3＝0.2～1 (3)
P4＝P1 (4)
P5＝P2 (5)
P6＝P3 (6)
P7＝0.01～0.2 (7)
2. Amplitude limiter 1-7
Limiters 1, 2: plus or minus 120.
Limiters 3, 5: and 3. plus or minus.
Limiters 4, 6: and 8.
The limiter 7: and 5 +/-s.
3. Filter 1-3
The filter 1 and the filter 2 are the same and are pitching and yawing channel filters respectively, a band-stop digital filter is adopted, and the transfer function is as follows:
wherein k is1Taking 0.65-0.85, k2Taking 1.15-1.35, omega1Get k1Wqt，ω2Get k2Wqt，WqtIs the arrow-body-bending frequency in rad/s.
The filter 3 is a rolling channel filter, and adopts a first-order low-pass filter, and the transfer function is as follows:
wherein, alpha is 0.25-0.75, k is 70-150.
4. Pitch/yaw channel control commands
Pitch channel commands
The method is characterized in that the method is a two-column array, the first column is a time point, the second column is an instruction preset value, one point is taken every 1s according to the trajectory inclination angle value of a standard trajectory, the form of the point is shown in the following table 1, first-order linear interpolation is carried out according to time when the method is used, and Tend is control ending time.
TABLE 1 Pitch instruction interpolation Table
The yaw channel command being set to zero, i.e. psig＝0。
5. Comprehensive solution
The instruction comprehensive calculation mainly completes calculation of a trajectory inclination angle and a trajectory deflection angle and roll decoupling calculation, and the algorithm is as follows:
wherein: theta is the ballistic inclination angle psivAnd the angle is a trajectory deflection angle, the upper corner mark is a parameter output by roll decoupling calculation, and theta, psi and gamma are a pitch angle, a yaw angle and a roll angle output by the optical fiber inertial navigation system respectively.
Vx、Vy、VzRespectively, north, sky and east (V) output by the fiber inertial navigation systemN、VU、VE) The speed conversion is obtained, and the conversion relation is as follows:
wherein A is the transmitting azimuth angle, and north and west are positive.
6. Rolling self-adaptive control algorithm
Three control points are designed for the rolling channel according to the flight speed of the rocket, wherein the control points are 497m/s, 957m/s and 1366m/s respectively. When the rocket speed reaches 497m/s (1.5Ma), the rolling channel is started for the first time, real-time judgment is carried out, and if the rolling control is abnormal, the rolling control is stopped; when the speed reaches 957m/s (3Ma) and 1366m/s (4.5Ma), starting control again, and judging rolling control after starting control, wherein the rolling start control strategy refers to the rolling start control strategy shown in the figure 5, and the rolling abnormal judgment condition is as follows:
|ωx(k+1)|-|ωx(k) | > 0 and | ωx|≥300 (17)
Wherein, ω isx(k) The average value of every 50ms after the rolling angular velocity filtration is determined as 50ms, and the condition three is satisfied.
7. Rudder instruction synthesis
The rudder instruction synthesis mainly realizes the conversion from a control instruction to a rudder deflection instruction, and the conversion method comprises the following steps:
dx、dy、dzthree channel control commands are calculated according to the algorithm of fig. 3. d1、d2、d3、d4The four rudder deflection instructions are respectively provided, the rudders are in a duck-shaped cross layout, correspond to the rudder 1 in the Y-axis forward direction of a general arrow system, and are sequentially provided with a rudder 2, a rudder 3 and a rudder 4 in the radial clockwise direction of an arrow body when viewed along the heading. When the rudder output shaft is seen, the anticlockwise deflection is positive.
The above is a theoretical design process of the three-channel control algorithm, and the design result is bound into the rocket-borne computer, so that the design of the controller can be completed, and the binding method is a common engineering method and is not detailed herein.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A spring/arrow three-channel control method based on a duck rudder is characterized by comprising the following steps:
measuring the flight parameters of the rocket in real time by adopting optical fiber inertial navigation, and sending the measured values to an rocket-borne computer;
according to the received measured value, the rocket-borne computer calculates the deflection instruction information of the digital electric steering engine by adopting an online recognition self-adaptive control algorithm, a comprehensive resolving algorithm, a real-time decoupling algorithm and a rudder instruction comprehensive algorithm, and sends the deflection instruction information to a steering engine controller;
according to the received deflection instruction information, the steering engine controller controls the duck rudder of the digital electric steering engine to deflect, and the control of the attitude angle and the angular speed of the rocket is realized.
2. The control method of claim 1, wherein the flight parameters include attitude angle, velocity, angular velocity, and position of the arrow body.
3. A control method according to claim 2 wherein the rocket-borne computer employs an online identification adaptive control algorithm to proportionally control the angular velocity of the roll channel.
4. The control method of claim 3, wherein the online identification adaptive control algorithm comprises a roll-off control algorithm, a roll anomaly determination algorithm, and a proportional control algorithm.
5. The control method of claim 4, wherein the rocket-based computer uses a comprehensive solution algorithm and a real-time decoupling algorithm to perform attitude control on the attitude angle of the pitch yaw channel.
6. The control method of claim 5, wherein the digital electric steering engine adopts a rudder instruction comprehensive algorithm to resolve three-channel rudder instructions of the steering engine controller, and the three-channel rudder instructions are distributed to four steering engine channels.
7. A three-channel control device for carrying out the control method according to any one of claims 1 to 6, comprising a fiber optic inertial navigation system, an arrow computer and a steering engine controller;
the rocket-borne computer is connected with the optical fiber inertial navigation unit and the steering engine controller, and stores computer programs for executing an online identification adaptive control algorithm, a comprehensive resolving algorithm, a real-time decoupling algorithm, a rudder instruction comprehensive algorithm, a filter, an amplitude limiter and an arithmetic unit.
8. The control device of claim 7, wherein the filter employed by the roll channel is a first order low pass filter.
9. The control apparatus of claim 8, wherein the filter employed in the pitch yaw channel is a bandstop digital filter.
10. A control device as claimed in claim 9 wherein the on-board computer is a digital flight control computer.
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| CN113916065A (en) * | 2021-09-22 | 2022-01-11 | 西安航天动力技术研究所 | Recyclable small rocket based on ducted engine and lifting method thereof |
| CN114460956A (en) * | 2021-08-06 | 2022-05-10 | 北京天兵科技有限公司 | Control network design method and system for swing angle of liquid rocket servo mechanism |
| CN114488794A (en) * | 2021-12-30 | 2022-05-13 | 北京动力机械研究所 | Method for inhibiting nutation of stamping range-increasing cannonball by adopting rudder |
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| CN114460956B (en) * | 2021-08-06 | 2023-10-31 | 北京天兵科技有限公司 | Control network design method and system for swing angle of liquid rocket servo mechanism |
| CN113916065A (en) * | 2021-09-22 | 2022-01-11 | 西安航天动力技术研究所 | Recyclable small rocket based on ducted engine and lifting method thereof |
| CN114488794A (en) * | 2021-12-30 | 2022-05-13 | 北京动力机械研究所 | Method for inhibiting nutation of stamping range-increasing cannonball by adopting rudder |
| CN114488794B (en) * | 2021-12-30 | 2024-04-19 | 北京动力机械研究所 | Method for restraining nutation of stamping range-extending shell by adopting rudder |
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