阅读说明：本技术 一种电机驱动的脉冲推力姿控装置 (Pulse thrust attitude control device driven by motor ) 是由 于剑桥 李世鹏 胡俊 吴小胜 于 2021-09-13 设计创作，主要内容包括：本发明公开了一种电机驱动的脉冲推力姿控装置,涉及制导弹箭技术领域,包括：支撑结构、电机定子、电机转子、脉冲发动机组件和点火控制电路板；所述支撑结构两端为圆盘结构,并同轴安装在外部飞行器的头部和机身之间；所述电机定子、电机转子、脉冲发动机组件和点火控制电路板顺序支撑在支撑结构两端圆盘之间；其中,点火控制电路板上设有角度传感器；点火控制电路板上设有点火控制电路,用于驱动脉冲发动机组件点火。(The invention discloses a pulse thrust attitude control device driven by a motor, which relates to the technical field of guided missiles and arrows and comprises the following components: the ignition control circuit board comprises a supporting structure, a motor stator, a motor rotor, a pulse engine assembly and an ignition control circuit board; the two ends of the supporting structure are of disc structures and are coaxially arranged between the head and the fuselage of the external aircraft; the motor stator, the motor rotor, the pulse engine assembly and the ignition control circuit board are sequentially supported between discs at two ends of the supporting structure; wherein, the ignition control circuit board is provided with an angle sensor; and the ignition control circuit board is provided with an ignition control circuit for driving the pulse engine assembly to ignite.)

1. A motor-driven pulsed thrust attitude control device is characterized by comprising: the ignition control device comprises a supporting structure, a motor stator (2), a motor rotor (3), a pulse engine assembly (4) and an ignition control circuit board (5); the two ends of the supporting structure are of disc structures and are coaxially arranged between the head and the fuselage of the external aircraft; the motor stator (2), the motor rotor (3), the pulse engine assembly (4) and the ignition control circuit board (5) are sequentially supported between discs at two ends of the supporting structure; wherein, an angle sensor is arranged on the ignition control circuit board (5); and an ignition control circuit is arranged on the ignition control circuit board (5) and is used for driving the pulse motor assembly (4) to ignite.

2. The motor-driven pulsed thrust attitude control device according to claim 1, wherein the support structure comprises: a supporting seat (1) and a top cover (6);

the supporting seat (1) is a revolving body structure consisting of a disc and a cylindrical shaft; the diameter of the disc is consistent with that of the aircraft, a circle of annular flanging is integrally connected to each of the two axial ends of the disc, the annular flanging at the lower end of the disc is fixedly connected with the aircraft body, and the annular flanging at the upper end of the disc is fixedly connected with the motor stator (2); the lower end of the cylindrical shaft is fixed in the center of the upper end of the disc, and the upper end of the cylindrical shaft is provided with external threads for connecting with a top cover (6);

the top cover (6) is of a disc structure, and the upper end in the axial direction of the top cover is integrally connected with an annular flange which is fixedly connected with the head of the aircraft; the lower end face of the top cover (6) is provided with a threaded hole with the same diameter as the cylindrical shaft of the supporting seat (1) and is used for being connected with the cylindrical shaft of the supporting seat (1).

3. The motor-driven pulsed thrust attitude control device according to claim 2, wherein a rectangular groove is provided on the outer circumferential surface of the cylindrical shaft in the support base (1) as an angle measurement reference of the angle sensor on the ignition control circuit board (5).

4. A motor-driven pulsed thrust attitude control device according to claim 2 or 3, characterized in that the motor stator (2) comprises: a motor housing (7) and a stator magnet (8);

the motor shell (7) is of an annular structure, and the lower end of the motor shell is fixedly connected with the supporting seat 1; the inner wall surface of the upper end of the motor shell (7) is provided with a clamping groove for mounting the stator magnet (8).

5. The motor-driven pulsed thrust attitude control device according to claim 4, characterized in that the motor rotor (3) comprises: a rotor support (9) and a rotor winding (10);

the rotor bracket (9) is a revolving body structure formed by compounding a disc and a round pipe, and the opposite end of one end of the disc, which is provided with the round pipe, is provided with an annular flange which is used for being fixedly connected with the pulse engine assembly (4); a cylindrical shaft on the supporting seat (1) can penetrate through a circular tube of the rotor bracket (9), and a rotor winding (10) is arranged on the circular tube;

the rotor winding (10) is formed by winding a conducting wire externally wrapped with an insulating material, the stator magnet (8) is made of a magnetic material, and the stator magnet (8) and the electrified rotor winding (10) interact to generate an electromagnetic driving force.

6. The motor-driven pulse thrust attitude control device according to claim 5, wherein three or more stator magnets (8) are uniformly provided on the inner wall surface of the motor housing (7) in the circumferential direction, and three or more mounting arms are uniformly provided on the outer circumferential surface of the circular tube of the rotor holder (9) in the circumferential direction for mounting three or more rotor windings (10); wherein, the stator magnet (8) is arc-shaped.

7. The motor-driven pulsed thrust attitude control device according to claim 5, characterized in that the pulse motor assembly (4) comprises: a pulse engine mounting seat (11) and a pulse engine (12); the pulse engine mounting seat (11) is of a cylindrical structure, the lower end of the pulse engine mounting seat is fixedly connected with the rotor support (9), and a step is arranged inside the upper end of the pulse engine mounting seat and used for mounting the ignition control circuit board (5); more than one row of stepped hole groups are axially arranged on the wall surface of the pulse engine mounting seat (11), and more than two stepped through holes are circumferentially distributed in each row of stepped hole groups;

the large diameter end of each stepped through hole is provided with an internal thread for matching with an external thread of the large end of the pulse engine (12), and the small diameter end of each stepped through hole is a unthreaded hole for placing the small end of the pulse engine (12).

8. An electric motor driven pulsed thrust attitude control device according to claim 2 or 3 or 5 or 6, characterized in that said pulse motor assembly (4) comprises: a pulse engine mounting seat (11) and a pulse engine (12); the pulse engine mounting seat (11) is of a cylindrical structure, the lower end of the pulse engine mounting seat is fixedly connected with the motor rotor (3), and a step is arranged inside the upper end of the pulse engine mounting seat and used for mounting the ignition control circuit board (5); more than one row of stepped hole groups are axially arranged on the wall surface of the pulse engine mounting seat (11), and more than two stepped through holes are circumferentially distributed in each row of stepped hole groups;

the large-diameter end of each stepped through hole is provided with an internal thread which is used for being matched with an external thread at the large end of the pulse engine (12), and the small-diameter end of each stepped through hole is a unthreaded hole which is used for placing the small end of the pulse engine (12); and an ignition control circuit is arranged on the ignition control circuit board (5) and is used for controlling the pulse engine (12) to ignite.

9. The motor-driven pulse thrust attitude control device according to claim 8, wherein the ignition control circuit board (5) has a disk shape with a through hole at its center for passing the cylindrical axis of the support base (1).

10. The motor-driven pulsed thrust attitude control device according to claim 8, characterized in that the pulse motor (12) is composed of a housing (13), a propellant (14) and an igniter; the shell (13) is of a stepped shaft-shaped structure, the large end of the shell is provided with an external thread, and the outer circumferential surface of the small end of the shell is a smooth surface and is used for being matched with a stepped through hole shaft hole in the pulse engine mounting seat (11); the inside of the large end of the shell (13) is provided with a horn-shaped nozzle, the inside of the small end is provided with a round hole, and the propellant (14) is arranged inside the small end; the igniter is arranged inside the small end of the shell (13) and is connected with the ignition control circuit board (5).

Technical Field

The invention relates to the technical field of guided missiles and arrows, in particular to a pulse thrust attitude control device driven by a motor.

Background

The rocket aircraft is widely applied to the military field, and the pulse thrust attitude control device is a control execution mechanism widely applied to rotary guided rockets. The existing pulse thrust attitude control device is generally provided with a plurality of pulse engines on the surface, and the working principle is as follows: and generating a pulse engine ignition instruction according to the control instruction and the roll angle of the aircraft, controlling the pulse engine at the corresponding position to ignite, and changing the attitude and the flight path of the aircraft by means of the thrust generated by the sub-engines. Because the pulse engine is disposable, the pulse thrust attitude control device needs to rotate around the axis of the pulse thrust attitude control device to generate control force for a plurality of times in a certain direction. The traditional pulse thrust attitude control device is fixedly connected with a projectile body, and the control force in the specified direction meeting the control instruction requirement needs to be generated by the spinning of the projectile body around a projectile shaft.

However, under the condition that the rolling angle of the aircraft needs to be ensured to be stable (for example, in a rocket aircraft using an image guidance head or a platform guidance head, in order to ensure reliable operation of the guidance head, the rotation speed of a projectile body cannot exceed 1 revolution/second), the rocket cannot spin around the axis of the rocket, and the traditional pulse thrust attitude control device cannot generate expected control force. Therefore, a pulse thrust attitude control device needs to be developed to ensure that the pulse thrust attitude control device can effectively work on a rocket aircraft adopting an image guide head or a platform type guide head.

Disclosure of Invention

In view of the above, the invention provides a pulse thrust attitude control device driven by a motor, which is used for controlling the attitude of a rocket aircraft, the pulse thrust attitude control device is driven to rotate around the axis of the pulse thrust attitude control device by the rotation of the motor, and the rotation angle of the pulse thrust attitude control device relative to the rocket aircraft is measured by an angle sensor, so that the number and the position of pulse engines working in each control period are determined, and the attitude and the track of the rocket aircraft are controlled.

The technical scheme of the invention is as follows: a motor-driven pulsed thrust attitude control device, comprising: the ignition control circuit board comprises a supporting structure, a motor stator, a motor rotor, a pulse engine assembly and an ignition control circuit board; the two ends of the supporting structure are of disc structures and are coaxially arranged between the head and the fuselage of the external aircraft; the motor stator, the motor rotor, the pulse engine assembly and the ignition control circuit board are sequentially supported between discs at two ends of the supporting structure; wherein, the ignition control circuit board is provided with an angle sensor; and the ignition control circuit board is provided with an ignition control circuit for driving the pulse engine assembly to ignite.

Preferably, the support structure comprises: a supporting seat and a top cover;

the supporting seat is a revolving body structure consisting of a disc and a cylindrical shaft; the diameter of the disc is consistent with that of the aircraft, a circle of annular flanging is integrally connected to each of the two axial ends of the disc, the annular flanging at the lower end of the disc is fixedly connected with the aircraft body, and the annular flanging at the upper end of the disc is fixedly connected with the motor stator; the lower end of the cylindrical shaft is fixed in the center of the upper end of the disc, and the upper end of the cylindrical shaft is provided with external threads for connecting with the top cover;

the top cover is of a disc structure, and the upper end of the top cover in the axial direction is integrally connected with an annular flange which is fixedly connected with the head of the aircraft; the lower end face of the top cover is provided with a threaded hole with the same diameter as the cylindrical shaft of the supporting seat, and the threaded hole is used for being connected with the cylindrical shaft of the supporting seat.

Preferably, a rectangular groove is formed in the outer circumferential surface of the cylindrical shaft in the support seat and used as an angle measurement reference of an angle sensor on the ignition control circuit board.

Preferably, the motor stator includes: a motor housing and a stator magnet;

the motor shell is of an annular structure, and the lower end of the motor shell is fixedly connected with the supporting seat 1; the inner wall surface of the upper end of the motor shell is provided with a clamping groove for mounting the stator magnet.

Preferably, the motor rotor includes: a rotor support and a rotor winding;

the rotor bracket is a revolving body structure formed by compounding a disc and a circular tube, and the opposite end of one end of the disc, which is provided with the circular tube, is provided with an annular flange for fixedly connecting with the pulse engine assembly; the cylindrical shaft on the supporting seat can penetrate through a circular tube of the rotor bracket, and a rotor winding is arranged on the circular tube;

the rotor winding is formed by winding a conducting wire with an insulating material wrapped outside, the stator magnet is made of a magnetic material, and the stator magnet and the electrified rotor winding interact to generate an electromagnetic driving force.

Preferably, more than three stator magnets are uniformly arranged on the inner wall surface of the motor shell along the circumferential direction, and more than three mounting arms are uniformly arranged on the outer circumferential surface of the circular tube of the rotor support along the circumferential direction and used for mounting more than three rotor windings; wherein, the stator magnet is arc.

Preferably, the pulse motor assembly comprises: the pulse engine mounting seat and the pulse engine; the pulse engine mounting seat is of a cylindrical structure, the lower end of the pulse engine mounting seat is fixedly connected with the rotor support, and a step is arranged inside the upper end of the pulse engine mounting seat and used for mounting the ignition control circuit board; more than one row of stepped hole groups are axially arranged on the wall surface of the pulse engine mounting seat, and more than two stepped through holes are circumferentially distributed in each row of stepped hole groups;

the large diameter end of each stepped through hole is provided with an internal thread for matching with the external thread of the large end of the pulse engine, and the small diameter end is a unthreaded hole for placing the small end of the pulse engine.

Preferably, the pulse motor assembly comprises: the pulse engine mounting seat and the pulse engine; the pulse engine mounting seat is of a cylindrical structure, the lower end of the pulse engine mounting seat is fixedly connected with the motor rotor, and a step is arranged inside the upper end of the pulse engine mounting seat and used for mounting the ignition control circuit board; more than one row of stepped hole groups are axially arranged on the wall surface of the pulse engine mounting seat, and more than two stepped through holes are circumferentially distributed in each row of stepped hole groups;

the large-diameter end of each stepped through hole is provided with an internal thread which is used for being matched with an external thread at the large end of the pulse engine, and the small-diameter end of each stepped through hole is a unthreaded hole which is used for placing the small end of the pulse engine; and the ignition control circuit board is provided with an ignition control circuit for controlling the pulse engine to ignite.

Preferably, the ignition control circuit board is disc-shaped, and a through hole is formed in the center of the ignition control circuit board and is used for enabling the cylindrical shaft of the supporting seat to penetrate through.

Preferably, the pulse engine consists of a housing, a propellant and an igniter; the shell is of a stepped shaft-shaped structure, the large end of the shell is provided with external threads, and the outer circumferential surface of the small end of the shell is a smooth surface and is used for being matched with a stepped through hole shaft hole in the pulse engine mounting seat; the inside of the large end of the shell is provided with a horn-shaped nozzle, the inside of the small end is provided with a round hole, and the propellant is arranged inside the small end; the igniter is arranged inside the small end of the shell and is connected with the ignition control circuit board.

Has the advantages that:

1. the pulse thrust attitude control device provided by the invention is driven to rotate by the motor, and meanwhile, the rotating motion of the pulse thrust attitude control device is isolated from the rolling motion of the aircraft body, so that the effective work of the pulse thrust attitude control device is realized under the condition that the aircraft body does not roll, the application range of the pulse thrust attitude control device is expanded, and the pulse thrust attitude control device can be used on a rolling stable aircraft.

2. The specific design of the supporting mechanism in the invention is beneficial to stably installing the pulse thrust attitude control device between the head and the fuselage of the aircraft, and effectively installing the motor, the pulse engine assembly and the ignition control circuit board, thereby effectively simplifying the structural installation.

3. The structural design of the motor stator can ensure that the motor stator is stably arranged on the cylindrical shaft of the supporting seat and can be accurately matched with the electronic rotor, so that the pulse engine unit is driven.

4. The structural design of the motor rotor can ensure that the motor rotor is stably arranged on the cylindrical shaft of the supporting seat and can be accurately matched with the electronic stator; meanwhile, the material selection of the rotor winding and the stator magnet is favorable for the interaction between the rotor winding and the stator magnet to generate electromagnetic driving force, so that the pulse engine set is driven.

5. According to the specific design of the pulse engine assembly, the ignition control circuit board and the pulse engines are effectively integrated on one pulse engine mounting seat, so that the motor can conveniently control the action of different pulse engines, and efficient attitude control is realized.

Drawings

Fig. 1 is a schematic view of an installation position of a pulsed thrust attitude control device on an aircraft.

Fig. 2 is an exploded view of the overall structure of the impulse thrust attitude control device according to the present invention.

Fig. 3 is an isometric view of the overall structure of the impulse thrust attitude control device proposed by the present invention.

FIG. 4 is a schematic structural view of the supporting base of the present invention.

Fig. 5 is a schematic view of a stator of the motor of the present invention.

Fig. 6 is a schematic view of a motor housing according to the present invention.

Fig. 7(a) is a perspective view of a motor rotor according to the present invention, and (b) is a bottom view of the motor rotor according to the present invention.

Fig. 8(a) is a schematic view of a rotor frame according to the present invention, and (b) is a schematic view of a rotor frame according to the present invention.

Fig. 9 is a schematic diagram of an impulse engine assembly according to the present invention.

Fig. 10(a) is a perspective view of the pulse motor mount according to the present invention, and (b) is a front view of the pulse motor mount according to the present invention.

Fig. 11(a) is a perspective view of the pulse motor of the present invention, and (b) is a sectional view of the pulse motor of the present invention.

The device comprises a 0-pulse thrust attitude control device, a 1-supporting seat, a 2-motor stator, a 3-motor rotor, a 4-pulse engine unit, a 5-ignition control circuit board, a 6-top cover, a 7-motor shell, an 8-stator magnet, a 9-rotor support, a 10-rotor winding, an 11-pulse engine mounting seat, a 12-pulse engine, a 13-shell and a 14-propellant.

Detailed Description

The invention is described in detail below by way of example with reference to the accompanying drawings.

The embodiment provides a pulse thrust attitude control device driven by a motor, which is used for controlling the attitude of a rocket aircraft, the pulse thrust attitude control device is driven to rotate around the axis of the pulse thrust attitude control device by the rotation of the motor, and the rotation angle of the pulse thrust attitude control device relative to the aircraft is measured by an angle sensor, so that the number and the position of pulse engines working in each control period are determined, and the attitude and the track of the aircraft are controlled.

As shown in fig. 1, the pulsed thrust attitude control device 0 is installed coaxially with an external aircraft, and the pulsed thrust attitude control device 0 is close to the head position of the aircraft (between the head and the fuselage);

as shown in fig. 2 and 3, the pulsed thrust attitude control device 0 includes: the ignition control device comprises a supporting seat 1, a motor stator 2, a motor rotor 3, a pulse engine unit 4, an ignition control circuit board 5 and a top cover 6;

as shown in fig. 4, the supporting seat 1 is a revolving body structure formed by compounding a disc and a cylindrical shaft; the diameter of the disc is consistent with that of the aircraft, a circle of annular flanging is integrally connected to each of the two axial ends of the disc, more than three threaded holes are formed in each annular flanging along the circumferential direction, the annular flanging at the lower end of the disc is connected with the aircraft body of the aircraft and fastened through screws, and the annular flanging at the upper end of the disc is connected with the motor stator 2 and fastened through screws; the diameter of the cylindrical shaft is smaller than that of the disc, the lower end of the cylindrical shaft is arranged in the center of the upper end of the disc and is integrally formed with the disc, and the upper end of the cylindrical shaft is provided with external threads for connecting with the top cover 6, so that the top cover 6 is supported on the supporting seat 1; a rectangular groove is arranged on the outer circumference of the cylindrical shaft and is used as an angle measurement reference of an angle sensor on the ignition control circuit board 5;

the top cover 6 is of a disc structure, the upper end of the top cover in the axial direction is integrally connected with an annular flange, and a circle of threaded holes are formed in the annular flange and are used for being fixedly connected with the head of an aircraft; the lower end face of the top cover 6 is provided with a threaded hole with the same diameter as the cylindrical shaft of the supporting seat 1 and used for being connected with the cylindrical shaft of the supporting seat 1; the supporting seat 1 and the top cover 6 jointly form a supporting mechanism of the pulse thrust attitude control device 0, and the supporting mechanism is used for connecting the pulse thrust attitude control device 0 with the aircraft body and supporting the motor and pulse engine assembly 4; the motor is composed of a motor stator 2 and a motor rotor 3.

In the present embodiment, as shown in fig. 5, the motor stator 2 includes: a motor housing 7 and a stator magnet 8; the motor shell 7 is of an annular structure, and a circle of threaded holes are formed in the outer circumferential surface of the lower end of the motor shell and are fixedly connected with the supporting seat 1; as shown in fig. 6, a slot is formed on the inner wall surface of the upper end of the motor housing 7 for mounting the stator magnet 8; the stator magnet 8 is arc-shaped and made of magnetic materials, and is used for generating electromagnetic driving force through interaction with the electrified rotor winding 10;

as shown in fig. 7, the motor rotor 3 includes: rotor support 9 and rotor winding 10; as shown in fig. 8, the rotor support 9 is a revolving body structure formed by compounding a disc and a circular tube, and the opposite end of the disc at the end provided with the circular tube is provided with an annular flange for fixedly connecting with a pulse engine mounting seat 11 in the pulse engine unit 4; the cylindrical shaft on the supporting seat 1 can penetrate through a circular tube of the rotor support 9, and more than three mounting arms are uniformly arranged on the outer circumferential surface of the circular tube along the circumferential direction and used for mounting more than three rotor windings 10; each rotor winding 10 is formed by winding a conducting wire wrapped with an insulating material, when current is conducted in the rotor winding, an electromagnetic field can be generated and interacts with the magnetic force of the stator magnet 8, and the motor rotor 3 is driven to rotate around the cylindrical shaft of the supporting seat 1.

In this embodiment, the inner wall surface of the motor housing 7 is uniformly provided with three or more slots along the circumferential direction, so that three or more stator magnets 8 are uniformly arranged along the circumferential direction to cooperate with three or more rotor windings 10.

In this embodiment, as shown in fig. 9, the pulse engine unit 4 further includes: a pulse motor 12; as shown in fig. 10, the pulse engine mounting seat 11 is a cylindrical structure, the lower end of the pulse engine mounting seat is circumferentially provided with a circle of threaded holes for fixedly connecting with the rotor support 9, and the upper end of the pulse engine mounting seat is internally provided with a step, so that the ignition control circuit board 5 is coaxially arranged inside the upper end of the pulse engine mounting seat 11 and is in interference fit with the ignition control circuit board 5; more than one row of stepped hole groups are axially arranged on the wall surface of the pulse engine mounting seat 11, and each row of stepped hole groups are circumferentially distributed (preferably uniformly distributed along the circumferential direction) with more than two stepped through holes; wherein, the larger diameter end of each stepped through hole is provided with an internal thread which is used for matching with the external thread of the large end of the pulse engine 12, and the smaller diameter end is a unthreaded hole which is used for placing the small end of the pulse engine 12; the ignition control circuit board 5 is disc-shaped, a through hole is formed in the center of the ignition control circuit board, a cylindrical shaft of the supporting seat 1 can conveniently penetrate through the through hole, and the ignition control circuit board 5 is provided with the ignition control circuit board and used for controlling the pulse engine 12 to ignite.

In the present embodiment, as shown in fig. 11, the pulse motor 12 is composed of a case 13, a propellant 14, and an igniter; the pulse engine 12 is a source for generating pulse thrust, and a shell 13 of the pulse engine is of a stepped shaft-shaped structure, the large end of the shell is provided with external threads, and the outer circumferential surface of the small end of the shell is a smooth surface and is used for being matched with a stepped through hole shaft hole in the pulse engine mounting seat 11; the inside of the large end of the shell 13 is a horn-shaped nozzle, the inside of the small end is a round hole, the propellant 14 is arranged inside the small end, and gas generated by combustion of the propellant 14 can be sprayed out from the nozzle to generate thrust; the ignition device is arranged in a central through hole at the small end of the shell 13, and is connected with the ignition control circuit board 5.

In this embodiment, the ignition control circuit board 5 is fixedly connected to the pulse engine mounting base 11 and is configured to control the ignition number, the ignition position, and the ignition time of the pulse engine 12, and an angular position sensor mounted thereon may be configured to measure a rotation angle of the pulse engine unit 4 relative to the aircraft, and in combination with a roll angle position of the aircraft itself, resolve a flight control command into the ignition number, the ignition position, and the ignition time of the pulse engine 12 to generate a pulse control force required for meeting the control of the aircraft, where a specific resolving algorithm is as follows:

setting the actual roll angle of the aircraft as gamma, and setting the installation angle between the corner reference of the impulse thrust attitude control device 0 and the zero position of the roll angle of the aircraft as gamma_eThe rotation angle of the pulse motor unit 4 with respect to the rotation angle reference of the pulse thrust attitude control device 0 is γ_pThe pitching and yawing direction control commands of the aircraft under the inertial coordinate system are respectivelyAndthrust of the single pulse engine 12 is F_P；

Converting the control commands of the pitching direction and the yawing direction of the aircraft in the inertial coordinate system into the control commands in the elastic coordinate system:

wherein the content of the first and second substances,andcontrol commands of pitching and yawing directions of the aircraft in a missile coordinate system;

calculating the magnitude of the impulse control force f^bAnd the angle delta of the impulse control force relative to the zero position of the roll angle of the projectile:

calculating the number of ignitions N of the pulse engine 12:

N＝f^b/F_Pn is an integer;

the ignition position and timing of the pulse motor 12 are calculated as follows:

the pulse motor 12 to be operated has a phase λ δ γ on the pulse motor assembly 4_e-γ_PWhen the number of pulse motors 12 available at this phase is equal to or greater than the ignition number N, these pulse motors 12 are immediately ignited; when the number of pulse motors 12 available at this phase is smaller than the number of ignition N, it is necessary to judge that the next phase has N or more available pulse motors 12, specifically:

let the phase of the next available pulse engine 12 be λ_nextWhen the rotational speed of the pulse motor assembly 4 as a whole is ω, the ignition time is T ═ λ_next-λ)/ω；

The working process of the pulse thrust attitude control device is as follows:

when the pulse thrust attitude control device 0 works, a flight control computer on the aircraft outputs a control instruction, an attitude sensor on the aircraft measures to obtain the roll angle of the aircraft, and an angular position sensor in an ignition control circuit board 5 on the pulse thrust attitude control device 0 measures the rotation angle of the pulse engine unit 4 relative to the zero position of the roll angle of the aircraft; the ignition control circuit calculates the ignition quantity, the ignition position and the ignition time of the pulse engine 12 according to the information through an ignition control algorithm; then the ignition control circuit transmits an ignition current to the corresponding pulse motor 12, the ignition function in the pulse motor 12 is realized, the propellant 14 is ignited, the generated gas is sprayed out from the trumpet-shaped nozzle of the pulse motor shell 13, the thrust perpendicular to the axis of the aircraft is generated, and the pitching or yawing direction attitude and motion trail of the aircraft are controlled.

In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.