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z00 3rd International Corerence on Advanced Computer Theor and Engineering (ICA CTE)

Air-launched Rocket Attitude Control of Separation Stage Based on RCS


XUZhi
College of Astronautics
Northwester Polytecnical University
Xi' a, China
e-mail: xuzhi@nwpu.edu.cn
b5lr0Cln this paper, attitude control problem of carbin air
launching duing separation stages between plane and vehicle
by reaction control system (ReS) was studied. First analyzed
movement under different separation conditions between
launch rocket and plane, then determined launch vehicle
fight status when ReS fred and designed rocket pitching
program. On this basis, given the standard trajectory
programs and ReS confguration. Using pulse width and pulse
frequency modulation method, ReS thruster switch controller
is designed. The simulation results show the correctness of
ReS thruster confguration.
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1. INTRODUCTION
The cabin ai-launched rocket is that the launch Vehicle
inside the cabin of carying plane and plane throw launch
vehicle i the specifed location, by the control system to
adjust its posture and position, when to launch request, the
engine ignition and the payload was put into orbit. The
advantage of the method is higher reliability, but small
launch vehicle payload. The launch vehicle fying within the
atmosphere for cabin air-launched method is different fom
ground-launched fight trajectory: on the one hand, the
separating between lauch vehicle and plane face complex
process, requiring the use of assistive attitude stabilization
and control means, to obtain a suitable engine ignition timing;
the other hand, a launch vehicle fight attitude adjustment
and the presence of large angle of attack fight problems,
which the attitude control system control ability of the new
requirements. In response to these two issues, using reaction
jet control system (RCS) for attitude stabilization and control
to track the standard trajectory, and under the control request
of the initial fight trajectory, given the RCS tuster
confguration, the launch vehicle attitude controller of tree
channel are designed by using pulse width and pulse
fequency (PWPF) modulation, and fnish six degrees of
feedom trajectory simulation.
II. PROGRAM OF FLIGHT PROCEDURES
When using the RCS attitude stabilization method, the
initial launch vehicle fight trajectory shown in Figure 1.
When the rocket fll slides out of plane and reach the right
position, RCS attitude control system begin to control launch
vehicle attitude. Launch vehicle roll attitude and yaw attitude
TANG Shuo
College of Astronautics
Northwester Polytecnical University
Xi'an, China
e-mail: suotang@nwpu.edu.cn
required to maintain the zero position, the pitch attitude is
expected along the planed changes in fight procedures.
Before the launch vehicle engine ignition, launch vehicle
pitch attitude required at about 900 Here the main pitch in
font of the engine ignition design of fight procedures, fight
procedures afer engine ignition still use the programs given
earlier.
Figure 1. the initial launch vehicle mission
Rocket engine ignition before the fight procedures can
be divided into two sections, one section of attitude
adjustment, the second paragraph is to maintain attitude.
Attitude Adjustment section of pitch angle of RCS fre to
reach 900; then launch vehicle pitch angle to maintain 90 0,
until the engine ignition. Here the design of the attitude
adjustment procedures were sinusoidal pitch paragraph, as
follows
qc = 90sin ( Ot +)
Pitch angular velocity
ic = 90Ocos ( Ot + )
(1)
(2)
Angular fequency O and phase by the initial conditions
and terinal conditions, and the following
{qco = 90 sin (
Ot
o
+ )
(3)
90 = 90 sin ( Otl +)
to is RCS fre time, qco is expected launch vehicle pitch
angle when RCS fre, tl for the rocket to reach 900 pitch
angle of the moment. Pitch attitude to maintain procedures
qc = 90
'
(4)
Initial trajectory of the fight plan as shown in Figure 2.
The fgure, l_ is the time for the rocket engine ignition, l_ is
start time for the launch vehicle program tum, l 4 is fight
time for the end of launch vehicle.
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z010 3rd International Conference on Advanced Computer Theor and Engineering (ICACTE)
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Figure 2. the initial trajectory fight procedures
TABLE I. 1IVEOllLICH1lkOCEDUkES!ODE
fight proced ures Value
t
1
-
t
o 3.2s
t
z
-
t
o 3.5s
t3
-
t
o lOs
t4
-
t
o 73.5s
III. CONTROL SYSTEM DESIGN
. RCS thruster confguration
According to the fight control tasks, determine the RCS
thruster confguration, number and thrust shown in Table 1,
the launch vehicle truster on the layout shown in Figure 3.
For the pitch channel, when only one thruster work, then
start on the 2nd thruster; when the need to work two thrusters
then stat the 1,3 thruster. Yaw and pitch channels usig the
'
same control channel allocation logic. Roll attitude control
channel is always used 4 sets of roll thruster trust in the
opposite direction the two of them to get the roll axis relative
to the launch vehicle control moment.
TABLE II. RCS 1HkUS1EkI!1ECkA1IO!lLA!
HLSconfguration Single Engine Thrust (N) Number
Pitch 6000 6
Yaw 6000 6
Roll 300 4
Figure 3. RCS thruster confguration and layout
D. RCS Controller
Aerodynamic control surfaces or engine with thrust
vector attitude control system, the control is continuous
when the output is not saturated. Reaction Control System
usually provides the amount of non-continuous switching
control. Switching control for the amount of control law
design a variety of ways, either diectly using nonlinear
switching control law design method can also be a
continuous control law is frst designed, then a method to
generate the equivalent of switch control commands. RCS
controller designed with this latter approach, that frst design
a continuous controller, and then use pulse width and pulse
fequency (PWPF) modulator to generate an equivalent
amount of continuous thrust control switch commad.
PWPF modulator block diagram shown in Figure 4, the
former contains an inertial link to the channel and a band
width of dead zone and hysteresis relay link relay link, also
known as the Schmitt trigger.
Inertial link parameters include the amplifcation factor
_ , the time constant J_ , Schmitt trigger parameters
includig pulse output amplitude _, switching threshold
C__ and U
1'(
/
) +
e(
/
)
Y
(
/
)
Figure 4. PWPF modulator
This program uses multi-RCS thruster combination, and
therefore need to consider the control of distribution. Here
multi-level Schmitt trigger to achieve more than allocation of
thruster control logic, shown in Figure 5 for the three
Schmitt trigger, it can be achieved by the three thruster
control allocation logic.
Figure 5. three Schmitt Trigger
With the classical PID control law, RCS attitude control
system block diagram of the program shown in Figure 6.
attit.i._'e coad
attitude ccd' +
+
- a; S
Figure 6. RCS attitude control scheme block diagram
IV. SIX DEGREES OF FREEDOM TRAJECTORY SIMULATION
Initial trajectory simulation fom the RCS ignition, until
the end of launch vehicle frst stage fight. The role of the
wind is considered, The initial conditions shown in Table 3.
N3-Z
z010 3rd International Conference on Advanced Computer Theor and Engineering (ICACTE)
TABLE III. 1kAJEC1OkYI!I1IALCO!DI1IO!S
Initial Condition Value
Altitude 9992.6m
Velocity 143.7m/s
Pitch Angle 30. 30
Yaw Angle 3.00
Roll Angle 3.00
Trajectory angle _3.90
Pitch rate 29.10 Is
Yaw rate 2.00 Is
Roll rate 1.00 Is
Figure 7 to Figure 12 shows the simulation results
I0c
]

-track
D
"
%
0
=
"
-
l:
C
90
B0
0
,0
50
40
J0
0
3
0
j
0 J0 40 50
!ime(s)
- - cemmanu
b 70
Figure 7. launch vehicle pitch angle curve
}0

j
0

0
,0

0
}
!imes)
Figure 8. launch vehicle attitude angle tracking error
N3-Z1
"
=
"
=
8
o
c
0
'
U
c
-
-]
C
"
=
"
8
e
o
c
0
'
u
J

1

]

J
_

Time(s)
Figure 9. RC5 thruster pitch channel switch curve
]J
1J
J
c - J

-1
-1J
-]

o 1 ] J J
1ime(s)
Figure 10. RC5 thruster yaw channel switch curve
1J
1J
]_ _ __ _ -_ __ _ _
o 1 ] J J
!ime(s)
Figure II. RC5 thruster roll channel switch curve
z0103rd International Corerence on Advanced Computer Theor and Engineering (ICACTE)
x 1

o
-1 @
J
] J 1 J J J
1
z,
r,
x 10
Figure 12. Rocket three-dimensional relative motion trajectory
Figure 7 launch vehicle pitch angle tacking cuve can be
seen fom the launch vehicle pitch angle is consistent with
the fight progra. Figure for the tree-channel launch
vehicle attitude tracking eror, the fgure curves show that
the elimination of the initial attitude eror, the launch vehicle
attitude tracking eror is less than 10. The results show the
Res attitude control system effectiveness of the program.
Figure 9, Figure 10 and Figure 11 respectively, pitch, yaw,
roll three-channel ReS thruster switching curve. Adjustment
process in the initial posture, pitch, yaw channel of three
thrusters at the same time there working conditions; in a
fight, the elevation channel up to use two thrusters, yaw
channel is only used a thruster. These results show that the
rocket engine before ignition of the Res thrusters for
attitude control is the most demanding requirements.
ACKNOWLEDGMENT
In this paper, application of Res to achieve separation
stage launch vehicle rocket aircraf attitude control, designed
the three-channel ReS thruster confguration, using pulse
width modulated pulse fequency (PWPF) modulation three
channel design of the launch vehicle attitude control, and
through six fee degree trajector simulation verifed the
effectiveness of design.
REFERENCES
[I) Saigul-Klijn N, Noel C, Sarigul-Klijn M. Air Launching Eath-to
Orbit Vehicles: Delta V gains fom Launch Conditions and Vehicle
Aerodynamics. AlAA 2004-872.
(2) Saigul-Klijn M, Sarigul-Klijn N, Hudson G, et a!. Trade Studies for
Air Launching a Small Launch Vehicle from a Cargo Aircraf. AIAA
2005-621.
(3) Hudson G C. QuickReach Responsive Launch System. AlAA-RS4
2006-2003.
[4) Wie H, Plesica C T. Attitude Stabilization of Flexible Spacecraf
During Stationkeeping Maneuvers. J.Guidance. 1984,7(4).
(5) Krovel T D. Optimal Tuning of PWPF Modulator for Attitude
Contro!. Norwegian University of Science and Technology, 2005.
(6) Agrawal H A, Mcclelland R S, Song G H. Attitude Control of
Flexible Spacecraf Using Pulse-Width Pulse-Frequency Modulated
Thrusters. Space Techno!. 1997, 17(1).
NJ-ZZ

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