CN114624999A - Solid rocket primary separation falling area control system and method - Google Patents
Solid rocket primary separation falling area control system and method Download PDFInfo
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Abstract
The invention relates to a control system and a method for a primary separation body falling area of a solid rocket, wherein the control system comprises a grid rudder control system and a measurement and control communication system; the grid rudder control system comprises an inertial navigation controller, a comprehensive controller, a steering engine and a battery; the measurement and control communication system comprises a GNSS/BD2 receiving device, an editor, a telemetering and transmitting device and a battery; compared with the traditional offline binding standard trajectory method, the integration process of the online trajectory planning method provided by the invention is based on the actual flight state at the separation moment to perform trajectory planning, and the initial value of integration is more accurate, so that the obtained standard trajectory is closer to the actual flight environment, and the landing area range is reduced. By adopting the ballistic online planning method, the nearest target landing point can be selected for ballistic planning according to the actual flight state, the pressure on a guidance and control system can be reduced to a greater extent, and the safety and flight quality of the flight process are improved.
Description
Technical Field
The invention relates to the field of solid rocket landing zone control design, in particular to a system and a method for controlling a solid rocket primary separation landing zone.
Background
After the traditional multistage solid rocket is launched, the first-stage engine is separated and falls after the work is finished, and finally falls to the ground or inland. Because most of the solid launch vehicle bases in China are inland and the falling places of the separation bodies are on the land, although the falling area coverage of railways, highways, villages and cities can be avoided when the rocket is designed for ballistic planning, the possibility of threatening the life and property safety of residents still exists due to the large scattering range of the falling places. At present, the control of the split landing zone is generally performed by adjusting the flight trajectory of the rocket, controlling the primary separation height, the separation attitude and the like. However, the disadvantage of this method is that the rocket loses part of its carrying capacity, and the ability to control the landing area by this passive control method is limited, and when it is practically impossible to avoid the primary separation body falling in a village, large amounts of manpower, material resources and financial resources are required by local authorities to evacuate residents.
When the deviation between the first-stage flight state of the rocket and the standard trajectory state bound before shooting is large, the initial position speed of the first-stage separation body generates large deviation, the initial position speed is used as an integral initial value, and the deviation of the integral initial value is transmitted to an integral terminal point through an integral process, so that the traditional offline bound trajectory method is adopted, the point-of-drop scattering is large, and meanwhile, the rocket guidance control system is stressed due to the fact that the difference between the actual flight environment and the offline trajectory calculation environment is large.
The invention provides a system and a method for controlling a primary separation falling area of a solid rocket, aiming at solving the problems of safety and adaptability of the primary separation falling area and simultaneously aiming at the defect of a passive falling area control mode.
Disclosure of Invention
The purpose of the invention is: the system and the method for controlling the primary separation falling area of the solid rocket are provided, the primary separation falling area is actively controlled, and the launching safety and the task adaptability of the rocket are improved.
A control system for a landing zone of a primary separation body of a solid rocket comprises a grid rudder, wherein the control system comprises a grid rudder control system and a measurement and control communication system;
the grid rudder control system comprises an inertial navigation controller, a comprehensive controller, a steering engine and a battery; the inertial navigation controller can sense attitude information of the primary separation body, perform trajectory planning and stable calculation and output a rudder control instruction; the integrated controller receives a control command sent by the inertial navigation controller, and completes steering engine control and time sequence control to enable the grid rudder to act as required; the battery is used for supplying power to each device;
the measurement and control communication system comprises a GNSS/BD2 receiving device, an editor, a telemetering and transmitting device and a battery; the GNSS/BD2 receiving device is used for receiving GPS/BD2 satellite signals and measuring the external trajectory of the split body; the mining and editing device has the main functions of uniformly gathering and framing the position information in the first-stage separation body and the information in the inertial navigation controller; the telemetering transmitter and the telemetering transmitting antenna modulate, amplify and download the telemetering information; the battery is used for supplying power to each device.
Furthermore, the grid rudder control system adopts a double-bus architecture, the control bus mainly transmits a control instruction, the test bus mainly transmits a control instruction and telemetering information of the control bus, and the two buses are mutually redundant and are completely isolated physically.
Furthermore, the single-machine equipment of the grid rudder control system and the measurement and control communication system are arranged in the tail section cabin section, so that the equipment is prevented from being heated by heat flow in the separation and falling processes.
The invention also provides a method for controlling the falling area of the primary separation body of the solid rocket, which adopts the control system and specifically comprises two control stages: the stage 1 is an attitude stabilization stage, and the overturning of the split body is controlled by a correction network of double-loop feedback of an attitude angle and an attitude angle rate at the initial stage after the primary separation, so that the split body is recovered to a stable flight state;
and the stage 2 is a reentry flight stage, and the control system effectively controls the rocket body flight through attitude angle (namely pitch angle, yaw angle and rolling angle) feedback, so that the separated body flies according to a planned reentry trajectory.
And (3) obtaining a reference drop point according to the zero attack angle and zero sideslip state integral of the separator, then judging the distance between the reference drop point and each pre-shooting bound drop point to be selected, selecting the drop point to be selected with the closest distance as a target drop point, and calculating the flight attack angle and sideslip angle required by the separator to reach the target drop point according to the target drop point, thereby designing the real-time reentry trajectory of the primary separator.
Further, the judging method for entering the stage 2 from the stage 1 is as follows: and when three attitude rates of the primary separating body sensitive to the inertial navigation controller are continuously less than 5 degrees/s for 2s, judging that the flying of the separating body enters the stage 2 from the stage 1.
Further, the real-time reentry trajectory design method of the primary separation body comprises the following steps:
because the first-stage separator has no thrust action in the flight process and ignores the influence brought by pneumatic ablation, the mass is not changed in the flight process, and therefore the motion equation in the flight process is expressed as follows in an emission coordinate system:
wherein v is a velocity vector under the transmitting coordinate system, r is a position vector under the transmitting coordinate system,
is the derivative of v and is,
is the derivative of r;
g is an earth gravity acceleration vector and is only related to the earth center vector R which can pass through R ═ R + Re0Obtaining;
c is an acceleration vector caused by aerodynamic force and is determined by a flight attack angle alpha and a sideslip angle beta;
adopting a step length variable fourth-order Longgoku tower integration method, taking the current actual flying speed and position as initial integration values, taking the flying height as zero under the condition of integration termination, and obtaining an integration endpoint coordinate (x) according to a control strategy of zero attack angle and zero sideslip angle0,y0) Assuming that n to-be-selected drop points exist, the coordinates are respectively as follows: (x)1,y1)...(xi,yi)...(xn,yn) Then the distance between the reference landing point and the ith candidate landing point can be expressed as
Selecting the target landing point (x) with the minimum distanceb,yb) And obtaining an attack angle alpha and a sideslip angle beta required by a target landing point through iterative solution according to the current flight state, thereby determining a target reentry trajectory.
Further, in stage 1, firstly, the attitude angle increment of the separation body is obtained through the inertial navigation controller
ψ1、γ1(lower)Elevation angle, yaw angle and roll angle), obtaining quaternion corresponding to the attitude angle of the separation body through tool error compensation calculation and navigation calculation, and comparing the quaternion corresponding to the attitude angle of the program to form angular deviation
Δψ1、Δγ1Angular deviation by correcting the gain K of the network1Correcting; obtaining attitude angular rate of a separation body through an inertial navigation controller
(
Are respectively as
ψ1、γ1Derivative), gain K through the correction network2Synthesizing control instruction with angular deviation after gain in negative feedback form
Pψ、PγIn the form:
filtering the output pitching and yawing channel control commands, wherein a filtering algorithm adopts the combined design of a notch filter and a low-pass filter to attenuate interference signals of elastic vibration of a primary separating body so as to output grid rudder deflection command signals
And then the grid rudder system outputs the actually executed rudder deflection
Controlling the posture of the primary separating body;
further, the notch filter transfer function model is:
wherein omegajIn order to trap the frequency of the wave,
for the notch depth, the central frequency point of the notch filter is selected according to the natural frequency of the elastic movement of the first-order separation body, and the elastic movement amplitude in a larger frequency range near the natural frequency is effectively attenuated by adopting a method of designing a plurality of notch filters in series near the corresponding order elastic natural frequency. The low pass filter is designed directly in the discrete domain so that amplitude attenuation filtering is achieved in a frequency range above the notch filter design frequency point with reduced intermediate frequency phase lag.
Further, taking a pitch channel as an example, the phase 2 firstly obtains the attitude angle increment of the separation body through the inertial navigation controller
ψ2、γ2(pitch angle, yaw angle and roll angle), obtaining quaternion corresponding to the attitude angle of the separation body through tool error compensation calculation and navigation calculation, and comparing the quaternion corresponding to the attitude angle of the procedure with quaternion corresponding to the attitude angle of the procedure to form angular deviation
Δψ2、Δγ2Filtering, wherein a filtering algorithm adopts the combined design of a notch filter and a low-pass filter which are the same as those in the stage 1; correction netThe control is a single-loop control, the input is the filtered angular deviation, and the output is a grid rudder instruction signal
Finally, the actually executed rudder deflection is output through the grid rudder system
Thereby controlling the posture of the primary separating body;
further, the selection principle of the selectable target drop points of the pre-shooting binding is as follows: if the primary separation body falls within the range of the area, no railway, highway, village, city and the like exist, and the requirements of the falling area are completely met, selecting the center point of the falling area as a target falling point; if a small number of railways, roads, villages, cities and the like exist in the falling area range of the primary separation body, a plurality of target falling points are dispersedly selected in the falling area range on the principle of avoiding the places.
Compared with the traditional offline binding standard ballistic method, the online ballistic planning method provided by the invention has the advantages that the integration process is based on the actual flight state at the separation moment to carry out ballistic planning, the initial value of the integration is more accurate, the obtained standard ballistic is closer to the actual flight environment, and the landing area range can be effectively reduced; on the other hand, by adopting the ballistic online planning method, the nearest target landing point can be selected for ballistic planning according to the actual flight state, and particularly when the actual flight state is greatly different from the standard state, the pressure on a guidance and control system can be greatly reduced, and the safety and flight quality of the flight process are improved.
Drawings
FIG. 1 is a schematic view of a primary separator;
FIG. 2 is a schematic block diagram of stage 1 attitude control;
FIG. 3 is a schematic block diagram of stage 2 attitude control.
Description of the symbols: 1-first-level engine, 2-tail section and 3-grid rudder.
Detailed Description
The invention provides a control system for a primary separation body falling area of a solid rocket, which comprises a grid rudder control system and a measurement and control communication system. The grid rudder control system comprises an inertial navigation controller, a comprehensive controller, a steering engine and a battery, and the measurement and control communication system comprises a GNSS/BD2 receiving device, an acquisition and editing device, a remote measurement transmitting device and a battery.
The primary separating body is a separating body with a grid rudder at the tail section, and is shown in figure 1;
in order to avoid heat flow heating in the separation and falling processes, the grid rudder control system and the single-machine equipment of the measurement and control communication system are arranged in the tail section cabin;
the grid rudder control system adopts a double-bus architecture, a control bus mainly transmits a control instruction, a test bus mainly transmits the control instruction and telemetering information of the control bus, the two buses are completely isolated physically, redundant hot backup is carried out between the two buses, and a battery supplies power to the control system; the inertial navigation controller has the functions of an inertial navigation unit and a central computer, can sense attitude information of a primary separation body, performs trajectory planning and stable calculation and outputs a rudder control instruction; the integrated controller has the main functions of receiving a control instruction sent by the inertial navigation controller, and completing steering engine control and time sequence control to enable the grid rudder to act as required;
the measurement and control communication system adopts a foundation remote measurement and GPS/BD2 external measurement scheme, and is powered by a battery; the GNSS/BD2 receiving device is used for receiving GPS/BD2 satellite signals and measuring the external trajectory of the split body; the mining and editing device has the main functions of uniformly gathering and framing the position information in the first-stage separation body and the information in the inertial navigation controller; the telemetering transmitter and the telemetering transmitting antenna modulate, amplify and download the telemetering information.
The control comprises two phases: the stage 1 is an attitude stabilization stage, namely, in the initial stage after primary separation, the separation body in the stage is influenced by separation disturbance and the like, and the motion state is unstable, so that the separation body is recovered to a stable flight state through attitude control for a period of time; and the stage 2 is a reentry flight stage, the control capability covers the interference force, and the control system can effectively control the rocket body flight so as to enable the separation body to fly according to a planned reentry trajectory. The judging method of the two stages is as follows: and when the continuous 2s of the three attitude (pitch, yaw and roll) rates of the primary separating body sensitive to the inertial navigation controller are less than 5 degrees/s, judging that the primary separating body flies from the stage 1 to the stage 2.
The landing area control method specifically comprises a ballistic online planning method and an attitude control method.
The ballistic online planning method comprises the following steps: in the stage 1, on-line calculation planning is not carried out on the trajectory of the separator, when the judged flight enters the stage 2, a reference drop point is calculated in real time from the starting moment at intervals based on the current flight position and speed of the primary separator, a target drop point is selected according to the matching degree of the reference drop point and a to-be-selected drop point bound before shooting, and then the flight trajectory is planned in real time based on the target drop point.
The selection principle of the optional target drop points of the pre-shooting binding is as follows: if the primary separation body falls within the range of the area, no railway, highway, village, city and the like exist, and the requirements of the falling area are completely met, selecting the center point of the falling area as a target falling point; if a small number of railways, roads, villages, cities and the like exist in the falling area range of the primary separation body, a plurality of falling points to be selected are dispersedly selected in the falling area range on the principle of avoiding the places.
The reentry flight trajectory planning method comprises the steps of determining the current position and the flight speed through an inertial navigation controller at intervals after the primary separating body recovers stable flight, integrating according to the zero attack angle and the zero sideslip state of the primary separating body to obtain a reference drop point, then judging the distance between the reference drop point and each pre-shooting bound drop point to be selected, selecting the closest drop point to be selected as a target drop point, and calculating the flight attack angle and the sideslip angle of the primary separating body according to the target drop point, thereby designing the real-time reentry trajectory of the primary separating body.
Specifically, the real-time reentry trajectory design method of the primary separator comprises the following steps:
the equation of motion during flight is expressed in the transmit coordinate system as:
wherein v is the velocity vector under the emission coordinate system, and r is the emissionA lower position vector of the position vector,
is the derivative of v and is,
is the derivative of r;
g is the gravity acceleration vector of the earth, and is only related to the earth's center radial R which passes through R ═ R + Re0Obtaining;
c is an acceleration vector caused by aerodynamic force, and is determined by a flight attack angle alpha and a sideslip angle beta;
assuming that n to-be-selected drop points exist, the coordinates are respectively as follows: (x)1,y1)...(xi,yi)...(xn,yn) Adopting a fourth-order LongCoku tower integration method with variable step length:
suppose the solution problem is
q(t0)＝q0
q is an integrated state quantity and q is an integrated state quantity,
is the derivative of q, t is the integration time;
selecting a proper integration step length h according to the solving precision, wherein the iteration process can be expressed as:
integral initial condition q0Representing the time for the current flight position r and the velocity vector v, j, and obtaining the position and the velocity of the subsequent flight time through the iteration so as to determine the flight track. Taking the current actual flying speed and position as an integral initial value, taking the integral termination condition as that the flying height is zero (namely that the primary separating body falls on the ground), and adopting the control strategy of zero attack angle and zero sideslip angleThe integration endpoint coordinate (x) can be obtained by the integration method0,y0) (ii) a Assuming that n to-be-selected drop points exist, the coordinates are respectively as follows: (x)1,y1)...(xi,yi)...(xn,yn) Then the distance between the reference landing point and the ith candidate landing point can be expressed as
Selecting the falling point with the minimum distance as a target falling point (x)b,yb) Obtaining coordinates (x) meeting the target drop point through iterative solution according to the current flight stateb,yb) Angle of attack alpha and angle of sideslip beta to determine the target reentry trajectory.
The attitude control method comprises the following steps: the main purpose of the phase 1 attitude control is to stabilize the flight attitude of the primary separation body. The Mach number is higher during separation, and the first-stage separator is in static unstable state, receives the separation disturbance and will produce the upset motion, and attitude control controls the upset of first-stage separator through the correction network of the dicyclo feedback of attitude angle and attitude angle rate this moment, and along with the control ability crescent and cover interference force, the first-stage separator will resume stable flight state.
Specifically, a dual-loop feedback correction network and a control principle, taking a pitch channel as an example, are shown in fig. 2, and when the pitch angle rate is large (more than 5 °/s), the inertial navigation controller senses and separates the pitch angle increment of the body
The quaternion corresponding to the attitude angle of the primary separating body is obtained through tool error compensation calculation and navigation calculation and is compared with the quaternion corresponding to the program attitude angle to form the angular deviation
Angular deviation through the gain K of the correction network1Correcting; sensing the pitch rate of a separation body by an inertial navigation controller
Gain through correction networkK2Deviation of pitch angle after gain in negative feedback form
Synthesizing control instructions, in the form:
the filtering algorithm adopts the combination design of a notch filter and a low-pass filter to attenuate the interference signal of the elastic vibration of the first-stage separation body, so that the control instruction is output as a grid rudder deflection instruction signal
And then the grid rudder system outputs the actually executed rudder deflection
The attitude of the primary separator is controlled.
Specifically, the notch filter transfer function model is:
wherein ω isjIn order to trap the frequency of the wave,
is the notch depth (xi)1In particular the inherent elastic damping ratio, ξ, of the separator2Designing a damping ratio, dividing the damping ratio into a notch depth), selecting a central frequency point of a notch filter according to the inherent frequency of the elastic motion of the primary separating body, and effectively attenuating the elastic motion amplitude in a larger frequency range near the inherent frequency by adopting a method of designing a plurality of notch filters in series near the inherent frequency of the corresponding order of elasticity; the low pass filter is designed directly in the discrete domain so that amplitude attenuation is achieved in a frequency range above the notch filter design frequency point with reduced intermediate frequency phase lagAnd (6) filtering by subtracting.
The main purpose of the stage 2 attitude control is to adjust the separator attitude to follow the reentry trajectory of the online planning to achieve control of the landing zone. In this stage, attitude angle feedback control is adopted, a pitch channel is taken as an example, a control principle block diagram of the attitude angle feedback is shown in fig. 3, and an inertial navigation controller outputs pitch angle increment
The quaternion corresponding to the attitude angle of the primary separating body is obtained through tool error compensation calculation and navigation calculation, and the quaternion corresponding to the attitude angle of the primary separating body is compared with the quaternion corresponding to the program attitude angle to form angular deviation
Filtering, wherein the filtering algorithm also adopts the combination design of a notch filter and a low-pass filter; the correction network is single-loop controlled and the input is filtered
The output is a grid rudder instruction signal
Finally, the actually executed rudder deflection is output through the grid rudder system
Thereby controlling the posture of the primary separating body.
Claims (10)
1. A control system for a landing zone of a primary separation body of a solid rocket comprises a grid rudder, and is characterized in that the control system comprises a grid rudder control system and a measurement and control communication system;
the grid rudder control system comprises an inertial navigation controller, a comprehensive controller, a steering engine and a battery; the inertial navigation controller can sense attitude information of the primary separation body, perform trajectory planning and stable calculation and output a rudder control instruction; the integrated controller receives a control instruction sent by the inertial navigation controller, and the steering engine control and the time sequence control are completed, so that the grid rudder acts as required; the battery is used for supplying power to each device;
the measurement and control communication system comprises a GNSS/BD2 receiving device, an editor, a telemetering and transmitting device and a battery; the GNSS/BD2 receiving device is used for receiving GPS/BD2 satellite signals and measuring the external trajectory of the split body; the mining and editing device collects and frames the position information in the primary separation body and the information in the inertial navigation controller in a unified manner; the telemetering transmitter and the telemetering transmitting antenna modulate, amplify and download the telemetering information; the battery is used for supplying power to each device.
2. The system of claim 1, wherein the grid rudder control system is configured to transmit control commands via a control bus, transmit control commands via a test bus, and transmit telemetry information via the control bus, and the two buses are redundant and backup to each other.
3. The system for controlling the landing zone of the primary separation body of the solid rocket as claimed in claim 1, wherein the single devices of the grid rudder control system and the measurement and control communication system are installed in the tail cabin.
4. A method for controlling the landing zone of the primary separation of a solid rocket, which is characterized in that the control system according to any one of claims 1-3 is adopted, and comprises two control stages: the stage 1 is an attitude stabilization stage, and the overturning of the split body is controlled by a correction network of double-loop feedback of an attitude angle and an attitude angle rate at the initial stage after the primary separation, so that the split body is recovered to a stable flight state;
the stage 2 is a reentry flight stage, and the control system effectively controls the rocket body flight through attitude angle feedback, so that the separation body flies according to a planned reentry trajectory;
the reentry trajectory planning method comprises the following steps: and integrating according to the zero attack angle and the zero sideslip state of the separator to obtain a reference drop point, then judging the distance between the reference drop point and each pre-shooting bound drop point to be selected, selecting the drop point to be selected with the closest distance as a target drop point, and calculating the flight attack angle and the sideslip angle required by the primary separator to the target drop point according to the target drop point, thereby designing the real-time reentry trajectory of the primary separator.
5. The method for controlling the landing zone of the first-stage separation of the solid rocket according to claim 4, wherein the method for judging the first stage to the second stage comprises the following steps: and when the three attitude angular rates of the primary separating body sensitive to the inertial navigation controller are continuously less than 5 degrees/s for 2s, judging that the primary separating body flies from the stage 1 to the stage 2.
6. The method for controlling the landing zone of the primary separation body of the solid rocket according to claim 4, wherein the real-time reentry trajectory design method of the primary separation body is as follows:
the equation of motion during flight is expressed in the transmit coordinate system as:
wherein v is a velocity vector under a transmission coordinate system, r is a position vector under the transmission coordinate system,
is the derivative of v and is,
is the derivative of r;
g is the gravity acceleration vector of the earth, and is only related to the earth's center radial R which passes through R ═ R + Re0To obtain Re0The emission point is the geocentric radial;
c is an acceleration vector caused by aerodynamic force and is determined by a flight attack angle alpha and a sideslip angle beta;
adopting a step length variable four-order Ruangkuta integration method, taking the current actual flight speed and position as an initial value of integration, taking the flight altitude as zero under the condition of integration termination, and obtaining an integration end point coordinate (x) according to a control strategy of zero attack angle and zero sideslip angle0,y0) (ii) a Assuming that n to-be-selected drop points exist, the coordinates are respectively as follows: (x)1,y1)...(xi,yi)...(xn,yn) Then the distance between the reference landing point and the ith candidate landing point can be expressed as
Selecting the minimum distance as the target landing point (x)b,yb) Obtaining coordinates (x) meeting the target drop point through iterative solution according to the current flight stateb,yb) Angle of attack a and sideslip angle β, to determine the target reentry trajectory.
7. The method as claimed in claim 4, wherein the step 1 is to obtain the attitude angle increment of the separation body by the inertial navigation controller
ψ1、γ1The quaternion corresponding to the attitude angle of the separating body is obtained through tool error compensation calculation and navigation calculation, and the quaternion corresponding to the attitude angle of the separating body is compared with the quaternion corresponding to the program attitude angle to form angular deviation
Δψ1、Δγ1Angular deviation by correcting the gain K of the network1Correcting; obtaining attitude angular rate of a separation body through an inertial navigation controller
Gain K through correction network2Synthesizing control instruction with angular deviation after gain in negative feedback form
Pψ、PγIn the form:
filtering the output pitching and yawing channel control commands, wherein a filtering algorithm adopts the combined design of a notch filter and a low-pass filter to attenuate interference signals of elastic vibration of a primary separating body so as to output grid rudder deflection command signals
And then the grid rudder system outputs the actually executed rudder deflection
The attitude of the primary separator is controlled.
8. The method as claimed in claim 4, wherein the step 2 is to obtain the attitude angle increment of the separation body by the inertial navigation controller
ψ2、γ2The quaternion corresponding to the attitude angle of the separating body is obtained through tool error compensation calculation and navigation calculation, and the quaternion corresponding to the attitude angle of the separating body is compared with the quaternion corresponding to the program attitude angle to form angular deviation
Δψ2、Δγ2Then, filtering the pitching channel signals and the yawing channel signals, wherein the filtering algorithm is the same as that of the first stage; the correction network is single-loop control, the input is filtered angular deviation signal, and the output isFor grid rudder command signals
Finally, the actually executed rudder deflection is output through the grid rudder system
Thereby controlling the posture of the primary separating body.
9. The method for controlling the landing zone of the solid rocket primary separation body according to claim 4, wherein the selection principle of the selectable target landing points of the pre-shooting binding is as follows: if no railway, highway, village and city building exist in the range of the primary separation body falling area and the requirement of the falling area is completely met, selecting the center point of the falling area as a target falling point; if a small number of railways, roads, villages and urban buildings exist in the first-stage separation body falling area range, a plurality of target falling points are dispersedly selected in the falling area range on the principle of avoiding the places.
10. The method of claim 7, wherein the notch filter transfer function model is:
wherein ω isjIn order to trap the frequency of the wave,
selecting a central frequency point of a notch filter according to the inherent frequency of the elastic motion of the primary separating body for notch depth, and effectively attenuating the elastic motion amplitude in a larger frequency range near the inherent frequency by adopting a method of designing a plurality of notch filters in series near the inherent frequency of the corresponding order; the low-pass filter is designed directly in the discrete domain so as to trap the wave under the condition of reducing the phase lag of the intermediate frequencyThe amplitude attenuation filtering is realized in the frequency range above the designed frequency point of the filter.
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| CN115562314A (en) * | 2022-10-19 | 2023-01-03 | 航天科工火箭技术有限公司 | Carrier rocket sublevel landing area control method, system, medium and computer equipment |
| CN115629618A (en) * | 2022-11-04 | 2023-01-20 | 航天科工火箭技术有限公司 | Optimal trajectory planning method for segregant based on drop point selection and pseudo-spectrum method |
| CN116643482A (en) * | 2023-07-27 | 2023-08-25 | 航天科工火箭技术有限公司 | Carrier rocket side jet flow gesture redundant control method |
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| CN115562314A (en) * | 2022-10-19 | 2023-01-03 | 航天科工火箭技术有限公司 | Carrier rocket sublevel landing area control method, system, medium and computer equipment |
| CN115562314B (en) * | 2022-10-19 | 2024-06-07 | 航天科工火箭技术有限公司 | Carrier rocket sublevel landing zone control method, system, medium and computer equipment |
| CN115629618A (en) * | 2022-11-04 | 2023-01-20 | 航天科工火箭技术有限公司 | Optimal trajectory planning method for segregant based on drop point selection and pseudo-spectrum method |
| CN116643482A (en) * | 2023-07-27 | 2023-08-25 | 航天科工火箭技术有限公司 | Carrier rocket side jet flow gesture redundant control method |
| CN116643482B (en) * | 2023-07-27 | 2023-10-20 | 航天科工火箭技术有限公司 | Carrier rocket side jet flow gesture redundant control method |
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