基于Bang-Bang滚控方式的火箭姿态动力学建模与验证方法研究

Attitude Dynamical Modeling of Launch Vehicle and Validation Based on Bang-Bang Roll Control

针对CZ-6运载火箭一级采用1台发动机控制俯仰和偏航通道,滚动通道采用Bang-Bang控制的特点,在考虑弹性变形基础上,基于牛顿-欧拉矢量力学法,对姿态动力学全量模型进行了研究。给出了飞行过程中所受的法向力、横向力、气动阻尼力及其力矩等主要力和力矩,建立了液体晃动模型、弹性振动,以及滚动通道的干扰模型,分析了弹性变形对攻角、侧滑角、发动机摆角的影响,进而对气动干扰力、控制力及其产生的力矩的影响,给出了基于Bang-Bang滚动控制的运载火箭姿态动力学模型。对数值仿真与ADAMS的虚拟样机仿真结果进行比较,验证了推导的姿态动力学模型的正确性。方法可用于捆绑运载和非线性控制飞行器等。

According to the characteristics of the pitch and yaw channel controlled by one motor of the first stage and Bang-Band control was adopted in roll channel of CZ-6launch vehicle,the model of attitude dynamic of launch vehicle was studied using Newton-Eulea method when the flexibility was taken into account in this paper.The main force and torque which were normal force,lateral force and aerodynamic damping and its torque during the flying were given out.The liquid sloshing model,elastic vibration model and disturbance model were established.The effect of flexibility on angle of attack,sideslip angle and swing angle of the motor as well as the aerodynamic interference force,control force and its torque were analyzed.The elastic vibration model was set up.The model of attitude dynamic of launch vehicle based on Bang-Bang roll control was given out.The results of numerical and ADAMS virtual simulation showed that the attitude dynamic model proposed was correct.The method could be used for strap-on launch vehicle and nonlinear control vehicle.