CN118327816A - Solid rocket thrust vector control system and method - Google Patents
Solid rocket thrust vector control system and method Download PDFInfo
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- CN118327816A CN118327816A CN202311511052.0A CN202311511052A CN118327816A CN 118327816 A CN118327816 A CN 118327816A CN 202311511052 A CN202311511052 A CN 202311511052A CN 118327816 A CN118327816 A CN 118327816A
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- servo motor
- solid rocket
- thrust vector
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02K—JET-PROPULSION PLANTS
- F02K9/00—Rocket-engine plants, i.e. plants carrying both fuel and oxidant therefor; Control thereof
- F02K9/80—Rocket-engine plants, i.e. plants carrying both fuel and oxidant therefor; Control thereof characterised by thrust or thrust vector control
- F02K9/805—Rocket-engine plants, i.e. plants carrying both fuel and oxidant therefor; Control thereof characterised by thrust or thrust vector control servo-mechanisms or control devices therefor
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Control Of Multiple Motors (AREA)
Abstract
The invention relates to the technical field of solid rocket thrust vector control, in particular to a solid rocket thrust vector control system and a solid rocket thrust vector control method. The device comprises a plurality of actuating mechanisms, a plurality of servo motors, a servo driver, a controller and an upper computer, wherein the plurality of servo motors are used for driving the actuating mechanisms, and the output end of each servo motor is respectively connected with the input end of each actuating mechanism; the servo drivers are used for driving the servo motors, and the output end of each servo driver is connected with the input end of each servo motor respectively; the controller is in bidirectional communication connection with a plurality of servo drivers; the upper computer is in bidirectional communication connection with the controller. The invention can realize the attitude control of the solid rocket engine. The invention can realize the closed-loop control of the current loop and the speed loop and realize the closed-loop control of the position loop.
Description
Technical Field
The invention relates to the technical field of solid rocket thrust vector control, in particular to a solid rocket thrust vector control system and a solid rocket thrust vector control method.
Background
The solid rocket thrust vector control technology can greatly improve the maneuverability and the sudden-prevention capability of the aircraft, so that the aircraft can execute more complex tasks and the striking capability. The thrust vector control is to drive the spray pipe to swing by a corresponding angle through the linear motion of the actuator. In order to improve the maneuverability of the aircraft, thrust vector adjustment requires a very fast response of the linear actuator. The electromechanical integrated actuator has the characteristics of light weight, cleanness, safety, easy maintenance, high energy utilization rate and the like. With the research of thrust vector system technology, the technology of electromechanical integrated actuators has gradually matured as the technology of power electronics advances. In the prior art, attitude control of the solid rocket engine cannot be realized.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, an object of the present invention is to provide a solid rocket thrust vector control system and method, which can realize attitude control of a solid rocket engine.
To achieve the above and other related objects, the present invention provides a solid rocket thrust vector control system, comprising:
A plurality of actuators;
the servo motors are used for driving the actuating mechanisms, and the output end of each servo motor is connected with the input end of each actuating mechanism respectively;
The servo drivers are used for driving the servo motors, and the output end of each servo driver is connected with the input end of each servo motor respectively;
a controller which is in bidirectional communication connection with a plurality of servo drivers;
and the upper computer is in bidirectional communication connection with the controller.
In an embodiment of the present invention, the device further includes a displacement sensor, configured to detect a displacement operation parameter of the actuator, where an input end of the displacement sensor is connected to an output end of the actuator, and an output end of the displacement sensor is connected to an input end of the controller.
In an embodiment of the present invention, the servo motor further includes a current sensor, where an input end of the current sensor is connected to an output end of the servo motor, and an output end of the current sensor is connected to an input end of the servo driver.
In an embodiment of the present invention, the servo motor further comprises a rotary transformer for detecting a speed signal of the servo motor, wherein an input end of the rotary transformer is connected to an output end of the servo motor, and an output end of the rotary transformer is connected to an input end of the servo driver.
In an embodiment of the present invention, the current sensor and the resolver are respectively used for performing closed-loop control on the servo driver.
In an embodiment of the present invention, the controller is connected to the upper computer through a RS422 bus in a bidirectional communication manner.
In one embodiment of the present invention, the controller is connected to a plurality of servo drivers through a CAN bus in a bi-directional communication manner.
In an embodiment of the present invention, the number of the actuating mechanism, the servo motor and the servo driver is 8.
The invention also provides a solid rocket thrust vector control method, which comprises the following steps:
s1, an upper computer issues position instructions of a plurality of servo motors and execution mechanisms to a controller;
s2, the controller analyzes and obtains the position instruction and sends the position instruction to the servo driver;
S3, after receiving the position instruction, the servo driver compares the current signal and the speed signal fed back by the current sensor and the rotary transformer with preset current signals and speed signals, outputs PWM control signals to the servo motor, and sends the current signals and the speed signals of the servo motor to the controller;
S4, according to the PWM control signal, the servo motor operates and the actuating mechanism at the rear end is brought to operate;
S5, a displacement sensor arranged at the tail end of the actuating mechanism collects displacement information and transmits the displacement information to the controller;
s6, the controller sorts, packs and sends the received information of each actuating mechanism and each servo motor to an upper computer;
And S7, displaying the information of the position, the rotating speed and the current of the solid rocket thrust vector control system by the upper computer, and issuing a new instruction to the controller according to a new control requirement.
In one embodiment of the present invention, the servo driver outputs a PWM control signal to the servo motor through a SVPWM control algorithm.
As described above, the solid rocket thrust vector control system and method of the invention have the following beneficial effects:
(1) The solid rocket thrust vector control system comprises a plurality of execution mechanisms, a plurality of servo motors, a servo driver, a controller and an upper computer, and can control the attitude of a solid rocket engine.
(2) The current sensor and the rotary transformer of the solid rocket thrust vector control system collect the current and the rotating speed of the motor and send the current and the rotating speed to the servo driver, so that the closed-loop control of a current loop and a speed loop can be realized.
(3) The displacement sensor of the solid rocket thrust vector control system acquires the displacement information of the actuating mechanism, feeds back the displacement information to the controller, compares the fed back displacement with preset parameter information, and sends out corresponding instructions according to the comparison result to realize closed-loop control of the position ring.
Drawings
Fig. 1 is a schematic structural diagram of a solid rocket thrust vector control system according to an embodiment of the present application.
Fig. 2 is a flowchart of a solid rocket thrust vector control method according to an embodiment of the present application.
Description of element reference numerals
1. Actuating mechanism
2. Servo motor
3. Servo driver
4. Controller for controlling a power supply
5. Upper computer
6. Displacement sensor
7. Current sensor
8. Rotary transformer
Detailed Description
Other advantages and effects of the present invention will become apparent to those skilled in the art from the following disclosure, which describes the embodiments of the present invention with reference to specific examples. The invention may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present invention. It should be noted that the following embodiments and features in the embodiments may be combined with each other without conflict.
It should be noted that the illustrations provided in the following embodiments merely illustrate the basic concept of the present invention by way of illustration, and only the components related to the present invention are shown in the illustrations, not according to the number, shape and size of the components in actual implementation, and the form, number and proportion of each component in actual implementation may be arbitrarily changed, and the layout of the components may be more complex.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a solid rocket thrust vector control system according to an embodiment of the present application. The application provides a solid rocket thrust vector control system, which comprises a plurality of execution mechanisms 1, a plurality of servo motors 2, a servo driver 3, a controller 4 and an upper computer 5, wherein the plurality of servo motors 2 are used for driving the execution mechanisms 1, and the output end of each servo motor 2 is respectively connected with the input end of each execution mechanism 1; the servo drivers 3 are used for driving the servo motors 2, and the output end of each servo driver 3 is respectively connected with the input end of each servo motor 2; the controller 4 is in bidirectional communication connection with a plurality of servo drivers 3; the upper computer 5 is in bidirectional communication connection with the controller 4.
Specifically, the device further comprises a displacement sensor 6 for detecting a displacement operation parameter of the actuator 1, wherein an input end of the displacement sensor 6 is connected with an output end of the actuator 1, and an output end of the displacement sensor 6 is connected with an input end of the controller 4.
Specifically, the servo motor further comprises a current sensor 7 for detecting a current signal of the servo motor 2, an input end of the current sensor 7 is connected with an output end of the servo motor 2, and an output end of the current sensor 7 is connected with an input end of the servo driver 3.
Specifically, the device further comprises a rotary transformer 8 for detecting a speed signal of the servo motor 2, wherein an input end of the rotary transformer 8 is connected with an output end of the servo motor 2, and an output end of the rotary transformer 8 is connected with an input end of the servo driver 3.
Specifically, the current sensor 7 and the resolver 8 are respectively used for performing closed-loop control on the servo driver 3. The controller 4 is in bidirectional communication connection with the upper computer 5 through an RS422 bus. The controller 4 is in bidirectional communication connection with a plurality of servo drivers 3 through a CAN bus. The number of the actuating mechanism 1, the servo motor 2 and the servo driver 3 is 8.
Referring to fig. 1, in a specific embodiment of the present invention, a solid rocket thrust vector control system includes eight servomotors 2 for driving eight actuators 1 to operate, the eight servomotors 2 are provided with eight servodrives 3 for directly driving the actuators to operate, the eight servodrives 3 are provided with a controller 4 in signal connection with the actuators, and the controller 4 is provided with an upper computer 5 in signal connection with the controllers. The actuating mechanism 1 is provided with a displacement sensor 6 connected with the actuating mechanism, and the displacement information of the actuating mechanism 1 is collected and sent to the controller 4 to realize position closed-loop control. The eight servo motors 2 are provided with current sensors 7 and rotary transformers 8 connected with the eight servo motors, the current sensors 7 collect current of the servo motors 2, the rotary transformers 8 collect angular speed and angular displacement of the servo motors 2, and the current sensors and the rotary transformers feed information back to the servo driver 3 to complete closed-loop control of the current and the speed. The servo driver 3 sends the current and speed information of the servo motor 2 to the controller 4 through the CAN bus, and the controller 4 sorts and packages the displacement information of the eight actuating mechanisms 1 and the current and speed information of the eight servo motors 2 and sends the sorted and packaged information to the upper computer 5 through the RS422 bus. The upper computer 5 performs waveform display and steady-state and dynamic analysis of the servo control system.
Referring to fig. 2, fig. 2 is a flowchart of a solid rocket thrust vector control method according to an embodiment of the present application. A solid rocket thrust vector control method comprises the following steps:
in step S1, the upper computer 5 issues position commands of the plurality of servo motors 2 and the actuator 1 to the controller 4.
And step S2, the controller 4 analyzes and obtains the position instruction and sends the position instruction to the servo driver 3.
Step S3, after receiving the position command, the servo driver 3 compares the current signal and the speed signal fed back by the current sensor 7 and the resolver 8 with preset current signals and speed signals, outputs a PWM control signal to the servo motor 2, and sends the current signal and the speed signal of the servo motor 2 to the controller 4.
Specifically, the servo driver 3 outputs a PWM control signal to the servo motor 2 through an SVPWM control algorithm.
Specifically, the upper computer 5 issues position instructions of each servo motor 2 and the actuator 1 according to control requirements, and the instructions are sent to the controller 4 through the RS 422.
Specifically, after receiving the instruction sent by the upper computer 5 through RS422 communication, the controller 4 analyzes the instruction to obtain the position information of 8 servo motors 2, and sends the position information to the servo driver 3 through the CAN bus.
Specifically, after receiving the position command through the CAN bus, the servo driver 3 sends a PWM control signal to the motor according to the current signal and the speed signal fed back by the current sensor 7 and the resolver 8, which are compared with a preset value. And sends information such as a current signal and a speed signal to the controller 4 through the CAN bus.
The servo driver 3 outputting a PWM control signal to the servo motor 2 through the SVPWM control algorithm in step S3 includes:
Step S31, obtaining bus current and the rotational speed and the angular displacement of the rotation of the servo motor 2 through the current sensor 7 and the rotary transformer 8;
Step S32, calculating three-phase currents ia, ib, ic and average rotating speed of the servo motor 2, calculating three-phase current through three-phase stationary to two-phase stationary 3/2 conversion i α,iβiβ, and then through two-phase stationary to two-phase rotation 2S/2r conversion to obtain i d,iq;
step S33, subtracting the preset rotating speed from the obtained actual rotating speed to obtain a rotating speed difference, and obtaining a given current inner ring q-axis through a rotating speed PI regulator;
step S34, comparing the torque current signal with the current set on the q axis of the current inner loop, obtaining U sq through a current PI regulator, comparing the exciting current with the set current value, and obtaining U sd through the difference through the PI regulator;
Step S35, U sq and U sd are subjected to Park change to obtain U sα and U sβ, and then the two signals are sent to an SVPWM calculation module to obtain a power switch tube control signal of the three-phase inverter and sent to the servo motor 2;
And step S4, according to the PWM control signal, the servo motor 2 operates, and the actuator 1 brought to the rear end operates.
And S5, acquiring displacement information by a displacement sensor 6 arranged at the tail end of the actuating mechanism 1, and transmitting the displacement information to the controller 4.
And step S6, the controller 4 collates and packages the received information of each actuating mechanism 1 and each servo motor 2 and sends the information to the upper computer 5.
And S7, the upper computer 5 displays the information of the position, the rotating speed and the current of the solid rocket thrust vector control system, and issues a new instruction to the controller 4 according to the new control requirement.
In summary, the solid rocket thrust vector control system provided by the invention comprises a plurality of execution mechanisms, a plurality of servo motors, a servo driver, a controller and an upper computer, and can realize attitude control of a solid rocket engine. The current sensor and the rotary transformer collect the current and the rotating speed of the motor and send the current and the rotating speed to the servo driver, so that the closed-loop control of the current loop and the speed loop can be realized. The displacement information of the actuating mechanism is acquired through the displacement sensor and fed back to the controller, the controller compares the fed back displacement with preset parameter information, and corresponding instructions are sent out according to the comparison result, so that closed-loop control of the position ring is realized.
The above embodiments are merely illustrative of the principles of the present invention and its effectiveness, and are not intended to limit the invention. Modifications and variations may be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the invention. Accordingly, it is intended that all equivalent modifications and variations of the invention be covered by the claims, which are within the ordinary skill of the art, be within the spirit and scope of the present disclosure.
Claims (10)
1. A solid rocket thrust vector control system, comprising:
a plurality of actuators (1);
the servo motors (2) are used for driving the execution mechanisms (1), and the output end of each servo motor (2) is connected with the input end of each execution mechanism (1) respectively;
The servo drivers (3) are used for driving the servo motors (2), and the output end of each servo driver (3) is connected with the input end of each servo motor (2) respectively;
a controller (4) which is connected in a bi-directional communication with a plurality of servo drivers (3);
and the upper computer (5) is in bidirectional communication connection with the controller (4).
2. A solid rocket thrust vector control system according to claim 1, wherein: the device also comprises a displacement sensor (6) which is used for detecting the displacement operation parameter of the actuating mechanism (1), wherein the input end of the displacement sensor (6) is connected with the output end of the actuating mechanism (1), and the output end of the displacement sensor (6) is connected with the input end of the controller (4).
3. A solid rocket thrust vector control system according to claim 1, wherein: the servo motor further comprises a current sensor (7) which is used for detecting a current signal of the servo motor (2), wherein the input end of the current sensor (7) is connected with the output end of the servo motor (2), and the output end of the current sensor (7) is connected with the input end of the servo driver (3).
4. A solid rocket thrust vector control system according to claim 3, wherein: the servo motor further comprises a rotary transformer (8) used for detecting a speed signal of the servo motor (2), wherein the input end of the rotary transformer (8) is connected with the output end of the servo motor (2), and the output end of the rotary transformer (8) is connected with the input end of the servo driver (3).
5. A solid rocket thrust vector control system according to claim 4, wherein: the current sensor (7) and the rotary transformer (8) are respectively used for performing closed-loop control on the servo driver (3).
6. A solid rocket thrust vector control system according to claim 1, wherein: the controller (4) is in bidirectional communication connection with the upper computer (5) through an RS422 bus.
7. A solid rocket thrust vector control system according to claim 1, wherein: the controller (4) is in bidirectional communication connection with a plurality of servo drivers (3) through a CAN bus.
8. A solid rocket thrust vector control system according to claim 1, wherein: the number of the actuating mechanism (1), the servo motor (2) and the servo driver (3) is 8.
9. The solid rocket thrust vector control method is characterized by comprising the following steps of:
s1, an upper computer (5) sends position instructions of a plurality of servo motors (2) and an actuating mechanism (1) to a controller (4);
S2, the controller (4) analyzes and obtains the position instruction, and sends the position instruction to the servo driver (3);
s3, after receiving the position instruction, the servo driver (3) compares the current signal and the speed signal fed back by the current sensor (7) and the rotary transformer (8) with preset current signals and speed signals, outputs PWM control signals to the servo motor (2), and sends the current signals and the speed signals of the servo motor (2) to the controller (4);
S4, according to the PWM control signal, the servo motor (2) operates, and the executing mechanism (1) brought to the rear end operates;
s5, a displacement sensor (6) arranged at the tail end of the actuating mechanism (1) collects displacement information and transmits the displacement information to the controller (4);
S6, the controller (4) sorts and packages the received information of each actuating mechanism (1) and each servo motor (2) and sends the information to the upper computer (5);
And S7, the upper computer (5) displays the information of the position, the rotating speed and the current of the solid rocket thrust vector control system, and issues a new instruction to the controller (4) according to a new control requirement.
10. A solid rocket thrust vector control method according to claim 9, wherein: the servo driver (3) outputs PWM control signals to the servo motor (2) through an SVPWM control algorithm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311511052.0A CN118327816A (en) | 2023-11-14 | 2023-11-14 | Solid rocket thrust vector control system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311511052.0A CN118327816A (en) | 2023-11-14 | 2023-11-14 | Solid rocket thrust vector control system and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN118327816A true CN118327816A (en) | 2024-07-12 |
Family
ID=91775271
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311511052.0A Pending CN118327816A (en) | 2023-11-14 | 2023-11-14 | Solid rocket thrust vector control system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN118327816A (en) |
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2023
- 2023-11-14 CN CN202311511052.0A patent/CN118327816A/en active Pending
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