JPH09240599A - Rocket control method by adjustment of thrust of engine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a rocket control method by the adjustment of thrust of an engine, by which three-axis attitude control and main thrust control can be independently performed without any oscillating device. SOLUTION: First to fourth variable thrust rocket engines 1 to 4 are arranged by offsetting thrust acting points of respective engines from a machine body axis at equal distances so that respective acting points may be symmetric at the distance of 90 deg., and thrust shafts are fixed by being inclined in relation to the machine body axis so that thrust may be generated clockwise in the first and third engine groups 1, 3, and that thrust may be generated counterclockwise in the second and fourth engine groups 2, 4. Therefore, three-axis attitude control and main thrust control in the machine axial direction can be independently performed by selective and uniform thrust control of respective variable thrust rocket engines.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rocket control method by adjusting thrust of an engine, which is capable of controlling three-axis attitude of a rocket and controlling main thrust without an additional device.

[0002]

2. Description of the Related Art In order for a rocket to fly normally,
In addition to adjusting the position / speed to a predetermined value (reference trajectory),
It is necessary to maintain normal posture. Conventionally, therefore, rocket engines often use a swinging device (gimbal device) of an engine and a gas jet device together for controlling the direction of thrust and controlling the attitude of a body. FIG.
FIG. 3 is a schematic diagram showing a configuration example of an engine portion of a rocket provided with an engine swinging device and a gas jet device for controlling a thrust direction and a body attitude of a conventional rocket.

In FIG. 5, reference numeral 101 denotes a rocket engine, and the rocket engine 101 is supported by a bearing 102 having a fulcrum capable of rotating in two axial directions called a gimbal, and a pitch actuator having extendable arms extending from two directions. Engine 103 with 103 and yaw actuator 104
Is mechanically changed to independently control the pitch and yaw movements. The pitch actuator 103 and the yaw actuator 104 are connected to an oil tank 105 via a hydraulic pump 106 and a hydraulic servo valve 107.
It is controlled by the hydraulic pressure from. Also,
A gas jet device for roll control is installed on the side wall of the machine body 111.
112 is provided. In the figure, 108 is an oil cooler, 109 is a drive turbine, and 110 is a universal joint (bellows).

On the other hand, recent rocket engines are required to have a thrust adjusting function for acceleration adjustment or soft landing, and a variable thrust rocket engine having such a function is being realized.

[0005]

By the way, in the rocket control system in which the thrust direction is controlled by using the engine swinging device, the actuator for driving the swinging device is accurately, precisely and accurately controlled. The problem is that rapid operation is required, a large number of mechanical parts such as a hydraulic pressure source and piping are required to drive the actuator, and a universal joint is required for the piping, resulting in high cost and limited life. was there.

The present invention has been made to solve the above problems in the conventional thrust direction control system for a rocket engine, and applies the engine thrust adjustment function of a variable thrust engine to a three-axis system without a swinging device. An object of the present invention is to provide a rocket control method by adjusting engine thrust so that attitude control and main thrust control can be performed.

[0007]

SUMMARY OF THE INVENTION In order to solve the above problems, the present invention provides at least four variable thrust rocket engines on a rocket fuselage and offsets the thrust action points of each rocket engine from the axis of the rocket fuselage. The rocket engines, the thrust axes of the rocket engines are tilted and fixed from the machine axis direction, and the thrust control of each rocket engine controls the attitude of the three axes of pitch, yaw, and roll and the main thrust of the machine axis direction. It is configured to do.

As described above, since the thrust action points of at least four variable thrust rocket engines are arranged offset from the axis, the thrust of each rocket engine is selectively adjusted and the thrust force between the rocket engines is increased. By controlling the thrust difference, motion control in the pitch and yaw axis directions can be performed independently. Also, because the thrust axis of each variable thrust rocket engine is tilted and fixed from the machine axis direction,
By controlling the thrust difference of each rocket engine, motion control in the roll axis direction can be performed independently. Further, by controlling the total thrust of the variable thrust rocket engines, the main thrust in the machine axis direction can be controlled independently.

[0009]

Next, an embodiment will be described. FIG. 1 is a schematic perspective view showing a configuration of an engine part of a rocket for explaining an embodiment of a rocket control method according to the present invention, and FIG. 2 is a schematic view of the rocket engine part seen from below. In both figures, 1 to 4 are the first to fourth variable thrust rocket engines, the thrust action points of each engine are equidistant from the fuselage axis, and the action points are spaced 90 degrees apart. Aircraft 5 to be symmetrical
And the thrust of each engine is in the direction indicated by the arrow in FIG. 2, that is, the first and third engine groups 1, 3
Is clockwise and the second and fourth engine groups 2 and 4 are fixed so as to generate thrust in a counterclockwise direction, offset slightly with respect to the body axis, for example, along the circumferential direction. There is. The thrust vector of each engine and the angle formed by the fuselage axis (mounting angle) are set to be the same. In the figure, 6 is a thrust control valve.

In the rocket engine configured as described above, the offsets of the variable thrust engines 1 to 4 are small, and therefore the total thrust of the variable thrust engines 1 to 4 is controlled without significantly impairing the main thrust component. By so doing, it becomes possible to control the three-axis attitude of pitch / yaw / roll by utilizing the thrust difference between the variable thrust engines while obtaining a predetermined acceleration.

Next, it will be described in more detail that the pitch / yaw / roll / main thrust can be controlled independently. As shown in the schematic view of the airframe of FIG. 3A and the rear view of the airframe of FIG. 3B, the distance between the thrust action points 1a to 4a of the engines 1 to 4 and the airframe axis 5a. It was a l _e, the distance between the plane 11 and the rocket centroid 12 of making in the thrust acting point of each engine and r _g, the angle between the thrust vector and the fuselage axis 5a of each engine and eta, and each engine 1-4 Let f _ei (i = 1 to 4) be the thrust of. In addition, (A) of FIG.
In (B), X _B , Y _B , and Z _B indicate fixed body coordinate axes.

Here, the pitching moment M _p , the yawing moment M _y , the rolling moment M _r , and the axial thrust F are expressed by the following equations (1) to (4), respectively. M _p = (f _e2 −f _e4 ) · le _e cos η + (f _e1 −f _e3 ) · r _g · sin η ···· (1) M _y = (− f _e1 + f _e3 ) ・l _e · cos η + (− f _e2 + f _e4 ) · r _g · sin η ········ (2) M _r = (f _e1 −f _e2 + f _e3 −f _e4 ) · l _e · sin η ・・ ・ ・ ・ (3) F = ( _{fe 1} + fe ₂ + _{fe 3} + _fe 4) ・ cos η ・ ・ ・ ・ ・ ・ (4)

The attitude control in the pitch axis direction is
The attitude control in the yaw axis direction is performed by controlling the pitching moment M _p represented by the equation (1).
The yaw moment M _y represented by the formula is controlled, the attitude control in the roll axis direction is performed by controlling the rolling moment M _r represented by the formula (3), and the main thrust is (4 ) Axial thrust F expressed by the formula
Is performed by controlling. Therefore, by controlling the thrusts f _ei (i = 1 to 4) of the engines 1 to 4, the moments M _p , shown in the above equations (1) to (4),
If the M _y , M _r and the axial thrust F can be controlled independently, the pitch / yaw / roll motion in each axial direction and the main thrust in the axial direction can be independently controlled.

The above equations (1) to (4) are applied to each engine 1 to 4
The thrusts f _e1 , f _e2 , f _e3 , and f _e4 can be expressed by the following equations (5) to (8). _{f e1 = 1/4 · k} F · F + 1/4 · k M · M r +1/2 · k r · M p +1/2 · k l · M y ············· _{···· (5) f e2 = 1} /4 · k F · F-1/4 · k M · M r -1/2 · k l · M p -1/2 · k r · M y ·· (6) f _e3 = 1/4 · k _F · F + 1/4 · k _M · M _r −1 / 2 · k _r · M _p −1 / _{2 · k l · M y ·················} (7) f e4 = 1/4 · k F · F-1/4 · k M · M r + 1 / _{2 · k l · M p +1/2} · k r · M y ················· (8) _{However, k F = 1 / cos η} k M = 1 / (L _e · sin η) k _r = (r _g · sin η) / {(r _g · sin η) ² − (l
_e · cos η) ² } k _l = (l _e · cos η) / {(r _g · sin η) ² − (l
_e・ cos η) ² }

[0015] Thus, the (5) - (8) Given the thrust _{f e1, f e2, f e3} , f e4 each engine 1-4 as type, the control target (1) to (4 The moments M _p , M _y , M _r and the axial thrust F in the equation) can be controlled independently.

Next, the fact that these can be independently controlled will be described more specifically. The thrust of each engine in the steady state and ^{_{f ei 0 (i = 1~4)}} , pitching moment, yawing moment, rolling moment, the shaft direction thrust, respectively _{^{M p 0, M y 0,}} M r 0, F 0 Then, the relational expressions are as shown in equations (1 ') to (4') or (5 ') to (8'). _{^{M p 0 = (f e2 0}} -f e4 0) · l e · cos η + (f e1 0 -f e3 0) · r g · sin η ················ ^{_{·· (1 ') M y 0}} = (- f e1 0 + f e3 0) · l e · cos η + (- f e2 0 + f e4 0) · r g · sin η ·········· ^{_{········ (2 ') M r 0}} = (f e1 0 -f e2 0 + f e3 0 -f e4 0) · l e · sin η · (3') F 0 = (f e1 0 + F _e2 ⁰ + f _e3 ⁰ + f _e4 ⁰ ) ・ cos η (4 ′) f _e1 ⁰ = 1/4 · k _F · F ⁰ + 1/4 · k _M · M _r ⁰ + 1/2 · k _r・ M _p ⁰ +1/2 ・ k _l・ M _y ⁰・ ・ ・ ・ ・ ・ ・ ・ ・ ・ ・ ・ ・ (5 ') f _e2 ⁰ = 1/4 ・ k _F・ F ⁰ -1/4 ^{_{· k M · M r 0 -1/2}} · k l · M p 0 -1/2 · k r · M y 0 ·············· (6 ') f e3 0 _{= 1/4 · k F ·} F 0 +1/4 · k M · M r 0 -1/2 · k _r · M _p ⁰ −1 / 2 · k _l · M _y ⁰・ ・ ・ ・ ・ ・ ・ ・ ・ ・ ・ ・ ・ (7 ′) f _e4 ⁰ = 1/4 · k _F · F ⁰ −1 / 4 ・ k _M・ M _r ⁰ +1/2 ・ k _l・ M _p ⁰ +1/2 ・ k _r・ M _y ⁰・ ・ ・ ・ ・ ・ ・ ・ (8 ')

(Control of Main Thrust) A case will be described in which the axial thrust is changed by ΔF in order to control the main thrust. In this case, the thrust f _ei ^{F of} each engine 1 to 4
(I = 1 to 4) is set as in equations (9) to (12).
In addition, the pitching moment, yawing moment, rolling moment, and axial thrust in this state are
_Let M _p ^F , M _y ^F , M _r ^F , and F ^F , respectively. ^{_{f e1 F = 1/4 ·}} k F · (F 0 + ΔF) +1/4 · k M · M r 0 +1/2 · k r · M p 0 +1/2 · k l · M y 0 = f e1 0 +1/4 ・ k _F・ ΔF ・ ・ ・ ・ ・ ・ ・ ・ (9) f _e2 ^F = 1/4 ・ k _F・ (F ⁰ + ΔF) -1/4 ・ k _M・ M _{r ^{0 -1/2 · k l · M p}} 0 -1/2 · k r · M y 0 = f e2 0 +1/4 · k F · ΔF ············· (10 ^{_{) f e3 F = 1/4}} · k F · (F 0 + ΔF) +1/4 · k M · M r 0 -1/2 · k r · M p 0 -1/2 · k l · M y 0 = f _e3 ⁰ + 1/4 · k _F · ΔF ・ ・ ・ ・ ・ ・ ・ ・ (11) f _e4 ^F = 1/4 · k _F · (F ⁰ + ΔF) -1 / 4 · k _{M ^{· M r 0 +1/2 · k l}} · M p 0 +1/2 · k r · M y 0 = f e4 0 +1/4 · k F · ΔF ············· ( 12)

Substituting the thrust _forces f _ei ^F (i = 1 to 4) of the engines 1 to 4 represented by the above formulas (9) to (12) into the formula (4 '), the thrust force F ^{F in} the machine axis direction is It is expressed as the following equation (13), and the thrust in the machine axis direction can be changed by ΔF. F ^F = (f _e1 ^F + f _e2 ^F + f _e3 ^F + f _e4 ^F ) · cos η = (f _e1 ⁰ + 1/4 · k _F · ΔF + f _e2 ⁰ + 1/4 · k _F · ΔF + f _e3 ⁰ + 1/4 · k _F · ΔF + f _e4 ⁰ + 1/4 · k _F · ΔF) ・ cos η = F ⁰ + ΔF ・ ・ ・ ・ ・ ・ ・ ・ ・ ・ ・ (13)

Next, when the thrust in the machine axis direction is changed by ΔF as described above, the pitch attitude angle, yaw attitude angle,
The influence of ΔF on the roll attitude angle will be described. Substituting the thrusts f _ei ^F (i = 1 to 4) of the engines 1 to 4 represented by the above equations (9) to (12) into the equations (1 ′) to (3 ′), the following equation (14) From (16), it can be seen that ΔF does not affect the pitch attitude angle, yaw attitude angle, and roll attitude angle. ^{_{M p F = (f e2 F}} -f e4 F) · l e · cos η + (f e1 F -f e3 F) · r g · sin η = (f e2 0 +1/4 · k F · ΔF-f e4 _{^{0 -1/4 · k F · ΔF)}} · l e · cos η + (f e1 0 +1/4 · k F · ΔF-f e3 0 -1/4 · k F · ΔF) · r g · sin η = ^{_{M p 0 ······················· (14) M}} y F = (- f e1 F + f e3 F) · l e · cos η + (- ^{_{f e2 F + f e4 F)}} · r g · sin η = (- f e1 0 -1/4 · k F · ΔF + f e3 0 +1/4 · k F · ΔF) · l e · cos η + (- f e2 0 ^{_{-1/4 · k F + f e4 0}} +1/4 · k F · ΔF) · r g · sin η = M y 0 ····················· ^{_{·· (15) M r F =}} (f e1 F -f e2 F + f e3 F -f e4 F) · l e · sin η = (f e1 0 +1/4 · k F · ΔF-f e2 0 -1 / 4 · k _F · ΔF + f _e3 ⁰ + 1/4 · k ^{_{F · ΔF-f e4 0 -1/4}} · k F · ΔF) · r g · sin η = M r 0 ······················· (16)

(Control of Pitch Attitude Angle) A case will be described in which the pitching moment is changed by ΔM _p in order to control the pitch attitude angle. In this case, the thrust _force f _ei ^Mp (i = 1 to 4) of each engine 1 to 4 is calculated by the following equation (17) to
Set as shown in equation (20). Furthermore, pitching moment in this state, a yawing moment, rolling moment, the shaft direction thrust, M _p ^Mp respectively, M _y ^Mp,
_Let M _r ^Mp and F ^Mp . f _e1 ^Mp = 1/4 · k _F · F ⁰ + 1/4 · k _M · M _r ⁰ + 1/2 · k _r · (M _p ⁰ + ΔM _p ) + 1/2 · k _l · M _y ⁰ = f _{e1 ^{0 +1/2 · k r · ΔM p}} ············ (17) f e2 Mp = 1/4 · k F · F 0 -1/4 · k M · M r 0 - _{1/2 · k l · (M p} 0 + ΔM p) -1/2 · k r · M y 0 = f e2 0 -1/2 · k l · ΔM p ··········· ^{_{· (18) f e3 Mp =}} 1/4 · k F · F 0 +1/4 · k M · M r 0 -1/2 · k r · (M p 0 + ΔM p) -1/2 · k l · ^{_{M y 0 = f e3 0 -1/2}} · k r · ΔM p ············ (19) f e4 Mp = 1/4 · k F · F 0 -1/4 · ^{_{k M · M r 0 +1/2 ·}} k l · (M p 0 + ΔM p) +1/2 · k r · M y 0 = f e4 0 +1/2 · k l + ΔM p ········・ ・ ・ ・ (20)

Substituting the thrusts f _ei ^Mp (i = 1 to 4) of the engines 1 to 4 represented by the above equations (17) to (20) into the equation (1 '), the pitching moment M _p ^Mp is Formula (21)
The pitching moment can be changed by ΔM _p . ^{_{M p Mp = (f e2 Mp}} -f e4 Mp) · l e · cos η + (f e1 Mp -f e3 Mp) · r g · sin η = (f e2 0 -1/2 · k l · ΔM p - f _e4 ⁰ −1 / 2 · k _l · ΔM _p ) · l _e · cos η + (f _e1 ⁰ + 1/2 · k _r · ΔM _p −f _e3 ⁰ +1/2 · k _r · ΔM _p ) · r _{g ^{· sin η = M p 0 -k}} l · ΔM p · l e · cos η + k r · ΔM p · r g · sin η = M p 0 + ΔM p ··············· ····(twenty one)

Next, the influence of ΔM _p on the yaw attitude angle, the roll attitude angle and the main thrust when the pitching moment is changed by ΔM _p to control the pitch attitude angle will be described. Substituting the thrusts f _ei ^Mp (i = 1 to 4) of the respective engines 1 to 4 represented by the above equations (17) to (20) into the equations (2 ′) to (4 ′), the following equation (22) ~ (2
As shown in 4), it can be seen that ΔM _p does not affect the yaw attitude angle, roll attitude angle, and main thrust. ^{_{M y Mp = (- f e1}} Mp + f e3 Mp) · l e · cos η + (- f e2 Mp + f e4 Mp) · r g · sin η = (- f e1 0 -1/2 · k r · ΔM p + F _e3 ⁰ −1 / 2 · k _r · ΔM _p ) · _e · cos η + (− f _e2 ⁰ + 1/2 · k _l · ΔM _p + f _e4 ⁰ + 1/2 · k _l · ΔM _p ) · r _{g ^{· sin η = M y 0 -k}} r · ΔM p · l e · cos η + k l · ΔM p · r g · sin η = M y 0 ················· ^{_{······ (22) M r Mp =}} (f e1 Mp -f e2 Mp + f e3 Mp -f e4 Mp) · l e · sin η = (f e1 0 +1/2 · k r · ΔM p - ^{_{f e2 0 +1/2 · k l ·}} ΔM p + f e3 0 -1/2 · k r · ΔM p -f e4 0 -1/2 · k l · ΔM p) · l e · sin η = M r 0 (23) F ^Mp = (f _e1 ^Mp + f _e2 ^Mp + f _e3 ^Mp + f _e4 ^Mp ) ・ cos η = (f _e1 ⁰ + 1/2 · k _r · ΔM _{p ^{+ F e2 0 -1/2 · k l}} · ΔM p + f e3 0 -1/2 · k r · ΔM p + f e4 0 +1/2 · k l · ΔM p) · l e · sin η = F 0 ·· ·······················(twenty four)

(Control of yaw attitude angle) A case will be described in which the yawing moment is changed by ΔM _y in order to control the yaw attitude angle. In this case, each engine 1
〜4 thrust f _ei ^My (i = 1 to 4) is calculated by the following equations (25) to (28).
Set as follows. Further, the pitching moment, yawing moment, rolling moment, and axial thrust in this state are M _p ^My , ^My _Y ^,,
_{Let it be Mr} ^My and F ^My . f _e1 ^My = 1/4 · k _F · F ⁰ + 1/4 · k _M · M _r ⁰ + 1/2 · k _r · M _p ⁰ + 1/2 · k _l · (M _y ⁰ + ΔM _y ) = f _e1 ⁰ + 1/2 · k _l · ΔM _y ····· (25) fe ₂ ^My = 1/4 · k _F · F ⁰ −1 / 4 · k _M · M _r ⁰ − ^{_{1/2 · k l · M p 0}} -1/2 · k r · (M y 0 + ΔM y) = f e2 0 -1/2 · k r · ΔM y ··········· ^{_{· (26) f e3 My =}} 1/4 · k F · F 0 +1/4 · k M · M r 0 -1/2 · k r · M p 0 -1/2 · k l · (M y 0 + ΔM _y ) = f _e3 ⁰ −1 / 2 · k _l · ΔM _y・ ・ ・ ・ ・ ・ ・ ・ ・ ・ (27) f _e4 ^My = 1/4 · k _F · F ⁰ −1 / 4 · k _M · M _r ⁰ +1/2 · k _l · M _p ⁰ + 1/2 · k _r · (M _y ⁰ + ΔM _y ) = _{fe 4} ⁰ + 1/2 · k _r · ΔM _y ···· (28)

[0024] Substituting the above (25) to (28) thrust f _ei ^My each engine 1-4 of the formula (i = 1 to 4) (2 ') wherein yawing moment M _y ^My is Formula (29)
The yawing moment can be changed by ΔM _y . ^{_{M y My = (- f e1}} My + f e3 My) · l e · cos η + (- f e2 My + f e4 My) · r g · sin η = (- f e1 0 -1/2 · k l · ΔM y + F _e3 ⁰ −1 / 2 · k _l · ΔM _y ) · _e · cos η + (− f _e2 ⁰ + 1/2 · k _r · ΔM _y + f _e4 ⁰ + 1/2 · k _r · ΔM _y ) · r _{g ^{· sin η = M y 0 -k}} l · ΔM y · l e · cos η + k r · ΔM y · r g · sin η = M y 0 + ΔM y ···············・ ・ ・ ・ (29)

Next, the influence of ΔM _y on the pitch attitude angle, roll attitude angle and main thrust when the yawing moment is changed by ΔM _y in order to control the yaw attitude angle will be described. Substituting the thrusts f _ei ^My (i = 1 to 4) of the engines 1 to 4 represented by the above equations (25) to (28) into the equations (1 ′), (3 ′) and (4 ′), Expressions (30) to (32) are obtained, and ΔM _y is the pitch attitude angle,
It can be seen that the roll attitude angle and the main thrust are not affected. ^{_{M p My = (f e2 My}} -f e4 My) · l e · cos η + (f e1 My -f e3 My) · r g · sin η = (f e2 0 -1/2 · k r · ΔM y - f _e4 ⁰ −1 / 2 · k _r · ΔM _y ) · l _e · cos η + (f _e1 ⁰ + 1/2 · k _l · ΔM _y −f _e3 ⁰ +1/2 · k _l · ΔM _y ) · r _g・ Sin η = M _p ⁰ −k _r · ΔM _y · l _e · cos η + k _l · ΔM _y · r _g + sin η = M _p ^{0 _{····· (30) M r My =}} (f e1 My -f e2 My + f e3 My -f e4 My) · l e · sin η = (f e1 0 +1/2 · k l · ΔM y -f ^{_{e2 0 +1/2 · k r · ΔM}} y + f e3 0 -1/2 · k l · ΔM y -f e4 0 -1/2 · k r · ΔM y) · l e · sin η = M r 0 ·・ ・ ・ ・ ・ ・ ・ ・ ・ (31) F ^My = ( _{fe 1} ^My + fe ₂ ^My + _{fe 3} ^My + _{fe 4} ^My ) ・ cos η = ( _{fe 1} ⁰ _{+1/2 · k l · ΔM y +} f e ^{_{2 0 -1/2 · k r · ΔM}} y + f e3 0 -1/2 · k l · ΔM y + f e4 0 +1/2 · k r · ΔM y) · l e · sin η = F 0 ···・ ・ ・ ・ ・ ・ ・ ・ ・ (32)

(Control of Roll Attitude Angle) Next, a case will be described in which the rolling moment is changed by ΔM _r in order to control the roll attitude angle. In this case, the thrust _force f _ei ^Mr (i = 1 to 4) of each engine 1 to 4 is calculated by the following equation (3
3) Set as shown in (36). In this state, the pitching moment, yawing moment, rolling moment, and thrust in the machine axis direction are M _p ^Mr and M _y , respectively.
^Mr, M _r ^Mr, and F ^{Mr. _{f e1 Mr = 1/4 ·}} k F · F 0 +1/4 · k M · (M r 0 + ΔM r) +1/2 · k r · M p 0 +1/2 · k l · M y 0 = f e1 ⁰ + 1/4 · k _M · ΔM _r ····· (33) f _e2 ^Mr = 1/4 · k _F · F ⁰ −1 / 4 · k _M · (M _r ⁰ _{+ ΔM r) -1/2 · k l} · M p 0 -1/2 · k r · M y 0 = f e2 0 -1/4 · k M · ΔM r ··········· ^{_{· (34) f e3 Mr =}} 1/4 · k F · F 0 +1/4 · k M · (M r 0 + ΔM r) -1/2 · k r · M p 0 -1/2 · k l · ^{_{M y 0 = f e3 0 +1/4}} · k M · ΔM r ············ (35) f e4 Mr = 1/4 · k F · F 0 -1/4 · k ^{_{M · (M r 0 + ΔM}} r) +1/2 · k l · M p 0 +1/2 · k r · M y 0 = f e4 0 -1/4 · k M · ΔM r ······· (36)

[0027] Substituting the above (33) - thrust f _ei ^Mr of each engine 1-4 of the formula (36) formula (i = 1 to 4) (3 ') below, the rolling moment M _r ^Mr is Formula (37)
The rolling moment can be changed by ΔM _r . ^{_{M r Mr = (f e1 Mr}} -f e2 Mr + f e3 Mr -f e4 Mr) · l e · sin η = (f e1 0 +1/4 · k M · ΔM r -f e2 0 +1/4 · k M ^{_{· ΔM r + f e3 0 +1/4}} · k M · ΔM r -f e4 0 +1/4 · k M · ΔM r) · l e · sin η = M r 0 + ΔM r ········· (37)

Next, the influence of ΔM _r on the pitch attitude angle, the yaw attitude angle, and the main thrust when the rolling moment is changed by ΔM _r in order to control the roll attitude angle will be described. Substituting the thrust _forces f _ei ^Mr (i = 1 to 4) of the engines 1 to 4 represented by the above equations (33) to (36) into the equations (1 ′), (2 ′) and (4 ′), The following equations (38) to (40) are obtained, and ΔM _r is the pitch attitude angle,
It can be seen that the yaw attitude angle and main thrust are not affected. M _p ^Mr = (f _e2 ^Mr −f _e4 ^Mr ) · le _e cos η + (f _e1 ^Mr −f _e3 ^Mr ) · r _g · sin η = (f _e2 ⁰ −1 / 4 · k _M · ΔM _r − f _e4 ⁰ + 1/4 · k _M · ΔM _r ) · le _e cos η + (f _e1 ⁰ + 1/4 · k _M · ΔM _r −f _e3 ⁰ +1/4 ・ k _M · ΔM _r ) · r _g · sin η = M _p ⁰ ······ (38) M _y ^Mr = (-f _e1 ^Mr + f _e3 ^Mr ) · _e · sin ^{_{η + (- f e2 Mr +}} f e4 Mr) · r g · sin η = (- f e1 0 -1/4 · k M · ΔM r + f e3 0 +1/4 · k M · ΔM r) · l e · cos η + (-f _e2 ⁰ +1/4 ・ k _M・ ΔM _r + f _e4 ⁰ -1/4 ・ k _M・ ΔM _r ) r _g・ sin η = M _r ⁰ ... ^{··········· (39) F Mr = (} f e1 Mr + f e2 Mr + f e3 Mr + f e4 Mr) · cos η = (f e1 0 +1/4 · k M · ΔM r + f e2 ⁰ -1/4 · k _M · ^{_{M r + f e3 0 +1/4 ·}} k M · ΔM r + f e4 0 -1/4 · k M · ΔM r) · l e · sin η = F 0 ·············・ ・ ・ ・ ・ ・ ・ ・ ・ ・ ・ ・ (40)

In the description of the above embodiment and the three-axis attitude control of thrust in the machine axis direction and roll / pitch / yaw, 4
Based on the one using a variable thrust engine, the number of variable thrust engines is at least 4 or more. The thrust can be controlled independently. For example, when 5 engines are used, 4 engines are arranged in the same manner as in the above embodiment,
The remaining one group may be arranged on the machine axis without offset, and in the case of six groups, the arrangement mode as shown in (A) or (B) of FIG. 4 is used. In addition, (A) of FIG.
In (B), arrows indicate the direction of force of each engine.

[0030]

As described above based on the embodiments, according to the present invention, the axial thrust and the roll / pitch / yaw triaxial postures are independently controlled only by the thrust control of the variable thrust engine. Since the swinging device and the gas jet device are not required, the structure of the rocket can be simplified, and the weight can be reduced (the payload weight can be increased).

[Brief description of drawings]

FIG. 1 is a perspective view showing a configuration of an engine portion of a rocket for explaining an embodiment of a rocket control method according to the present invention.

FIG. 2 is a schematic view of the engine portion shown in FIG. 1 seen from below.

FIG. 3 is an explanatory diagram for explaining the operation of the rocket engine shown in FIGS. 1 and 2.

FIG. 4 is a diagram showing an arrangement mode when six variable thrust rocket engines are used.

FIG. 5 is a schematic diagram showing a configuration example of an engine portion of a conventional rocket.

[Explanation of symbols]

 1 1st variable thrust rocket engine 2 2nd variable thrust rocket engine 3 3rd variable thrust rocket engine 4 4th variable thrust rocket engine 1a, 2a, 3a, 4a Thrust action point of each engine 5 Airframe 5a Airframe axis 11 Plane created by thrust points of each engine 12 Center of gravity of rocket

Claims (1)

[Claims] 1. At least four variable thrust rocket engines are arranged on a rocket vehicle such that the thrust action points of each rocket engine are offset from the machine axes of the rocket vehicles, and the thrust axes of each rocket engine are in the machine axis direction. From the rocket by adjusting the thrust of the engine, the attitude control of the three axes of pitch, yaw and roll and the control of the main thrust in the machine axis direction are performed by controlling the thrust of each rocket engine. Control method.