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CN114201846A - Quality estimation method in recovery rocket control - Google Patents

Quality estimation method in recovery rocket control Download PDF

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CN114201846A
CN114201846A CN202010986888.6A CN202010986888A CN114201846A CN 114201846 A CN114201846 A CN 114201846A CN 202010986888 A CN202010986888 A CN 202010986888A CN 114201846 A CN114201846 A CN 114201846A
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董佩超
康永来
朱正辉
朱宏亮
虞磊
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Beijing Tianbing Technology Co ltd
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Abstract

The invention relates to a mass estimation method in recovery rocket control, which is used for acquiring mass m of a rocket before takeoff0(ii) a Obtaining average specific impulse I and nozzle area S of the enginea(ii) a Obtaining sea level atmospheric pressure p0(ii) a Acquiring a calculation period tau of a flight control computer; acquiring the real-time atmospheric pressure p of flight and the axial apparent velocity increment delta W (K) from the tau moment (K-1) to the K tau moment of an arrow body in real time; the quality at time K τ is estimated. The method for estimating the quality in the control of the recovery rocket can effectively estimate the real-time quality in flight. Therefore, conditions are created for realizing control of the recovered rocket, and the method is greatly improved compared with the traditional control method.

Description

Quality estimation method in recovery rocket control
Technical Field
The invention relates to the technical field of rocket recovery, in particular to a quality estimation method in recovery rocket control.
Background
When the rocket is used for recovery control, the thrust and the mass of the rocket are changeable and unknown at any time, and if a constant-height hovering and recovery technology is realized, estimation of the mass of the rocket is an important content. As the mass of the rocket in flight is unknown, no equipment and technical means capable of directly measuring the mass exist at present, and certain difficulty is brought to rocket recovery control.
Because there is no equipment or technology which can directly measure the mass in flight at present, the traditional control method can not know the rocket mass, so that the recovery control is difficult to carry out.
Disclosure of Invention
In order to solve the problem of quality estimation in the rocket flying process, the invention provides the quality estimation method in the recovery rocket control, which can effectively estimate the real-time quality in the flying process, thereby being beneficial to realizing the recovery rocket control and having great progress compared with the traditional control method.
To achieve the above object, the present invention provides a method for estimating a mass in a recovery rocket control, comprising:
obtaining the mass m of the rocket before taking off0(ii) a Obtaining average specific impulse I and nozzle area S of the enginea(ii) a Obtaining sea level atmospheric pressure p0(ii) a Acquiring a calculation period tau of a flight control computer;
acquiring the real-time atmospheric pressure p of flight and the axial apparent velocity increment delta W (K) from the tau moment (K-1) to the K tau moment of an arrow body in real time;
the quality at time K τ is estimated as:
Figure BDA0002689557900000021
k is an integer, the value is increased from 1, and m (0) is m0。
Further, the mass m of the rocket before takeoff0Average specific impulse I and nozzle area S of engineaSea level atmospheric pressure p0And the calculation period tau of the flight control computer is a fixed value in the rocket flight process.
Further, before the rocket takes offMass m of0Average specific impulse I and nozzle area S of engineaSea level atmospheric pressure p0And inputting the calculation period tau of the flight control computer into the flight control computer before the rocket takes off.
Further, the flight control computer acquires real-time atmospheric pressure p of flight and axial apparent velocity increment delta W (K) of an arrow body from (K-1) tau moment to K tau moment in real time in the flight process, and estimates the mass at the K tau moment.
Further, the rocket is a single-stage non-separation rocket or a single-stage sub-rocket after separation.
The invention provides another quality estimation method in recovery rocket control, which comprises the following steps:
obtaining the mass m of the rocket before taking off0(ii) a Obtaining average specific impulse I and nozzle area S of the enginea(ii) a Obtaining sea level atmospheric pressure p0(ii) a Acquiring a calculation period tau of a flight control computer;
the rocket is separated in the recovery process to obtain the mass m of the separated partf；
Acquiring the real-time atmospheric pressure p of flight and the axial apparent velocity increment delta W (K) from the tau moment (K-1) to the K tau moment of an arrow body in real time;
and the flight control computer judges whether the separation of the recovery process is carried out or not, and if the separation is not carried out, the quality of the estimated K tau moment is as follows:
Figure BDA0002689557900000022
if so, modifying m (K) to m (K) -mfThe quality at the time of (K +1) tau is continuously estimated in the next period;
k is an integer, the value is increased from 1, and m (0) is m0。
Further, the mass m of the rocket before takeoff0Average specific impulse I and nozzle area S of engineaSea level atmospheric pressure p0And the calculation period tau of the flight control computer is a fixed value in the rocket flight process.
Further, the mass m of the rocket before takeoff0EngineAverage specific impulse of I, orifice area SaSea level atmospheric pressure p0And inputting the calculation period tau of the flight control computer into the flight control computer before the rocket takes off.
Further, the flight control computer acquires real-time atmospheric pressure p of flight and axial apparent velocity increment delta W (K) of an arrow body from (K-1) tau moment to K tau moment in real time in the flight process, and estimates the mass at the K tau moment.
The technical scheme of the invention has the following beneficial technical effects:
(1) the invention provides a quality estimation method in recovery rocket control, which can effectively estimate real-time quality in flight. Therefore, conditions are created for realizing control of the recovered rocket, and the method is greatly improved compared with the traditional control method.
(2) The flight control computer can master the quality of the rocket in real time, and is favorable for controlling the attitude more accurately in the recovery process.
(3) The mass estimation method in the control of the recovery rocket considers the balance of forces in the flying process, is obtained by pushing through the flying principle, and is simple in calculation.
(4) The invention has wide application range, corrects the situation of separation in the recovery process, and can be used for calculating by using the estimation formula provided by the invention no matter whether separation occurs in the recovery process or not.
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Fig. 1 is a flow chart of a quality estimation method.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings in conjunction with the following detailed description. It should be understood that the description is intended to be exemplary only, and is not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
The invention provides a quality estimation method in recovery rocket control. The mass of real-time change in flight is estimated by a formula through quantities which can be measured or known in advance, values measured and calculated in real time by an inertial measurement unit and a flight control computer in flight. Thereby being beneficial to realizing the control of the recovered rocket and having great progress compared with the traditional control method.
The quality estimation method in the recovery rocket control is completed by a flight control computer, and the steps are as follows by combining the figure 1:
(1) determining the mass m of a rocket before takeoff0. For a certain rocket, the parameter is a fixed value, and can be determined and input into a flight control computer before takeoff.
(2) Determining engine-related parameters: average specific impulse I and nozzle area Sa. The relevant parameters of the engine are determined by the performance of the engine, do not change in the flight process, and can be determined before takeoff and input into a flight control computer.
(3) Determining sea level atmospheric pressure p0. The parameter is also a fixed value, determined before takeoff and input into the flight control computer.
(4) And determining the calculation period tau of the flight control computer. The parameter is a design constant value, and the calculation period of the flight control computer cannot be changed in the flight process, so the parameter is also a constant value input in the flight control computer.
(5) Determining a real-time value obtained by a flight control computer in flight: the real-time atmospheric pressure p of flight, the axial apparent velocity increment delta W (K) from the time of (K-1) tau to the time of K tau of the arrow body. And outputting the axial apparent velocity increment delta W (K) to a flight control computer from the inertia measurement combination, wherein K is an integer.
(6) The quality at which the flight control computer can estimate K τ is:
Figure BDA0002689557900000041
where m (K) is the mass value of the rocket at time (K) τ and m (K-1) is the mass value of the rocket at time (K-1) τ. The initial value of m (K-1) is the initial mass m of the rocket during takeoff0Then, the real-time mass m (k) is continuously calculated iteratively according to equation 1). Wherein K is an integer, the value is increased from 1, and m (0) is m0. Continuously iterating through the increase of K, and estimating the current quality of the rocket in real time by the flight control computerAmount of the compound (A).
The method is suitable for recovering a single-stage non-separated rocket or a single-stage sub-rocket after separation, and if a separation process is carried out in the recovery process, the separation mass can be directly subtracted in a formula, wherein the separation mass is a constant value and can be determined before takeoff, and the specific mass estimation method comprises the following steps:
(1) determining the mass m of a rocket before takeoff0. For a certain rocket, the parameter is a fixed value, and can be determined and input into a flight control computer before takeoff.
(2) Determining engine-related parameters: average specific impulse I and nozzle area Sa. The relevant parameters of the engine are determined by the performance of the engine, do not change in the flight process, and can be determined before takeoff and input into a flight control computer.
(3) Determining sea level atmospheric pressure p0. The parameter is also a fixed value, determined before takeoff and input into the flight control computer.
(4) And determining the calculation period tau of the flight control computer. The parameter is a design constant value, and the calculation period of the flight control computer cannot be changed in the flight process, so the parameter is also a constant value input in the flight control computer.
(5) Separating the rocket in the recovery process to obtain the mass m of the separated partf. The mass can be determined before takeoff and is input into a flight control computer as a constant value.
(6) And (3) acquiring a value in real time by a flight control computer in flight: the real-time atmospheric pressure p of flight, the axial apparent velocity increment delta W (K) from the time of (K-1) tau to the time of K tau of the arrow body. And outputting the axial apparent velocity increment delta W (K) to a flight control computer from the inertia measurement combination, wherein K is an integer.
(7) The flight control computer judges whether the separation of the recovery process is carried out or not, if not, the quality of the estimated K tau moment is as follows:
Figure BDA0002689557900000051
if it has already been separated, a correction is made, m (K) to m (K) -mf. Correction iterationThe subsequent iteration still adopts the estimation formula to estimate.
Therefore, the quality estimation method in the control of the recovered rocket is realized, and powerful guarantee is provided for realizing the control of the recovered rocket.
In summary, the invention relates to a mass estimation method in recovery rocket control, which is used for acquiring the mass m of a rocket before takeoff0(ii) a Obtaining average specific impulse I and nozzle area S of the enginea(ii) a Obtaining sea level atmospheric pressure p0(ii) a Acquiring a calculation period tau of a flight control computer; acquiring the real-time atmospheric pressure p of flight and the axial apparent velocity increment delta W (K) from the tau moment (K-1) to the K tau moment of an arrow body in real time; the quality at time K τ is estimated. The method for estimating the quality in the control of the recovery rocket can effectively estimate the real-time quality in flight. Therefore, conditions are created for realizing control of the recovered rocket, and the method is greatly improved compared with the traditional control method.
It is to be understood that the above-described embodiments of the present invention are merely illustrative of or explaining the principles of the invention and are not to be construed as limiting the invention. Therefore, any modification, equivalent replacement, improvement and the like made without departing from the spirit and scope of the present invention should be included in the protection scope of the present invention. Further, it is intended that the appended claims cover all such variations and modifications as fall within the scope and boundaries of the appended claims or the equivalents of such scope and boundaries.

Claims (9)

1.一种回收火箭控制中的质量估计方法，其特征在于，包括：1. a quality estimation method in recovery rocket control, is characterized in that, comprises: 获取火箭起飞前的质量m0；获取发动机的平均比冲I、喷口面积Sa；获取海平面大气压p0；获取飞控计算机计算周期τ；Obtain the mass m 0 before the rocket takes off; obtain the average specific impulse I of the engine and the nozzle area S a ; obtain the sea level atmospheric pressure p 0 ; obtain the calculation period τ of the flight control computer; 实时获取飞行实时大气压p、箭体由(K-1)τ时刻到Kτ时刻的轴向视速度增量ΔW(K)；Real-time acquisition of the real-time flight atmospheric pressure p, and the axial apparent velocity increment ΔW(K) of the arrow body from (K-1)τ time to Kτ time; 估算Kτ时刻的质量为：The estimated mass at time Kτ is:
Figure FDA0002689557890000011
Figure FDA0002689557890000011
 K为整数，取值由1开始增大，且m(0)取m0。K is an integer, the value increases from 1, and m(0) takes m 0 . 2.根据权利要求1所述的回收火箭控制中的质量估计方法，其特征在于，火箭起飞前的质量m0、发动机的平均比冲I、喷口面积Sa、海平面大气压p0、飞控计算机计算周期τ在火箭飞行过程中为定值。2. the mass estimation method in the recovery rocket control according to claim 1, is characterized in that, the mass m 0 before the rocket takes off, the average specific impulse I of the engine, the nozzle area S a , the sea level atmospheric pressure p 0 , the flight control The computer calculation period τ is a fixed value during the flight of the rocket. 3.根据权利要求1所述的回收火箭控制中的质量估计方法，其特征在于，火箭起飞前的质量m0、发动机的平均比冲I、喷口面积Sa、海平面大气压p0、飞控计算机计算周期τ在火箭起飞前输入飞控计算机。3. the mass estimation method in the recovery rocket control according to claim 1, is characterized in that, mass m 0 before rocket takeoff, the average specific impulse I of engine, nozzle area S a , sea level atmospheric pressure p 0 , flight control The computer calculation period τ is input to the flight control computer before the rocket takes off. 4.根据权利要求1或2所述的回收火箭控制中的质量估计方法，其特征在于，飞控计算机在飞行过程中实时获取飞行实时大气压p、箭体由(K-1)τ时刻到Kτ时刻的轴向视速度增量ΔW(K)，并估算Kτ时刻的质量。4. the quality estimation method in the recovery rocket control according to claim 1 and 2 is characterized in that, the flight control computer obtains the real-time flight atmospheric pressure p, the rocket body in real time during the flight by (K-1)τ time to Kτ The axial apparent velocity increment ΔW(K) at the moment, and the mass at moment Kτ is estimated. 5.根据权利要求1或2所述的回收火箭控制中的质量估计方法，其特征在于，所述火箭为单级不分离火箭或分离后的单子级火箭。5. The mass estimation method in recovery rocket control according to claim 1 or 2, wherein the rocket is a single-stage non-separating rocket or a separated single-stage rocket. 6.一种回收火箭控制中的质量估计方法，其特征在于，包括：6. A mass estimation method in the control of a recovery rocket, characterized in that, comprising: 获取火箭起飞前的质量m0；获取发动机的平均比冲I、喷口面积Sa；获取海平面大气压p0；获取飞控计算机计算周期τ；Obtain the mass m 0 before the rocket takes off; obtain the average specific impulse I of the engine and the nozzle area S a ; obtain the sea level atmospheric pressure p 0 ; obtain the calculation period τ of the flight control computer; 所述火箭在回收过程中进行分离，获取分离部分的质量mf；The rocket is separated during the recovery process to obtain the mass m f of the separated part; 实时获取飞行实时大气压p、箭体由(K-1)τ时刻到Kτ时刻的轴向视速度增量ΔW(K)；Real-time acquisition of the real-time flight atmospheric pressure p, and the axial apparent velocity increment ΔW(K) of the arrow body from (K-1)τ time to Kτ time; 飞控计算机判断是否进行了回收过程的分离，如果未分离则估算Kτ时刻的质量为：The flight control computer judges whether the separation of the recovery process has been carried out. If it is not separated, the estimated mass at the time of Kτ is:
Figure FDA0002689557890000021
Figure FDA0002689557890000021
 如果已经分离，则修正m(K)为m(K)-mf，下一周期继续估算(K+1)τ时刻的质量；If it has been separated, modify m(K) to be m(K)-m f , and continue to estimate the quality at the time of (K+1)τ in the next cycle; K为整数，取值由1开始增大，且m(0)取m0。K is an integer, the value increases from 1, and m(0) takes m 0 . 7.根据权利要求6所述的回收火箭控制中的质量估计方法，其特征在于，火箭起飞前的质量m0、发动机的平均比冲I、喷口面积Sa、海平面大气压p0、飞控计算机计算周期τ在火箭飞行过程中为定值。7. The mass estimation method in recovery rocket control according to claim 6, is characterized in that, mass m 0 before rocket take-off, average specific impulse I of engine, nozzle area S a , sea level atmospheric pressure p 0 , flight control The computer calculation period τ is a fixed value during the flight of the rocket. 8.根据权利要求6所述的回收火箭控制中的质量估计方法，其特征在于，火箭起飞前的质量m0、发动机的平均比冲I、喷口面积Sa、海平面大气压p0、飞控计算机计算周期τ在火箭起飞前输入飞控计算机。8. The mass estimation method in recovery rocket control according to claim 6, is characterized in that, mass m 0 before rocket takeoff, average specific impulse I of engine, nozzle area S a , sea level atmospheric pressure p 0 , flight control The computer calculation period τ is input to the flight control computer before the rocket takes off. 9.根据权利要求6至8之一所述的回收火箭控制中的质量估计方法，其特征在于，飞控计算机在飞行过程中实时获取飞行实时大气压p、箭体由(K-1)τ时刻到Kτ时刻的轴向视速度增量ΔW(K)，并估算Kτ时刻的质量。9. The quality estimation method in the recovery rocket control according to one of claims 6 to 8, wherein the flight control computer acquires the real-time atmospheric pressure p of the flight, the rocket body by (K-1) τ time in real time during the flight The axial apparent velocity increment ΔW(K) to time Kτ, and the mass at time Kτ is estimated.
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