CN117968464B - Rocket high-altitude attitude control method and device, electronic equipment and storage medium - Google Patents
Rocket high-altitude attitude control method and device, electronic equipment and storage medium Download PDFInfo
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Abstract
According to the high-altitude attitude control method, device, electronic equipment and storage medium of the rocket, current attitude information of the rocket is obtained in the recovery process of the rocket, and the attitude information comprises attitude angle parameters and attitude adjustment time parameters; determining target attitude information according to the attitude angle parameter and the attitude adjustment time parameter; and adjusting the posture of the rocket according to the target posture information and the posture information. Therefore, the method and the device can adjust the attitude of the rocket in real time according to the target attitude information in the high-altitude flight process of the rocket, and further control the flight direction of the rocket.
Description
Technical Field
The disclosure relates to the technical field of rocket attitude control, in particular to a rocket high-altitude attitude control method, a rocket high-altitude attitude control device, electronic equipment and a storage medium.
Background
In recent years, with the development of domestic and foreign space carrying technologies, especially the rapid rise of commercial space, low-cost rocket recovery becomes a hotspot for domestic and foreign research.
In the related art, aiming at the problem of high altitude large-scale attitude control of rocket far field recovery, attitude control is mainly carried out on a sub-stage in a speed tracking mode at high altitude after rocket stage separation, namely, the rocket of the recovered sub-stage is rapidly subjected to large-scale attitude control of about 180 degrees, and attitude callback is needed by adopting an attitude following mode after the attitude control is completed. However, in the related art, the on-line gesture adjustment planning is not performed in the high-altitude gesture adjustment mode, so that the shortest path gesture adjustment cannot be ensured, namely, the phenomenon of large rotation or multiple rotation occurs, and the optimal matching of the gesture adjustment time, the gesture adjustment capability and the gesture adjustment consumed working medium is difficult to ensure.
Disclosure of Invention
In view of the above, embodiments of the present disclosure provide a method, an apparatus, an electronic device, and a storage medium for controlling a altitude-conditioned pose of a rocket, so as to solve the problem that in the related art, an altitude-conditioned pose mode is not subjected to online pose adjustment planning, and often cannot guarantee shortest path pose adjustment.
In a first aspect of an embodiment of the present disclosure, a method for controlling a altitude-conditioned pose of a rocket is provided, the method including: acquiring current attitude information of the rocket in the recovery process of the rocket, wherein the attitude information comprises attitude angle parameters and attitude adjustment time parameters; determining target attitude information according to the attitude angle parameter and the attitude adjustment time parameter; and adjusting the posture of the rocket according to the target posture information and the posture information.
A second aspect of an embodiment of the present disclosure provides a device for controlling a high-altitude-attitude of a rocket, which is applied to a method for controlling a high-altitude-attitude of a rocket according to the first aspect, and includes: the acquisition module is used for acquiring current attitude information of the rocket in the recovery process of the rocket, wherein the attitude information comprises attitude angle parameters and attitude adjustment time parameters; the determining module is used for determining target attitude information according to the attitude angle parameter and the attitude adjustment time parameter; and the adjusting module is used for adjusting the posture of the rocket according to the target posture information and the posture information.
In a third aspect of embodiments of the present disclosure, an electronic device is provided, comprising at least one processor; a memory for storing at least one processor-executable instruction; the at least one processor is used for executing instructions to realize the steps of the high-altitude attitude control method of the rocket.
In a fourth aspect of embodiments of the present disclosure, a computer-readable storage medium is provided, which when executed by a processor of an electronic device, enables the electronic device to perform the steps of the altitude-conditioning attitude control method of a rocket described above.
The above-mentioned at least one technical scheme that the embodiment of the disclosure adopted can reach following beneficial effect: acquiring current attitude information of the rocket in the recovery process of the rocket, wherein the attitude information comprises attitude angle parameters and attitude adjustment time parameters; determining target attitude information according to the attitude angle parameter and the attitude adjustment time parameter; and adjusting the posture of the rocket according to the target posture information and the posture information. Therefore, the method and the device can adjust the attitude of the rocket in real time according to the target attitude information in the high-altitude flight process of the rocket, and further control the flight direction of the rocket.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings that are required for the embodiments or the description of the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings may be obtained according to these drawings without inventive effort for a person of ordinary skill in the art.
Fig. 1 is a flow chart of a method for controlling a high-altitude attitude of a rocket according to an exemplary embodiment of the present disclosure;
FIG. 2 is a schematic flow chart of a method for on-line planning and control of high altitude large scale attitude adjustment for rocket far field recovery according to an exemplary embodiment of the present disclosure;
fig. 3 is a schematic structural view of a high-altitude attitude control device of a rocket according to an exemplary embodiment of the present disclosure;
Fig. 4 is a schematic structural diagram of an electronic device according to an exemplary embodiment of the present disclosure;
Fig. 5 is a schematic diagram of a computer system according to an exemplary embodiment of the present disclosure.
Detailed Description
Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the present disclosure have been shown in the accompanying drawings, it is to be understood that the present disclosure may be embodied in various forms and should not be construed as limited to the embodiments set forth herein, but are provided to provide a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are for illustration purposes only and are not intended to limit the scope of the present disclosure.
It should be understood that the various steps recited in the method embodiments of the present disclosure may be performed in a different order and/or performed in parallel. Furthermore, method embodiments may include additional steps and/or omit performing the illustrated steps. The scope of the present disclosure is not limited in this respect.
The term "including" and variations thereof as used herein are intended to be open-ended, i.e., including, but not limited to. The term "based on" is based at least in part on. The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments. Related definitions of other terms will be given in the description below. It should be noted that the terms "first," "second," and the like in this disclosure are merely used to distinguish between different devices, modules, or units and are not used to define an order or interdependence of functions performed by the devices, modules, or units.
It should be noted that references to "one", "a plurality" and "a plurality" in this disclosure are intended to be illustrative rather than limiting, and those of ordinary skill in the art will appreciate that "one or more" is intended to be understood as "one or more" unless the context clearly indicates otherwise.
The names of messages or information interacted between the various devices in the embodiments of the present disclosure are for illustrative purposes only and are not intended to limit the scope of such messages or information.
In recent years, with the development of domestic and foreign space carrying technologies, especially the rapid rise of commercial space, low-cost rocket recovery becomes a hotspot for domestic and foreign research. Rocket recovery generally comprises two working scenes of far field recovery and near field recovery, and the academic circles at home and abroad have conducted a plurality of related researches on the two working modes, and the far field recovery gradually becomes a main working scene of rocket recovery because the near field recovery consumes more fuel and has larger influence on rocket carrying capacity. The rocket far field recovery process can be generally divided into a high-altitude attitude section, a power deceleration section, a pneumatic deceleration section and a vertical landing section, wherein the high-altitude attitude section is an important stage of the rocket recovery flying process, has important influence on the flying process recovered into the atmosphere, and the attitude adjustment control method of the high-altitude attitude section is disclosed in a fresh way.
In the prior art, aiming at the problem of high altitude great attitude control of rocket far field recovery, the traditional method is to carry out attitude control on a sub-stage in a speed tracking mode at high altitude after interstage separation, namely, the rocket recovering a sub-stage is rapidly subjected to great attitude control of about 180 degrees, and attitude callback is needed by adopting an attitude following mode after attitude control is completed. Therefore, the traditional high-altitude conditioning pose planning is not performed on-line, the pose adjustment of the shortest path is often not guaranteed, namely the phenomenon of large circle rotation or multiple circles rotation can occur, and the optimal matching of the pose adjustment time, the pose adjustment capability and the pose adjustment consumed working medium is difficult to guarantee.
In view of the above problems, the present disclosure provides a method for controlling a high-altitude attitude of a rocket, which can monitor a flight attitude of the rocket in a flight process in real time, predict a flight trajectory of the rocket, plan the attitude of the rocket in the flight process according to the flight trajectory, and adjust the attitude of the rocket in real time under the condition that a current attitude of the rocket is not matched with a preset attitude, thereby ensuring that the rocket flies according to the flight trajectory, and ensuring that an attitude adjusting time, an attitude adjusting capability and an attitude adjusting capability are optimally matched with a working medium.
A method for controlling a altitude-conditioned attitude of a rocket according to an embodiment of the present disclosure will be described in detail with reference to the accompanying drawings.
Fig. 1 is a flow chart of a method for controlling a high-altitude attitude of a rocket according to an exemplary embodiment of the present disclosure. As shown in fig. 1, the method for controlling the air-conditioned attitude of the rocket comprises the following steps:
S101: acquiring current attitude information of the rocket in the recovery process of the rocket, wherein the attitude information comprises attitude angle parameters and attitude adjustment time parameters.
S102: and determining target attitude information according to the attitude angle parameter and the attitude adjustment time parameter.
S103: and adjusting the posture of the rocket according to the target posture information and the posture information.
The above-mentioned at least one technical scheme that the embodiment of the disclosure adopted can reach following beneficial effect: acquiring current attitude information of the rocket in the recovery process of the rocket, wherein the attitude information comprises attitude angle parameters and attitude adjustment time parameters; determining target attitude information according to the attitude angle parameter and the attitude adjustment time parameter; and adjusting the posture of the rocket according to the target posture information and the posture information. Therefore, the method and the device can adjust the attitude of the rocket in real time according to the target attitude information in the high-altitude flight process of the rocket, and further control the flight direction of the rocket.
In some embodiments, orbit parameters for rocket flights need to be obtained, and specific orbit parameters may include:
geocentric distance of posture adjustment starting position: Wherein/> Is the average radius of the earth, 6378.137km; /(I)The flying height is the initial position of the gesture.
Preset position ground center distance:，/> the height of the preset position is the height of the corresponding position when the rocket starts power decelerating maneuver.
Speed inclination angle of posture adjustment starting position: Wherein/> Representing the corresponding speed of the gesture-adjusting initial position, m/s,/>For/>Representing the absolute velocity of the pose-adjusting starting position,/>, in vector formFor/>Is a vector form of (c).
Absolute speed of gesture adjustment starting position:。
semi-diameter: ，/> Is the gravitational coefficient 3.986005 X10 14,m3/s2.
Semi-major axis:。
Average angular velocity of track: 。
the eccentricity is: Wherein p is the track semi-diameter, and the unit is m.
The angle of the point of approach of the preset position。
A near point angle of the starting position:。
the gesture adjusting time from the gesture adjusting initial position to the preset position is as follows: 。
In some embodiments, after orbit parameters of the rocket flight are obtained, determining the flight speed of the rocket according to the orbit parameters; and further determining an attitude adjustment instruction according to the flying speed, and adjusting the attitude of the rocket according to the attitude adjustment instruction when the rocket reaches a preset position.
Specifically, according to the position of the initial position of the posture adjustmentAnd velocity vector/>Obtaining extrapolation/>, from the gesture-adjusting initial position, by adopting an orbit extrapolation methodVelocity vector at a post preset position/>：
Wherein: And/> For lagrangian coefficients, the calculation method can be found in track-related monographs.
In practical application, since the rocket is about to start power decelerating maneuver to fly after reaching the preset position, the instruction direction of the gesture adjustment instruction is opposite to the direction of the flying speed, namely, the speed of the desired rocket body pointing opposite to the speed of the rocket at the preset position is set as follows:
Wherein, Representing the velocity of the rocket in the x-direction,/>Representing the velocity of the rocket in the y-direction,/>The speed of the rocket in the z direction is represented, wherein the x direction is the direction corresponding to the x axis of the rocket body coordinate system, the y direction is the direction corresponding to the y axis of the rocket body coordinate system, and the z direction is the direction corresponding to the z axis of the rocket body coordinate system.
In practical applications, three independent variables are required to describe rotation in rocket flight, and three attitude angles of pitch, yaw and roll are generally adopted to jointly represent the attitude in the rocket rotation process. Based on this, the gesture adjustment instruction of the preset position may be:
Pitch angle attitude adjustment instruction: ；
Yaw angle attitude adjustment instruction: ；
roll angle attitude adjustment instructions: 。
in some embodiments, the target gesture information may be determined according to the gesture angle parameter and the gesture adjustment time parameter, specifically, the corresponding gesture quaternion may be obtained according to the gesture angle parameter corresponding to the gesture adjustment starting position and the gesture adjustment instruction corresponding to the preset position, that is, the gesture adjustment end position, respectively, and the target gesture information is determined according to the gesture quaternion, so that the gesture adjustment amplitude in the gesture adjustment process is planned by adopting a sinusoidal transition form, and the target gesture information in the gesture adjustment planning process is obtained.
In particular, the attitude angle parameters may include pitch angle parametersYaw angle parameter/>And roll angle parameter/>Given attitude angle/>、/>And/>Attitude quaternion calculation formula/>The method comprises the following steps:
corresponding conjugated quaternion The calculation formula is as follows: /(I)，/>Representing elements in a gesture quaternion calculation formula;
initial attitude angle corresponding to initial position of adjusting attitude 、/>And/>Substituting the attitude quaternion calculation formula to obtain the attitude quaternion/>, of the attitude adjustment starting position; The position of the gesture adjusting end point, namely the gesture angle/>, corresponding to the preset position、/>And/>Substituting the attitude quaternion calculation formula to obtain the attitude quaternion/>, of the attitude adjustment end position。
In practical application, the target attitude information, namely the target deviation attitude quaternion, of the rocket attitude adjustment process is as follows:
Wherein: representing a quaternion multiplication; /(I) Representing quaternion/>Is used for the matching of the conjugated quaternion of (c),，/>Representing a first element in a target deviation gesture quaternion; /(I)Representing a second element in the target deviation gesture quaternion; /(I)Representing a third element in the target deviation gesture quaternion; /(I)Representing the fourth element in the target deviation gesture quaternion.
The target attitude adjustment information also comprises relevant parameters of attitude adjustment planning, and specifically comprises the following steps:
；
；
；
。
Wherein, Representing a related parameter corresponding to a first element in the target deviation gesture quaternion, E 1 representing a related parameter corresponding to a second element in the target deviation gesture quaternion, E 2 representing a related parameter corresponding to a third element in the target deviation gesture quaternion, and E 3 representing a related parameter corresponding to a fourth element in the target deviation gesture quaternion.
The gesture adjusting angle amplitude parameters at the moment t are as follows:
wherein: deltaT is the relative time of flight s from the attitude adjustment starting position to the current position, T is/>Is a time of day.
The gesture information of the gesture adjustment planning at the moment t, namely the deviation gesture quaternion is as follows:
and finally, determining attitude deviation information according to the attitude information and the target attitude information, wherein the attitude deviation information at the moment t, namely the quaternion of the attitude adjustment instruction, is as follows:
in practical application, the calculation of the real-time attitude angle deviation specifically comprises the following steps: the pitch angle parameter at the current moment Yaw angle parameter/>And roll angle parameter/>Substituted gesture quaternion calculation formula/>Then the attitude information at the current moment, namely the attitude quaternion, is obtainedAnd further determining that the current moment attitude deviation information, namely the deviation attitude quaternion is:
Wherein: For the gesture quaternion/>, at the current moment Conjugated quaternion of/>Representing elements in the deviation gesture quaternion.
And the angular deviation between the attitude information of the rocket at the current moment and the preset attitude information is as follows:
Wherein: As a sign function.
In some embodiments, the attitude parameters further include an attitude angular speed, based on which an attitude control parameter may be determined from the attitude deviation information and the attitude angular speed; and adjusting the posture of the rocket according to the posture control parameters.
The attitude control parameters comprise pitch angle control parameters, wherein the pitch angle control parameters are as follows，/>And/>Gain control for pitch channel,/>The angular velocity of the z-axis of the arrow coordinate system at the current moment is rad/s;
The attitude control parameters include yaw angle control parameters, wherein the yaw angle control parameters are ，/>And/>Gain control for yaw channel,/>The angular velocity of the y axis of the arrow body coordinate system at the current moment is rad/s;
The attitude control parameters include roll angle control parameters, wherein the roll angle control parameters are ，/>And/>Gain control for roll channel,/>And the rad/s is the angular speed of the X-axis of the arrow coordinate system at the current moment.
In some embodiments, pose planning parameters may be determined from the target pose information; and determining a target flight path according to the attitude planning parameters, wherein the rocket flies according to the target flight path.
Specifically, when the attitude of the rocket is changed, the flying trace of the rocket is changed, so that the flying direction of the rocket can be changed by changing the attitude of the rocket, for example, the pitch angle can be changed under the condition that the yaw angle and the roll angle are unchanged, and when the pitch angle is changed, the orientation of the rocket is also changed, so that the flying trace of the rocket is changed. Therefore, the method and the device can determine the target attitude information according to the attitude angle parameters and the attitude adjustment time parameters, namely, the attitude planning parameters of all time points in the rocket flight process can be determined, and the target flight track can be obtained after the attitude planning parameters of all time points are determined.
In practical application, when the rocket is in a flying process, the attitude of the rocket can change in real time, so that the present disclosure can acquire the attitude information of the rocket in real time, compare the current attitude information of the rocket with the target attitude information in real time, and adjust the current attitude of the rocket in time when the current attitude information of the rocket is different from the target attitude information.
Compared with the prior art, the method and the device can conduct online gesture planning and control based on the deviation quaternion, cannot give out the problem of gesture angle crossing, cannot generate the problem of 'turning multiple circles' or 'turning large circles', can effectively solve the problem of large gesture control, and improves the task adaptability of gesture control. Meanwhile, the method can adopt an online gesture planning and control method, can predict and plan gesture adjusting time and gesture adjusting amplitude in advance, ensures optimal matching of high-altitude gesture adjusting time, gesture adjusting amplitude and consumed working medium, and achieves optimal gesture adjusting working medium consumption.
Fig. 2 is a schematic flow chart of a method for on-line planning and controlling high altitude and large scale attitude adjustment for rocket far field recovery according to an exemplary embodiment of the present disclosure. As shown in FIG. 2, the high altitude large scale attitude adjustment on-line planning and control method for rocket far field recovery comprises the following steps:
S201: and determining track parameters and pose parameters.
Specifically, orbit parameter calculation can be performed according to the initial position and the corresponding speed of the rocket for adjusting the posture, so that the flight time from the initial position for adjusting the posture to the preset position can be obtained, and the flight time is taken as the posture adjustment time of the rocket. The specific track parameters may include:
geocentric distance of posture adjustment starting position: Wherein/> Is the average radius of the earth, 6378.137km; /(I)The flying height is the initial position of the gesture.
Preset position ground center distance:，/> the height of the preset position is the height of the corresponding position when the rocket starts power decelerating maneuver.
Speed inclination angle of posture adjustment starting position: Wherein/> Representing the corresponding speed of the gesture-adjusting initial position, m/s,/>For/>Representing the absolute velocity of the pose-adjusting starting position,/>, in vector formFor/>Is a vector form of (c).
Absolute speed of gesture adjustment starting position:。
semi-diameter: ，/> Is the gravitational coefficient 3.986005 X10 14,m3/s2.
Semi-major axis:。
Average angular velocity of track: 。
the eccentricity is: Wherein/> Is the half-path of the track, m.
A near point angle of a preset position:。
A near point angle of the starting position: 。
the gesture adjusting time from the gesture adjusting initial position to the preset position is as follows: 。
s202: and determining the flying speed of the rocket at the preset position.
According to the position of the initial position of the gesture adjustmentAnd velocity vector/>Obtaining extrapolation/>, from the gesture-adjusting initial position, by adopting an orbit extrapolation methodVelocity vector at a post preset position/>：
Wherein: And/> For lagrangian coefficients, the calculation method can be found in track-related monographs.
S203: and determining an attitude adjustment instruction of the preset position.
Since the rocket is about to start power decelerating maneuver after reaching the preset position, the expected rocket body pointing direction is set to be opposite to the preset position speed, and the expected preset position gesture instruction direction is as follows:
Wherein, Representing the velocity of the rocket in the x-direction,/>Representing the velocity of the rocket in the y-direction,/>The speed of the rocket in the z direction is represented, wherein the x direction is the direction corresponding to the x axis of the rocket body coordinate system, the y direction is the direction corresponding to the y axis of the rocket body coordinate system, and the z direction is the direction corresponding to the z axis of the rocket body coordinate system.
The gesture adjustment instruction of the preset position may be:
Pitch angle attitude adjustment instruction: ；
Yaw angle attitude adjustment instruction: ；
roll angle attitude adjustment instructions: 。
S204: and determining target attitude information.
Given attitude angle、/>And/>Attitude quaternion calculation formula/>The method comprises the following steps:
corresponding conjugated quaternion The calculation formula is as follows: /(I)；
Initial attitude angle corresponding to initial position of adjusting attitude、/>And/>Substituting the attitude quaternion calculation formula to obtain the attitude quaternion/>, of the attitude adjustment starting position; The position of the gesture adjusting end point, namely the gesture angle/>, corresponding to the preset position、/>AndSubstituting the attitude quaternion calculation formula to obtain the attitude quaternion/>, of the attitude adjustment end position。
The target attitude information, namely the target deviation attitude quaternion, of the rocket attitude adjustment process is as follows:
Wherein: representing a quaternion multiplication; /(I) Representing quaternion/>Is a conjugated quaternion of (c).
The target attitude adjustment information also comprises relevant parameters of attitude adjustment planning, and specifically comprises the following steps:
；
；
；
。
Wherein, Representing a related parameter corresponding to a first element in the target deviation gesture quaternion, E 1 representing a related parameter corresponding to a second element in the target deviation gesture quaternion, E 2 representing a related parameter corresponding to a third element in the target deviation gesture quaternion, and E 3 representing a related parameter corresponding to a fourth element in the target deviation gesture quaternion. the gesture adjusting angle amplitude parameters at the moment t are as follows:
wherein: deltaT is the relative time of flight s from the attitude adjustment starting position to the current position, T is/>Is a time of day.
The deviation gesture quaternion of the gesture adjustment planning at the moment t is as follows:
the gesture adjusting instruction quaternion at the moment t is as follows:
s205: and determining the attitude information of the rocket at the current moment.
Pitch angle parameter at presentYaw angle parameter/>And roll angle parameter/>Substituted gesture quaternion calculation formula/>Then the attitude information at the current moment, namely attitude quaternion/>, is obtainedAnd further determining that the current moment attitude deviation information, namely the deviation attitude quaternion is:
Wherein: For the gesture quaternion/>, at the current moment Is a conjugated quaternion of (c).
The angular deviation between the attitude information of the rocket at the current moment and the preset attitude information is as follows:
Wherein: As a sign function.
S206: and determining attitude control parameters.
Wherein:、/> And/> Respectively controlling the pitch, yaw and roll channel control amounts at the current moment; /(I)And/>Gain control for pitch channel,/>The angular velocity of the z-axis of the arrow coordinate system at the current moment is rad/s; /(I)And/>Gain control for yaw channel,/>The angular velocity of the y axis of the arrow body coordinate system at the current moment is rad/s; /(I)And/>Gain control for roll channel,/>And the rad/s is the angular speed of the X-axis of the arrow coordinate system at the current moment.
The foregoing description of the solution provided by the embodiments of the present disclosure has been mainly presented from the perspective of a server. It will be appreciated that the server, in order to implement the above-described functions, includes corresponding hardware structures and/or software modules that perform the respective functions. Those of skill in the art will readily appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as hardware or combinations of hardware and computer software. Whether a function is implemented as hardware or computer software driven hardware depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present disclosure.
The embodiments of the present disclosure may divide functional units of a server according to the above method examples, for example, each functional module may be divided corresponding to each function, or two or more functions may be integrated in one management module. The integrated modules may be implemented in hardware or in software functional modules. It should be noted that, in the embodiment of the present disclosure, the division of the modules is merely a logic function division, and other division manners may be implemented in actual practice.
In the case of dividing each functional module by adopting corresponding each function, the exemplary embodiments of the present disclosure provide a high-altitude attitude control device of a rocket, which may be a server or a chip applied to the server. Fig. 3 is a schematic structural diagram of a high-altitude attitude control device of a rocket according to an exemplary embodiment of the present disclosure. As shown in fig. 3, the altitude-control attitude control device 300 of the rocket includes:
the acquiring module 301 is configured to acquire current attitude information of a rocket during a rocket recovery process, where the attitude information includes an attitude angle parameter and an attitude adjustment time parameter;
a determining module 302, configured to determine target pose information according to the pose angle parameter and the pose adjustment time parameter;
And the adjusting module 302 is configured to adjust the posture of the rocket according to the target posture information and the posture information.
In an alternative manner, the attitude angle parameter includes an attitude angle speed, the method further comprising: determining attitude deviation information according to the attitude information and the target attitude information; determining attitude control parameters according to the attitude deviation information and the attitude angular speed; and adjusting the posture of the rocket according to the posture control parameters.
In an alternative manner, the attitude control parameters include a pitch control parameter, wherein the pitch control parameter is，/>And/>Gain control for pitch channel,/>The angular velocity of the z-axis of the arrow coordinate system at the current moment is rad/s; the attitude control parameters further comprise yaw angle control parameters, wherein the yaw angle control parameters are/>，/>And/>Gain control for yaw channel,/>The angular velocity of the y axis of the arrow body coordinate system at the current moment is rad/s; the attitude control parameters further comprise roll angle control parameters, wherein the roll angle control parameters are/>，/>And/>Gain control for roll channel,/>And the rad/s is the angular speed of the X-axis of the arrow coordinate system at the current moment.
In an alternative manner, orbit parameters of the rocket during flight are obtained; determining the flying speed of the rocket according to the orbit parameters; and determining an attitude adjustment instruction according to the flying speed, and adjusting the attitude of the rocket according to the attitude adjustment instruction when the rocket reaches a preset position.
In an alternative manner, the gesture adjustment instruction is:
Wherein, Representing pitch angle of rocket at preset position,/>Representing yaw angle of rocket at preset position,/>Representing the roll angle of the rocket at a preset position; /(I)Representing the velocity of the rocket in the x-direction,/>Representing the velocity of the rocket in the y-direction,/>The speed of the rocket in the z direction is represented, wherein the x direction is the direction corresponding to the x axis of the rocket body coordinate system, the y direction is the direction corresponding to the y axis of the rocket body coordinate system, and the z direction is the direction corresponding to the z axis of the rocket body coordinate system; /(I)Indicating the desired velocity in the direction of the preset position gesture command.
In an alternative manner, the commanded direction of the attitude adjustment command is opposite to the direction of the flight speed.
In an alternative manner, determining pose planning parameters according to the target pose information; and determining a target flight trajectory according to the gesture planning parameters, wherein the rocket flies according to the target flight trajectory.
The embodiment of the disclosure also provides an electronic device, including: at least one processor; a memory for storing at least one processor-executable instruction; wherein at least one processor is configured to execute instructions to implement the steps of the above-described methods disclosed in embodiments of the present disclosure.
Fig. 4 is a schematic structural diagram of an electronic device according to an exemplary embodiment of the present disclosure. As shown in fig. 4, the electronic device 400 includes at least one processor 401 and a memory 402 coupled to the processor 401, the processor 401 may perform the respective steps of the above-described methods disclosed in the embodiments of the present disclosure.
The processor 401 may also be referred to as a central processing unit (Central Processing Unit, CPU), which may be an integrated circuit chip with signal processing capabilities. The steps of the above-described methods disclosed in the embodiments of the present disclosure may be accomplished by instructions in the form of integrated logic circuits or software of hardware in the processor 401. The processor 401 described above may be a general purpose processor, a digital signal processor (DIGITAL SIGNAL Processing, DSP), an ASIC, an off-the-shelf programmable gate array (Field-programmable GATE ARRAY, FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the embodiments of the present disclosure may be embodied directly in hardware, in a decoded processor, or in a combination of hardware and software modules in a decoded processor. The software modules may reside in a memory 402 such as random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. as well known in the art. The processor 401 reads the information in the memory 402 and in combination with its hardware performs the steps of the above method.
In addition, various operations/processes according to the present disclosure, in the case of being implemented by software and/or firmware, may be installed from a storage medium or network to a computer system having a dedicated hardware structure, for example, the computer system 500 shown in fig. 5, which is capable of performing various functions including such functions as the foregoing, etc., when various programs are installed. Fig. 5 is a schematic diagram of a computer system according to an exemplary embodiment of the present disclosure.
Computer system 500 is intended to represent various forms of digital electronic computing devices, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the disclosure described and/or claimed herein.
As shown in fig. 5, the computer system 500 includes a computing unit 501, and the computing unit 501 may perform various suitable actions and processes according to a computer program stored in a Read Only Memory (ROM) 502 or a computer program loaded from a storage unit 508 into a Random Access Memory (RAM) 503. In the RAM503, various programs and data required for the operation of the computer system 500 may also be stored. The computing unit 501, ROM502, and RAM503 are connected to each other by a bus 504. An input/output (I/O) interface 505 is also connected to bus 504.
Various components in computer system 500 are connected to I/O interface 505, including: an input unit 506, an output unit 507, a storage unit 508, and a communication unit 509. The input unit 506 may be any type of device capable of inputting information to the computer system 500, and the input unit 506 may receive input numeric or character information and generate key signal inputs related to user settings and/or function controls of the electronic device. The output unit 507 may be any type of device capable of presenting information and may include, but is not limited to, a display, speakers, video/audio output terminals, vibrators, and/or printers. Storage unit 508 may include, but is not limited to, magnetic disks, optical disks. The communication unit 509 allows the computer system 500 to exchange information/data with other devices over a network such as the internet and may include, but is not limited to, modems, network cards, infrared communication devices, wireless communication transceivers and/or chipsets, e.g., bluetooth (TM) devices, wiFi devices, wiMax devices, cellular communication devices, and/or the like.
The computing unit 501 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of computing unit 501 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 501 performs the various methods and processes described above. For example, in some embodiments, the above-described methods disclosed by embodiments of the present disclosure may be implemented as a computer software program tangibly embodied on a machine-readable medium, e.g., storage unit 508. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 400 via the ROM502 and/or the communication unit 509. In some embodiments, the computing unit 501 may be configured to perform the above-described methods disclosed by embodiments of the present disclosure by any other suitable means (e.g., by means of firmware).
The disclosed embodiments also provide a computer-readable storage medium, wherein instructions in the computer-readable storage medium, when executed by a processor of an electronic device, enable the electronic device to perform the above-described method disclosed by the disclosed embodiments.
A computer readable storage medium in embodiments of the present disclosure may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium described above can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specifically, the computer-readable storage medium described above may include one or more wire-based electrical connections, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The computer readable medium may be contained in the electronic device; or may exist alone without being incorporated into the electronic device.
The disclosed embodiments also provide a computer program product comprising a computer program, wherein the computer program, when executed by a processor, implements the above-described methods of the disclosed embodiments.
In an embodiment of the present disclosure, computer program code for performing the operations of the present disclosure may be written in one or more programming languages, including but not limited to an object oriented programming language such as Java, smalltalk, C ++, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of remote computers, the remote computers may be connected to the user computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to external computers.
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The modules, components or units referred to in the embodiments of the present disclosure may be implemented by software or hardware. Where the name of a module, component or unit does not in some cases constitute a limitation of the module, component or unit itself.
The functions described above herein may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary hardware logic components that may be used include: a Field Programmable Gate Array (FPGA), an Application Specific Integrated Circuit (ASIC), an Application Specific Standard Product (ASSP), a system on a chip (SOC), a Complex Programmable Logic Device (CPLD), and the like.
The above description is merely illustrative of some embodiments of the present disclosure and of the principles of the technology applied. It will be appreciated by persons skilled in the art that the scope of the disclosure referred to in this disclosure is not limited to the specific combinations of features described above, but also covers other embodiments which may be formed by any combination of features described above or equivalents thereof without departing from the spirit of the disclosure. Such as those described above, are mutually substituted with the technical features having similar functions disclosed in the present disclosure (but not limited thereto).
Although some specific embodiments of the present disclosure have been described in detail by way of example, it should be understood by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present disclosure. It will be appreciated by those skilled in the art that modifications may be made to the above embodiments without departing from the scope and spirit of the disclosure. The scope of the present disclosure is defined by the appended claims.
Claims (8)
1. The high-altitude attitude control method of the rocket is characterized by comprising the following steps of:
Acquiring current attitude information of the rocket in the recovery process of the rocket, wherein the attitude information comprises attitude angle parameters and attitude adjustment time parameters;
Determining target attitude information according to the attitude angle parameter and the attitude adjustment time parameter, wherein the attitude angle parameter comprises an attitude angle speed;
Adjusting the posture of the rocket according to the target posture information and the posture information;
The adjusting the posture of the rocket according to the target posture information and the posture information comprises the following steps:
Determining attitude deviation information according to the attitude information and the target attitude information;
determining attitude control parameters according to the attitude deviation information and the attitude angular speed;
Adjusting the attitude of the rocket according to the attitude control parameters, wherein the attitude control parameters comprise pitch angle control parameters, and the pitch angle control parameters are as follows ，/>And/>Gain control for pitch channel,/>The angular velocity of the z-axis of the arrow coordinate system at the current moment is rad/s;
the attitude control parameters further comprise yaw angle control parameters, wherein the yaw angle control parameters are as follows ，/>And/>Gain control for yaw channel,/>The angular velocity of the y axis of the arrow body coordinate system at the current moment is rad/s;
The attitude control parameters further comprise roll angle control parameters, wherein the roll angle control parameters are as follows ，/>And/>Gain control for roll channel,/>And the rad/s is the angular speed of the X-axis of the arrow coordinate system at the current moment.
2. The method according to claim 1, wherein the method further comprises:
acquiring orbit parameters of the rocket during flight;
Determining the flying speed of the rocket according to the orbit parameters;
And determining an attitude adjustment instruction according to the flying speed, and adjusting the attitude of the rocket according to the attitude adjustment instruction when the rocket reaches a preset position.
3. The method of claim 2, wherein the gesture adjustment instruction is:
Wherein, Representing pitch angle of rocket at preset position,/>Representing the yaw angle of the rocket at a preset position,Representing the roll angle of the rocket at a preset position; /(I)Representing the velocity of the rocket in the x-direction,/>Representing the velocity of the rocket in the y-direction,/>The speed of the rocket in the z direction is represented, wherein the x direction is the direction corresponding to the x axis of the rocket body coordinate system, the y direction is the direction corresponding to the y axis of the rocket body coordinate system, and the z direction is the direction corresponding to the z axis of the rocket body coordinate system; /(I)Indicating the desired velocity in the direction of the preset position gesture command.
4. The method of claim 2, wherein the commanded direction of the attitude adjustment command is opposite to the direction of the flight speed.
5. The method according to claim 1, wherein the method further comprises:
determining attitude planning parameters according to the target attitude information;
and determining a target flight trajectory according to the gesture planning parameters, wherein the rocket flies according to the target flight trajectory.
6. A high-altitude-attitude control device for a rocket, characterized by being applied to the high-altitude-attitude control method for a rocket according to any one of claims 1 to 5, comprising:
The acquisition module is used for acquiring current attitude information of the rocket in the recovery process of the rocket, wherein the attitude information comprises attitude angle parameters and attitude adjustment time parameters;
the determining module is used for determining target attitude information according to the attitude angle parameter and the attitude adjustment time parameter, wherein the attitude angle parameter comprises an attitude angle speed;
the adjusting module is used for adjusting the posture of the rocket according to the target posture information and the posture information, wherein the adjusting module is further used for:
Determining attitude deviation information according to the attitude information and the target attitude information;
determining attitude control parameters according to the attitude deviation information and the attitude angular speed;
Adjusting the attitude of the rocket according to the attitude control parameters, wherein the attitude control parameters comprise pitch angle control parameters, and the pitch angle control parameters are as follows ，/>And/>Gain control for pitch channel,/>The angular velocity of the z-axis of the arrow coordinate system at the current moment is rad/s;
the attitude control parameters further comprise yaw angle control parameters, wherein the yaw angle control parameters are as follows ，/>And/>Gain control for yaw channel,/>The angular velocity of the y axis of the arrow body coordinate system at the current moment is rad/s;
The attitude control parameters further comprise roll angle control parameters, wherein the roll angle control parameters are as follows ，/>And/>Gain control for roll channel,/>And the rad/s is the angular speed of the X-axis of the arrow coordinate system at the current moment.
7. An electronic device, comprising:
At least one processor;
A memory for storing the at least one processor-executable instruction;
wherein the at least one processor is configured to execute the instructions to implement the method of any one of claims 1-5.
8. A computer readable storage medium, characterized in that instructions in the computer readable storage medium, when executed by a processor of an electronic device, enable the electronic device to perform the method of any one of claims 1-5.
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| CN106078190A (en) * | 2016-07-07 | 2016-11-09 | 上海航天设备制造总厂 | Rocket level segment flexible digitalization total Butt Assembling Apparatus and method for |
| CN110304270A (en) * | 2019-06-03 | 2019-10-08 | 宁波天擎航天科技有限公司 | Omnidirectional emission control method, device, computer equipment for carrier rocket |
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| JP5683224B2 (en) * | 2010-11-15 | 2015-03-11 | 三菱スペース・ソフトウエア株式会社 | Rocket guidance calculation device, rocket guidance system, rocket, rocket guidance calculation program, and rocket guidance calculation method for rocket guidance calculation device |
| WO2021217371A1 (en) * | 2020-04-27 | 2021-11-04 | 深圳市大疆创新科技有限公司 | Control method and apparatus for movable platform |
| CN116009596A (en) * | 2023-01-09 | 2023-04-25 | 航天科工火箭技术有限公司 | Attitude angle calculation method, attitude angle calculation device, attitude angle calculation medium and electronic equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106078190A (en) * | 2016-07-07 | 2016-11-09 | 上海航天设备制造总厂 | Rocket level segment flexible digitalization total Butt Assembling Apparatus and method for |
| CN110304270A (en) * | 2019-06-03 | 2019-10-08 | 宁波天擎航天科技有限公司 | Omnidirectional emission control method, device, computer equipment for carrier rocket |
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