CN111680364A - Calculation method and calculation device for pipeline length and load between rocket and ground equipment - Google Patents
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Abstract
本申请提供了一种火箭与地面设备间管线长度与载荷计算方法及计算装置,计算方法包括:设定计算坐标系,并获取计算所需的数据;初步确定火箭发射过程中管线的设计脱落阶段以及起飞过程中的关注阶段;得到管线的一端在箭体上的安装接口的坐标和起竖托架的运动位置包络;确定管线的另一端在起竖托架上的安装接口的位置坐标;为管线的长度设置裕量,并初步确定管线的长度;计算管线的悬垂状态以及管线对安装接口产生的载荷;判断初步确定长度的管线是否满足受力要求和干涉分析要求;如果满足要求,则输出管线的长度、悬垂方程和管线对安装接口产生的载荷。本申请能够为火箭结构设计、起竖托架结构设计、管线受力、选型与进行布置干涉分析提供技术支持。
The application provides a method and device for calculating the length and load of a pipeline between a rocket and ground equipment. The calculation method includes: setting a calculation coordinate system, and acquiring data required for calculation; preliminarily determining the design detachment stage of the pipeline during the rocket launch process And the attention stage in the take-off process; obtain the coordinates of the installation interface of one end of the pipeline on the rocket body and the movement position envelope of the erection bracket; determine the position coordinates of the installation interface of the other end of the pipeline on the erection bracket; Set a margin for the length of the pipeline, and preliminarily determine the length of the pipeline; calculate the overhang state of the pipeline and the load generated by the pipeline on the installation interface; judge whether the pipeline whose length is preliminarily determined meets the force requirements and interference analysis requirements; if it meets the requirements, then The length of the output line, the overhang equation, and the load that the line produces on the installation interface. This application can provide technical support for rocket structure design, erection bracket structure design, pipeline force, model selection and layout interference analysis.
Description
技术领域technical field
本申请属于航空航天领域,具体涉及一种航天运载器与地面设备间管线长度与载荷计算方法及计算装置。The application belongs to the field of aerospace, and in particular relates to a method and a computing device for calculating the length and load of a pipeline between an aerospace vehicle and ground equipment.
背景技术Background technique
在航天运载器或运载火箭(运载火箭不同于武器中的火箭,其是将卫星、飞船等发射到太空的一种运载工具,对应的英文为launcher vehicle,而非rocket)的发射准备过程中,为了使航天运载器或运载火箭与地面设备间建立联系,通常需要设置多条电、气、液管线。对于低温液体火箭而言,基于低温推进剂的特性和火箭测试发射的要求,往往需要电、气、液管线中的部分管线正常工作到火箭起飞前或点火起飞后才能从箭上脱落。During the launch preparation process of a space vehicle or a launch vehicle (a launch vehicle is different from a rocket in a weapon, it is a vehicle for launching satellites, spaceships, etc. into space, the corresponding English is launcher vehicle, not rocket), In order to establish a connection between a space vehicle or a launch vehicle and ground equipment, it is usually necessary to set up multiple electrical, gas and liquid pipelines. For low-temperature liquid rockets, based on the characteristics of low-temperature propellants and the requirements for rocket test launches, it is often necessary for some pipelines in the electric, gas, and liquid pipelines to work normally until the rocket takes off or after ignition and take-off before falling off the arrow.
由于“三平”模式(即水平总装、水平转运、水平测试和垂直发射)具有不需要高大的厂房和勤务塔、能在转运过程中保持箭地接口不变、可缩短发射区占位时间等优点,因此“三平”模式在国内外新型低温运载火箭发射、尤其是商业航天发射活动中得到越来越广泛的应用。采用“三平”模式测试发射的低温液体火箭在起竖、起竖托架预摆、起竖托架二次后倒和火箭起飞等各阶段中,起竖托架与火箭之间的电、气、液管线对箭体和起竖托架产生的载荷也都不相同。Because the "three-level" mode (ie horizontal assembly, horizontal transfer, horizontal testing and vertical launch) has the advantages of not requiring tall workshops and service towers, keeping the arrow-ground interface unchanged during the transfer process, and shortening the occupancy time of the launch area, etc. Therefore, the "three-level" mode has been more and more widely used in the launch of new low-temperature launch vehicles at home and abroad, especially in commercial space launch activities. In the stages of erection, erection bracket pre-swing, erection bracket secondary back-down and rocket take-off of the low-temperature liquid rocket launched in the "three-level" mode, the electrical and gas between the erection bracket and the rocket The loads generated by the liquid line on the arrow body and the erecting bracket are also different.
为保证电、气、液管线在测试与发射流程要求的各工作阶段能够正常连接,完成供电、供气、加注、泄出、排放、排气等功能,同时在要求的设计脱落阶段能够可靠脱落或者与火箭分离;也为确定管线在各工作阶段对连接点产生的载荷,给火箭箭体和起竖托架结构设计、管线的受力、干涉与选型分析提供必须的设计输入;有必要对这些管线的长度和载荷进行分析计算。In order to ensure that the electricity, gas, and liquid pipelines can be connected normally in each working stage required by the test and launch process, the functions of power supply, gas supply, filling, leakage, discharge, exhaust, etc. can be completed, and at the same time, they can be reliably designed in the required design detachment stage. fall off or separate from the rocket; it also provides necessary design input for the design of the rocket body and the erecting bracket structure, the force, interference and type selection analysis of the pipeline to determine the load generated by the pipeline on the connection point in each working stage; Analytical calculations for the lengths and loads of these lines are necessary.
发明内容SUMMARY OF THE INVENTION
为至少在一定程度上克服相关技术中存在的问题,本申请提供了一种火箭与地面设备间管线长度与载荷计算方法及计算装置。In order to overcome the problems existing in the related art at least to a certain extent, the present application provides a calculation method and calculation device for the length and load of a pipeline between a rocket and ground equipment.
根据本申请实施例的第一方面,本申请提供了一种火箭与地面设备间管线长度与载荷计算方法,其包括以下步骤:According to the first aspect of the embodiments of the present application, the present application provides a method for calculating the pipeline length and load between a rocket and ground equipment, which includes the following steps:
设定计算坐标系,并获取计算所需的数据;Set the calculation coordinate system and obtain the data required for the calculation;
其中,所述计算所需的数据包括火箭点火起飞至火箭尾端离开起竖托架期间的起飞漂移量和滚转角;起竖托架回转点坐标、起竖托架在预摆阶段的后倒角度和后倒角速度;起竖阶段管线的一端在箭体上的安装接口的位置坐标、管线的几何参数以及推进剂介质的物性参数;Wherein, the data required for the calculation include the take-off drift and the roll angle from the time when the rocket is ignited and taken off until the tail end of the rocket leaves the erecting bracket; Angle and back chamfering speed; the position coordinates of the installation interface of one end of the pipeline on the arrow body, the geometric parameters of the pipeline and the physical parameters of the propellant medium during the erection stage;
根据测试发射流程的要求,初步确定火箭发射过程中管线的设计脱落阶段以及起飞过程中的关注阶段;According to the requirements of the test and launch process, preliminarily determine the design detachment stage of the pipeline during the rocket launch and the concern stage during the take-off process;
通过插值计算,得到在起竖阶段、预摆阶段、设计脱落阶段和关注阶段管线的一端在箭体上的安装接口的坐标和起竖托架的运动位置包络;Through interpolation calculation, the coordinates of the installation interface of one end of the pipeline on the arrow body and the movement position envelope of the erection bracket are obtained in the erection stage, the pre-swing stage, the design shedding stage and the attention stage;
确定起竖阶段管线的另一端在起竖托架上的安装接口的位置坐标,并根据位置坐标以及起竖托架运动数据计算得到预摆阶段、设计脱落阶段和关注阶段管线的另一端在起竖托架上的安装接口的位置坐标;Determine the position coordinates of the installation interface of the other end of the pipeline on the erection bracket in the erection stage, and calculate the other end of the pipeline in the erection stage, the design shedding stage and the attention stage according to the position coordinates and the motion data of the erection bracket. The position coordinates of the installation interface on the vertical bracket;
在管线的设计脱落阶段或者必保脱落阶段的基础上,为管线的长度设置裕量,并根据裕量初步确定管线的长度;On the basis of the design shedding stage of the pipeline or the guaranteed shedding stage, a margin is set for the length of the pipeline, and the length of the pipeline is preliminarily determined according to the margin;
根据管线的几何参数以及推进剂介质的物性参数,基于悬链线计算理论,计算管线在各阶段的悬垂状态以及管线对安装接口产生的载荷;According to the geometric parameters of the pipeline and the physical parameters of the propellant medium, and based on the catenary calculation theory, the hanging state of the pipeline at each stage and the load generated by the pipeline on the installation interface are calculated;
判断初步确定长度的管线是否满足受力要求和干涉分析要求;Judging whether the pipeline with the initially determined length meets the requirements of force and interference analysis;
如果初步确定长度的管线满足受力要求和干涉分析要求,则输出管线的长度、悬垂方程和管线对安装接口产生的载荷。If the initially determined length of the pipeline meets the force requirements and interference analysis requirements, output the length of the pipeline, the overhang equation, and the load generated by the pipeline on the installation interface.
上述火箭与地面设备间管线长度与载荷计算方法中,如果初步确定长度的管线不满足受力要求和干涉分析要求,则重新调整管线的设计脱落阶段,或者重新为管线的长度设置裕量,直至管线的长度和载荷满足设计和测发流程要求。In the above calculation method for the pipeline length and load between the rocket and ground equipment, if the pipeline whose length is initially determined does not meet the force requirements and interference analysis requirements, then re-adjust the design shedding stage of the pipeline, or re-set the allowance for the length of the pipeline until The length and load of the pipeline meet the design and testing process requirements.
上述火箭与地面设备间管线长度与载荷计算方法中,在设计脱落阶段和关注阶段,管线的一端在箭体上的安装接口的坐标为(xi,yi,zi),xi、yi和zi分别为:In the above calculation method of pipeline length and load between the rocket and ground equipment, in the design shedding stage and the attention stage, the coordinates of the installation interface of one end of the pipeline on the rocket body are (x i , y i , z i ), xi , y i and zi are respectively:
其中,i为大于1的整数,R1表示管线的一端在箭体上的安装接口到箭体中心线的距离,ti表示各关注阶段箭体的起飞时间,αi表示火箭的起飞漂移量,βi表示滚转角,ki表示关注阶段火箭的起飞高度。Among them, i is an integer greater than 1, R 1 represents the distance from the installation interface of one end of the pipeline on the rocket body to the center line of the rocket body, t i represents the take-off time of the rocket body at each stage of interest, and α i represents the take-off drift of the rocket , β i represents the roll angle, and ki represents the take-off height of the rocket at the stage of interest.
上述火箭与地面设备间管线长度与载荷计算方法中,所述起竖托架的运动位置包络表现为起竖托架的后倒角度,在设计脱落阶段和关注阶段,起竖托架的后倒角度为:ω0+vti,其中,ω0表示在预摆阶段起竖托架的后倒角度,v表示在预摆阶段起竖托架的后倒角速度。In the above calculation method of the pipeline length and load between the rocket and the ground equipment, the movement position envelope of the erecting bracket is expressed as the backward chamfering angle of the erecting bracket. The chamfering angle is: ω 0 +vt i , wherein ω 0 represents the rear chamfering angle of the erecting bracket in the pre-swing stage, and v represents the rear chamfering speed of the erecting bracket in the pre-swinging stage.
进一步地,所述预摆阶段、设计脱落阶段和关注阶段管线的另一端在起竖托架上的安装接口的位置坐标为(li,mi,ni),li、mi和ni分别为:Further, the position coordinates of the installation interface of the other end of the pipeline on the erecting bracket in the pre-swing stage, the design shedding stage and the attention stage are (li , m i , n i ), li , m i and n i are:
式中,R2表示管线的另一端在起竖托架上的安装接口到起竖托架回转点(a,b,c)的距离, In the formula, R 2 represents the distance from the installation interface of the other end of the pipeline on the erecting bracket to the turning point (a, b, c) of the erecting bracket,
Lk3表示管线设计脱落阶段管线的另一端在起竖托架上的安装接口到箭体中心线的水平距离,Lk3=R2sin(ω0+vt3-θ1)+|l1|;L k3 represents the horizontal distance from the installation interface of the other end of the pipeline on the erecting bracket to the centerline of the arrow body in the design fall-off stage of the pipeline, L k3 =R 2 sin(ω 0 +vt 3 -θ 1 )+|l 1 | ;
θ1表示起竖阶段管线的另一端在起竖托架上的安装接口与起竖托架回转点之间的竖直夹角, θ 1 represents the vertical angle between the installation interface of the other end of the pipeline on the erection bracket and the pivot point of the erection bracket in the erection stage,
θ2表示管线的一端在箭体上的安装接口和火箭尾部的截面中心的连线与起竖托架立面的夹角,ti表示各关注阶段箭体的起飞时间。θ 2 represents the angle between the line connecting the installation interface of one end of the pipeline on the rocket body and the center of the section of the rocket tail and the elevation of the erecting bracket, t i represents the take-off time of the rocket body at each stage of interest.
更进一步地,初步确定的所述管线的长度为:Further, the initially determined length of the pipeline is:
Length=Lmax+Q,Length= Lmax +Q,
式中,Length表示管线的长度,Lmax表示Li的最大值,Li表示火箭发射各阶段管线的一端在箭体上的安装接口与管线的另一端在起竖托架上的安装接口之间的直线距离,裕量Q满足Q≥Qth,Qth表示预设的裕量阈值。In the formula, Length represents the length of the pipeline, L max represents the maximum value of Li, and Li represents the difference between the installation interface of one end of the pipeline on the arrow body and the installation interface of the other end of the pipeline on the erecting bracket at each stage of the rocket launch. the straight-line distance between The margin Q satisfies Q≥Q th , where Q th represents a preset margin threshold.
更进一步地,管线在各阶段的悬垂状态f(x)为:Further, the suspended state f(x) of the pipeline at each stage is:
管线对安装接口产生的载荷为:The load generated by the pipeline on the installation interface is:
式中,Fi表示管线对安装接口产生的载荷的大小,ψi表示管线对安装接口产生的载荷的方向, In the formula, F i represents the magnitude of the load generated by the pipeline to the installation interface, ψ i represents the direction of the load generated by the pipeline to the installation interface,
ei、fi和qi均为中间系数;e i , f i and qi are all intermediate coefficients;
其中,中间系数ei根据式计算得到;Among them, the intermediate coefficient e i is according to the formula calculated;
中间系数fi为:The intermediate coefficient f i is:
中间系数qi为:The intermediate coefficient qi is:
式中,Length表示管线的长度,h表示管线的一端在箭体上的安装接口与管线的另一端在起竖托架上的安装接口之间的高度差;p表示管线的一端在箭体上的安装接口与管线的另一端在起竖托架上的安装接口之间的水平距离;d表示管线的内径,δ表示管线的壁厚,ρ表示推进剂介质的密度。In the formula, Length represents the length of the pipeline, h represents the height difference between the installation interface of one end of the pipeline on the arrow body and the installation interface of the other end of the pipeline on the erecting bracket; p represents the one end of the pipeline on the arrow body The horizontal distance between the installation interface of the pipeline and the installation interface of the other end of the pipeline on the erecting bracket; d represents the inner diameter of the pipeline, δ represents the wall thickness of the pipeline, and ρ represents the density of the propellant medium.
更进一步地,所述步骤判断初步确定长度的管线是否满足受力要求和干涉分析要求的具体过程为:Further, the specific process of judging whether the pipeline of the preliminary determined length satisfies the force requirement and the interference analysis requirement is as follows:
根据管线在各阶段的悬垂状态布置出各阶段火箭与起竖托架之间的所有管线,计算得到管线对其一端在箭体上的安装接口产生的载荷FAi以及对管线的另一端在起竖托架上的安装接口产生的载荷FBi;According to the suspended state of the pipeline at each stage, all pipelines between the rocket and the erecting bracket of each stage are arranged, and the load F Ai generated by the installation interface of one end of the pipeline on the rocket body and the load F Ai generated by the installation interface of the pipeline on the rocket body and the other end of the pipeline are calculated. The load F Bi generated by the mounting interface on the vertical bracket;
根据各管线空间位置是否有重合或交叉判断各管线间是否存在相互干涉,如果各管线间存在重合或交叉,则判定该管线不满足干涉分析要求;Determine whether there is mutual interference between the pipelines according to whether the spatial positions of the pipelines overlap or intersect, and if there is overlap or intersection between the pipelines, it is determined that the pipeline does not meet the interference analysis requirements;
将管线对其一端在箭体上的安装接口产生的载荷FAi与安装接口允许拉力[FA]进行比较,将管线对其另一端在箭体上的安装接口产生的载荷FBi与安装接口允许拉力[FB]进行比较,如果FAi≤[FA]且FBi≤[FB],则判定该管线满足受力要求。Compare the load F Ai generated by the installation interface at one end of the pipeline on the arrow body with the allowable tensile force [F A ] of the installation interface, and compare the load F Bi generated by the installation interface at the other end of the pipeline on the arrow body with the installation interface The allowable tensile force [F B ] is compared, and if F Ai ≤ [F A ] and F Bi ≤ [F B ], it is determined that the pipeline meets the force requirements.
根据本申请实施例的第二方面,本申请还提供了一种火箭与地面设备间管线长度与载荷计算装置,其包括:According to the second aspect of the embodiments of the present application, the present application further provides a pipeline length and load calculation device between the rocket and ground equipment, which includes:
存储器和处理器,memory and processor,
所述处理器被配置为基于存储在存储器中的指令,执行上述任一项所述的火箭与地面设备间管线长度与载荷计算方法。The processor is configured to execute the method for calculating the length and load of the pipeline between the rocket and the ground equipment described in any one of the above based on the instructions stored in the memory.
根据本申请实施例的第三方面,本申请还提供了一种计算机存储介质,其上存储有计算机程序,所述计算机程序被处理器执行时实现上述任一项所述的火箭与地面设备间管线长度与载荷计算方法。According to a third aspect of the embodiments of the present application, the present application further provides a computer storage medium on which a computer program is stored, and when the computer program is executed by a processor, realizes the connection between the rocket and ground equipment described in any of the above Pipeline length and load calculation method.
根据本申请的上述具体实施方式可知,至少具有以下有益效果:本申请火箭与地面设备间管线长度与载荷计算方法能够快速计算并确定满足测试与发射流程要求的电、气、液管线的合理长度,以及在发射过程各关注阶段的悬垂姿态方程、管线对其一端在箭体上的安装接口产生的载荷和管线对其另一端在箭体上的安装接口产生的载荷,以便于为火箭结构设计、起竖托架结构设计、管线受力、选型与进行布置干涉分析提供技术支持。According to the above-mentioned specific embodiments of the present application, it can at least have the following beneficial effects: the method for calculating the pipeline length and load between the rocket and the ground equipment of the present application can quickly calculate and determine the reasonable length of the electric, gas and liquid pipelines that meet the requirements of the test and launch process. , as well as the pendant attitude equation at each concerned stage of the launch process, the load generated by the pipeline to the installation interface at one end on the rocket body and the load generated by the pipeline to the installation interface at the other end on the rocket body, so as to facilitate the design of the rocket structure , Provide technical support for structural design of erecting brackets, pipeline stress, model selection and layout interference analysis.
应了解的是,上述一般描述及以下具体实施方式仅为示例性及阐释性的,其并不能限制本申请所欲主张的范围。It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not intended to limit the scope of what is claimed in this application.
附图说明Description of drawings
下面的所附附图是本申请的说明书的一部分,其示出了本申请的实施例,所附附图与说明书的描述一起用来说明本申请的原理。The accompanying drawings, which are attached below, are part of the specification of the application, illustrate embodiments of the application, and together with the description of the specification serve to explain the principles of the application.
图1为本申请实施例提供的一种火箭与地面设备间管线长度与载荷计算方法的流程图。FIG. 1 is a flowchart of a method for calculating a pipeline length and a load between a rocket and ground equipment according to an embodiment of the present application.
图2为本申请实施例提供的起竖阶段起竖托架与火箭的位置关系示意图。FIG. 2 is a schematic diagram of the positional relationship between the erecting bracket and the rocket in the erecting stage according to an embodiment of the present application.
图3为图2中R-R方向的视图。FIG. 3 is a view in the direction R-R in FIG. 2 .
图4为本申请实施例提供的预摆阶段起竖托架与火箭的位置关系示意图。FIG. 4 is a schematic diagram of the positional relationship between the erecting bracket and the rocket in the pre-swing stage according to an embodiment of the present application.
图5为本申请实施例提供的设计脱落阶段起竖托架与火箭的位置关系示意图。FIG. 5 is a schematic diagram of the positional relationship between the erecting bracket and the rocket in the design falling off stage provided by the embodiment of the present application.
图6为本申请实施例提供的第i关注阶段起竖托架与火箭的位置关系示意图。FIG. 6 is a schematic diagram of the positional relationship between the erecting bracket and the rocket in the i-th concerned stage according to an embodiment of the present application.
附图标记说明:Description of reference numbers:
1、起竖托架;2、火箭。1. Erecting bracket; 2. Rocket.
具体实施方式Detailed ways
为使本申请实施例的目的、技术方案和优点更加清楚明白,下面将以附图及详细叙述清楚说明本申请所揭示内容的精神,任何所属技术领域技术人员在了解本申请内容的实施例后,当可由本申请内容所教示的技术,加以改变及修饰,其并不脱离本申请内容的精神与范围。In order to make the purposes, technical solutions and advantages of the embodiments of the present application more clearly understood, the following will clearly illustrate the spirit of the contents disclosed in the present application with the accompanying drawings and detailed descriptions. , when it can be changed and modified by the technology taught by the content of this application, it does not depart from the spirit and scope of the content of this application.
本申请的示意性实施例及其说明用于解释本申请,但并不作为对本申请的限定。另外,在附图及实施方式中所使用相同或类似标号的元件/构件是用来代表相同或类似部分。The illustrative embodiments and descriptions of the present application are used to explain the present application, but are not intended to limit the present application. In addition, elements/members with the same or similar reference numerals used in the drawings and the embodiments are intended to represent the same or similar parts.
关于本文中所使用的“第一”、“第二”、…等,并非特别指称次序或顺位的意思,也非用以限定本申请,其仅为了区别以相同技术用语描述的元件或操作。The "first", "second", . .
关于本文中所使用的方向用语,例如:上、下、左、右、前或后等,仅是参考附图的方向。因此,使用的方向用语是用来说明并非用来限制本创作。Directional terms used herein, such as: up, down, left, right, front or back, etc., are only referring to the orientation of the drawings. Therefore, the directional terms used are intended to be illustrative and not intended to limit the creation.
关于本文中所使用的“包含”、“包括”、“具有”、“含有”等等,均为开放性的用语,即意指包含但不限于。As used herein, "comprising," "including," "having," "containing," and the like, are open-ended terms, meaning including but not limited to.
关于本文中所使用的“及/或”,包括所述事物的任一或全部组合。As used herein, "and/or" includes any and all combinations of the stated things.
关于本文中的“多个”包括“两个”及“两个以上”;关于本文中的“多组”包括“两组”及“两组以上”。As used herein, "a plurality" includes "two" and "two or more"; as used herein, "a plurality of groups" includes "two groups" and "two or more groups."
关于本文中所使用的用语“大致”、“约”等,用以修饰任何可以细微变化的数量或误差,但这些微变化或误差并不会改变其本质。一般而言,此类用语所修饰的细微变化或误差的范围在部分实施例中可为20%,在部分实施例中可为10%,在部分实施例中可为5%或是其他数值。本领域技术人员应当了解,前述提及的数值可依实际需求而调整,并不以此为限。As used herein, the terms "substantially", "about" and the like are used to modify any quantity or error that may vary slightly, but which does not alter its essence. In general, the range of nuance or error modified by such terms may be 20% in some embodiments, 10% in some embodiments, 5% in some embodiments, or other numerical values. Those skilled in the art should understand that the aforementioned values can be adjusted according to actual needs, and are not limited thereto.
某些用以描述本申请的用词将于下或在此说明书的别处讨论,以提供本领域技术人员在有关本申请的描述上额外的引导。Certain terms used to describe the application are discussed below or elsewhere in this specification to provide those skilled in the art with additional guidance in the description of the application.
图1为本申请实施例提供的一种火箭与地面设备间管线长度与载荷计算方法的流程图。FIG. 1 is a flowchart of a method for calculating a pipeline length and a load between a rocket and ground equipment according to an embodiment of the present application.
需要说明的是,本申请中提到的地面设备主要是起竖托架。It should be noted that the ground equipment mentioned in this application is mainly an erecting bracket.
如图1所示,本申请实施例提供的火箭与地面设备间管线长度与载荷计算方法方法包括以下步骤:As shown in FIG. 1 , the method for calculating the pipeline length and load between the rocket and the ground equipment provided in the embodiment of the present application includes the following steps:
S1、设定计算坐标系,并获取计算所需的数据。S1. Set the calculation coordinate system, and obtain the data required for the calculation.
具体地,如图2以及图4~图6所示,可以将火箭2尾部的截面中心作为原点o,从箭体水平指向起竖托架1作为x轴的正方向,从箭体尾部竖直指向箭体头部作为y轴的正方向,将垂直于xoy平面向内作为z轴的正方向。Specifically, as shown in Fig. 2 and Fig. 4 to Fig. 6, the cross-section center of the tail of the
获取的计算所需的数据包括:The data required for the calculation obtained includes:
火箭2点火起飞至火箭2尾端离开起竖托架1期间的起飞漂移量{α1,α2,α3,L,αi,L}和滚转角{β1,β2,β3,L,βi,L};Take-off drift {α 1 ,α 2 ,α 3 ,L,α i ,L} and roll angle {β 1 ,β 2 ,β 3 , L,β i ,L};
起竖托架1回转点坐标(a,b,c)、在预摆阶段起竖托架1的后倒角度ω0和后倒角速度v;The coordinates (a, b, c) of the turning point of the erecting
如图2所示,假设起竖阶段管线的一端在箭体上的安装接口A的位置坐标A1(x1,y1,z1)、同时需要考虑管线的几何参数以及推进剂介质的物性参数。其中,管线的几何参数包括管线的内径d和壁厚δ。推进剂介质的物性参数可以为推进剂介质的密度ρ。As shown in Figure 2, it is assumed that the position coordinates A 1 (x 1 , y 1 , z 1 ) of the installation interface A on the arrow body at one end of the pipeline during the erection stage, and the geometric parameters of the pipeline and the physical properties of the propellant medium need to be considered at the same time. parameter. Among them, the geometric parameters of the pipeline include the inner diameter d and the wall thickness δ of the pipeline. The physical parameter of the propellant medium may be the density ρ of the propellant medium.
S2、根据测试发射流程的要求,初步确定火箭2发射过程中管线的设计脱落阶段以及起飞过程中其他需要的关注阶段。S2. According to the requirements of the test launch process, initially determine the design detachment stage of the pipeline during the launch of
其中,管线的设计脱落阶段可以是一个基于起飞时间的时间量,也可以是一个基于起飞离台高度的位移量。例如,如图5所示,管线的设计脱落阶段可以为箭体起飞后离发射台距离k1。Among them, the design shedding stage of the pipeline can be a time amount based on the take-off time, or a displacement amount based on the take-off height from the platform. For example, as shown in FIG. 5 , the design shedding stage of the pipeline can be the distance k 1 from the launch pad after the rocket takes off.
火箭2起飞过程中其他需要的关注阶段可以为箭体起飞后离发射台距离ki,也可以是管线与火箭2必须连接的时刻或者必须脱开的时刻。Other required attention stages during the take-off of the
S3、通过插值计算,如表1所示,得到在起竖阶段、预摆阶段、设计脱落阶段和其它需要关注阶段管线的一端在箭体上的安装接口的坐标和起竖托架1的运动位置包络。S3. Through interpolation calculation, as shown in Table 1, the coordinates of the installation interface of one end of the pipeline on the arrow body and the motion of the
具体地,根据起竖阶段管线的一端在箭体上的安装接口A的位置坐标A1(x1,y1,z1)、火箭2的起飞漂移量{α1,α2,α3,L,αi,L}和滚转角{β1,β2,β3,L,βi,L},计算得到在火箭2起飞后各关注阶段管线的一端在箭体上的安装接口A的坐标。Specifically, according to the position coordinates A 1 (x 1 , y 1 , z 1 ) of the installation interface A of one end of the pipeline in the erection stage, the take-off drift of the rocket 2 {α 1 , α 2 , α 3 , L,α i ,L} and roll angle {β 1 ,β 2 ,β 3 ,L,β i ,L}, the calculation results of the installation interface A of one end of the pipeline on the rocket body at each stage of interest after the
假设火箭2在起飞后各关注阶段管线的一端在箭体上的安装接口A的坐标为(xi,yi,zi),则xi、yi和zi分别为:Assuming that the coordinates of the installation interface A of one end of the pipeline of each concerned stage on the rocket body after takeoff of
式(1)中,i为大于1的整数,R1表示管线的一端在箭体上的安装接口A到箭体中心线的距离,ti表示各关注阶段箭体的起飞时间,ki表示关注阶段火箭2的起飞高度。In formula (1), i is an integer greater than 1, R 1 represents the distance from the installation interface A of one end of the pipeline on the rocket body to the center line of the rocket body, t i represents the take-off time of the rocket body at each stage of interest, ki represents Focus on the takeoff altitude of
起竖托架1的运动位置包络具体表现为起竖托架1的后倒角度,其中,如表1所示,在设计脱落阶段和其他关注阶段起竖托架1的后倒角度为ω0+vti。The movement position envelope of the erecting
表1各阶段管线的一端在箭体上的安装接口A的位置坐标和管线的另一端在起竖托架1上的安装接口B的位置坐标变化及距离Table 1 The position coordinates of the installation interface A of one end of the pipeline on the arrow body and the position coordinate change and distance of the installation interface B of the other end of the pipeline on the erecting
S4、根据在起竖阶段、预摆阶段、设计脱落阶段和其它需要关注阶段管线的一端在箭体上的安装接口A的坐标和起竖托架1的运动位置包络、管线的几何参数以及安装要求、完成加注泄出等功能要求、起竖托架1上安装位置与布置干涉分析等要求。如图2所示,初步确定起竖阶段管线的另一端在起竖托架1上的安装接口B的位置坐标B1(l1,m1,n1),并根据位置坐标B1(l1,m1,n1)以及起竖托架1运动数据计算得到预摆阶段、设计脱落阶段和其它需要关注阶段管线的另一端在起竖托架1上的安装接口B的位置坐标。S4. According to the coordinates of the installation interface A of one end of the pipeline on the arrow body and the movement position envelope of the
假设预摆阶段、设计脱落阶段和其它需要关注阶段管线的另一端在起竖托架1上的安装接口B的位置坐标为(li,mi,ni),则li、mi和ni分别为:Assuming that the position coordinates of the installation interface B on the erecting
式(2)中,R2表示管线的另一端在起竖托架1上的安装接口B到起竖托架1回转点(a,b,c)的距离, In formula (2), R 2 represents the distance from the installation interface B of the other end of the pipeline on the erecting
如图3和图5所示,Lk3表示管线设计脱落阶段管线的另一端在起竖托架1上的安装接口B到箭体中心线的水平距离,Lk3=R2sin(ω0+vt3-θ1)+|l1|;As shown in Figures 3 and 5, L k3 represents the horizontal distance from the installation interface B of the other end of the pipeline on the erecting
θ1表示起竖阶段管线的另一端在起竖托架1上的安装接口B与起竖托架1回转点之间的竖直夹角, θ 1 represents the vertical angle between the installation interface B of the other end of the pipeline on the
θ2表示管线的一端在箭体上的安装接口A和原点o的连线与起竖托架1立面的夹角, θ 2 represents the angle between the connection line between the installation interface A and the origin o of one end of the pipeline on the arrow body and the elevation of the erecting
ti表示各关注阶段箭体的起飞时间。t i represents the take-off time of the rocket body at each stage of interest.
S5、在管线的设计脱落阶段或者必保脱落阶段的基础上,为管线的长度设置裕量Q,则初步确定管线的长度Length为:S5. On the basis of the design shedding stage of the pipeline or the guaranteed shedding stage, a margin Q is set for the length of the pipeline, and the length Length of the pipeline is initially determined as:
Length=Lmax+Q (3)Length= Lmax +Q(3)
式(3)中,Lmax表示Li的最大值,其中,Li表示火箭2发射各阶段管线的一端在箭体上的安装接口A与管线的另一端在起竖托架1上的安装接口B之间的直线距离,裕量Q满足Q≥Qth,其中,Qth表示预设的裕量阈值,Qth可以为500mm。In formula (3), Lmax represents the maximum value of Li, where Li represents the installation interface A of one end of the pipeline on the rocket body and the other end of the pipeline on the erecting
S6、根据管线的几何参数以及推进剂介质的物性参数,基于悬链线计算理论,计算管线在各阶段的悬垂状态以及管线对安装接口产生的载荷。S6. According to the geometric parameters of the pipeline and the physical parameters of the propellant medium, and based on the catenary calculation theory, calculate the hanging state of the pipeline at each stage and the load generated by the pipeline on the installation interface.
具体地,管线在各阶段的悬垂状态f(x)为:Specifically, the suspended state f(x) of the pipeline at each stage is:
管线对安装接口产生的载荷为:The load generated by the pipeline on the installation interface is:
式(4)和式(5)中,Fi表示管线对安装接口产生的载荷的大小,ψi表示管线对安装接口产生的载荷的方向, In equations (4) and (5), F i represents the magnitude of the load generated by the pipeline to the installation interface, ψ i represents the direction of the load generated by the pipeline to the installation interface,
ei、fi和qi均为中间系数;e i , f i and qi are all intermediate coefficients;
其中,中间系数ei根据式计算得到;Among them, the intermediate coefficient e i is according to the formula calculated;
中间系数fi为:The intermediate coefficient f i is:
中间系数qi为:The intermediate coefficient qi is:
其中,Length表示管线的长度,h表示管线的一端在箭体上的安装接口A与管线的另一端在起竖托架1上的安装接口B之间的高度差;p表示管线的一端在箭体上的安装接口A与管线的另一端在起竖托架1上的安装接口B之间的水平距离。Among them, Length represents the length of the pipeline, h represents the height difference between the installation interface A of one end of the pipeline on the arrow body and the installation interface B of the other end of the pipeline on the erecting
S7、根据管线的一端在箭体上的安装接口A处的结构以及管线的另一端在起竖托架1上的安装接口B处的结构的允许受力范围、各阶段管线间布置的干涉分析等,判断初步确定长度的管线是否满足受力要求和干涉分析要求,其具体过程为:S7. According to the structure of one end of the pipeline at the installation interface A on the arrow body and the structure of the other end of the pipeline at the installation interface B on the erecting
根据管线在各阶段的悬垂状态布置出各阶段火箭2与起竖托架1之间的所有管线,并根据式(5)计算得到管线对安装接口A产生的载荷FAi以及对安装接口B产生的载荷FBi。All pipelines between the
根据各管线空间位置是否有重合或交叉判断各管线间是否存在相互干涉,如果各管线间存在重合或交叉,则判定该管线不满足干涉分析要求;否则,判定该管线满足干涉分析要求。Determine whether there is mutual interference between the pipelines according to whether the spatial positions of the pipelines overlap or intersect. If there is overlap or intersection between the pipelines, it is determined that the pipeline does not meet the requirements of interference analysis; otherwise, it is determined that the pipeline meets the requirements of interference analysis.
将管线对安装接口A产生的载荷FAi与安装接口允许拉力[FA]进行比较,将管线对安装接口B产生的载荷FBi与安装接口允许拉力[FB]进行比较,如果FAi≤[FA]且FBi≤[FB],则判定该管线满足受力要求。Compare the load F Ai produced by the pipeline to the installation interface A with the allowable tensile force [F A ] of the installation interface, and compare the load F Bi produced by the pipeline to the installation interface B with the allowable tensile force [F B ] of the installation interface, if F Ai ≤ [F A ] and F Bi ≤[F B ], it is judged that the pipeline meets the force requirements.
S8、如果初步确定长度的管线满足受力要求和干涉分析要求,如表2所示,输出管线的长度、悬垂方程(或者坐标点)和管线对安装接口产生的载荷;否则,当初步确定长度的管线不满足受力要求时,返回步骤S2重新调整管线的设计脱落阶段,当初步确定长度的管线不满足干涉分析要求时,返回步骤S5重新为管线的长度设置裕量,重新进行计算迭代,直至管线的长度和载荷均满足设计和测发流程要求。S8. If the pipeline whose length is preliminarily determined meets the force requirements and interference analysis requirements, as shown in Table 2, the length of the output pipeline, the overhang equation (or coordinate point) and the load generated by the pipeline on the installation interface; otherwise, when the preliminarily determined length When the pipeline does not meet the force requirements, return to step S2 to re-adjust the design shedding stage of the pipeline. When the pipeline whose length is preliminarily determined does not meet the requirements of interference analysis, return to step S5 to re-set the allowance for the length of the pipeline, and re-calculate iteratively. Until the length and load of the pipeline meet the requirements of the design and testing process.
表2各阶段管线悬垂方程以及管线对安装接口产生的载荷Table 2. The pipeline suspension equation at each stage and the load generated by the pipeline on the installation interface
在示例性实施例中,本申请实施例还提供了一种火箭与地面设备间管线长度与载荷计算方法装置,其包括存储器和处理器,处理器被配置为基于存储在存储器中的指令,执行本申请中任一个实施例中的火箭与地面设备间管线长度与载荷计算方法。In an exemplary embodiment, an embodiment of the present application further provides a method and apparatus for calculating a pipeline length and a load between a rocket and ground equipment, which includes a memory and a processor, and the processor is configured to execute an instruction stored in the memory based on the instructions stored in the memory. The method for calculating the pipeline length and load between the rocket and ground equipment in any of the embodiments of the present application.
其中,存储器可以为系统存储器或固定非易失性存储介质等,系统存储器可以存储有操作系统、应用程序、引导装载程序、数据库以及其他程序等。The memory may be a system memory or a fixed non-volatile storage medium, etc., and the system memory may store an operating system, an application program, a boot loader, a database, and other programs.
在示例性实施例中,本申请实施例还提供了一种计算机存储介质,是计算机可读存储介质,例如,包括计算机程序的存储器,上述计算机程序可由处理器执行,以完成本申请中任一个实施例中的火箭与地面设备间管线长度与载荷计算方法。In an exemplary embodiment, an embodiment of the present application also provides a computer storage medium, which is a computer-readable storage medium, for example, a memory including a computer program, and the above computer program can be executed by a processor to complete any one of the present application. The method for calculating the pipeline length and load between the rocket and the ground equipment in the embodiment.
以上所述仅为本申请示意性的具体实施方式,在不脱离本申请的构思和原则的前提下,任何本领域的技术人员所做出的等同变化与修改,均应属于本申请保护的范围。The above are only illustrative specific embodiments of the present application. Without departing from the concept and principles of the present application, any equivalent changes and modifications made by those skilled in the art shall fall within the protection scope of the present application. .
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