CN111680364A - Calculation method and calculation device for pipeline length and load between rocket and ground equipment - Google Patents

Abstract

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

Calculation method and calculation device for pipeline length and load between rocket and ground equipment

technical field

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.

Background technique

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.

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.

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.

SUMMARY OF THE INVENTION

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.

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:

Set the calculation coordinate system and obtain the data required for the calculation;

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;

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;

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;

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;

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;

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;

Judging whether the pipeline with the initially determined length meets the requirements of force and interference analysis;

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.

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.

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:

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.

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.

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:

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,

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 | ;

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,

t_i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.

Further, the initially determined length of the pipeline is:

Length= _Lmax +Q,

裕量Q满足Q≥Q_th，Q_th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.

Further, the suspended state f(x) of the pipeline at each stage is:

The load generated by the pipeline on the installation interface is:

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,

e _i , _{f i} and qi are all intermediate coefficients;

计算得到；Among them, the intermediate coefficient e _i is according to the formula

calculated;

The intermediate coefficient f _i is:

The intermediate coefficient _qi is:

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.

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:

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;

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;

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.

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:

memory and processor,

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.

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.

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.

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.

Description of drawings

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.

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.

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.

FIG. 3 is a view in the direction R-R in FIG. 2 .

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.

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.

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.

Description of reference numbers:

1. Erecting bracket; 2. Rocket.

Detailed ways

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.

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.

The "first", "second", . .

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.

As used herein, "comprising," "including," "having," "containing," and the like, are open-ended terms, meaning including but not limited to.

As used herein, "and/or" includes any and all combinations of the stated things.

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."

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.

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.

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.

It should be noted that the ground equipment mentioned in this application is mainly an erecting bracket.

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. Set the calculation coordinate system, and obtain the data required for the calculation.

Specifically, as shown in Fig. 2 and Fig. 4 to Fig. 6, the cross-section center of the tail of the rocket 2 can be taken as the origin o, the horizontal direction from the rocket body to the erecting bracket 1 is taken as the positive direction of the x-axis, and the vertical direction from the tail of the rocket body Point to the head of the arrow body as the positive direction of the y-axis, and will be perpendicular to the xoy plane inward as the positive direction of the z-axis.

The data required for the calculation obtained includes:

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};

The coordinates (a, b, c) of the turning point of the erecting bracket 1, the rear chamfering angle ω ₀ and the rear chamfering speed v of the erecting bracket 1 in the pre-swing stage;

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. According to the requirements of the test launch process, initially determine the design detachment stage of the pipeline during the launch of Rocket 2 and other required attention stages during the take-off process.

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.

Other required attention stages during the take-off of the rocket 2 can be the distance k _i from the rocket body to the launch pad after take-off, or the moment when the pipeline and the rocket 2 must be connected or must be disconnected.

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 erection bracket 1 are obtained in the erection stage, the pre-swing stage, the design shedding stage and other stages that need to be paid attention to. Location envelope.

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 rocket 2 takes off coordinate.

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 Rocket 2 are ( _xi , _yi , _zi ), then _xi , _yi and _zi are respectively:

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 stage rocket 2.

The movement position envelope of the erecting bracket 1 is specifically expressed as the rear chamfering angle of the erecting bracket 1, wherein, as shown in Table 1, the rear chamfering angle of the erecting bracket 1 in the design shedding stage and other concerned stages is ω ₀ +vt _i .

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 bracket 1 in each stage

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 erection bracket 1, the geometric parameters of the pipeline and the Installation requirements, completion of functional requirements such as filling and draining, installation position and layout interference analysis on the erecting bracket 1, etc. As shown in FIG. 2 , the position coordinates B 1 (l 1 , m 1 , n 1 ) of the installation interface B of the other end of the pipeline on the erecting bracket 1 in the erection stage are preliminarily determined, and according to the position coordinates B ₁ ( _{l 1} , m ₁ , n ₁ ) ₁ , m ₁ , n ₁ ) and the motion data of the erecting bracket 1 to obtain the position coordinates of the installation interface B of the other end of the pipeline on the erecting bracket 1 in the pre-swing stage, the design shedding stage and other stages that require attention.

Assuming that the position coordinates of the installation interface B on the erecting bracket 1 at the other end of the pipeline in the pre-swing stage, the design shedding stage and other stages requiring attention are (li , m _i , n _i ), then _li , _{m i and} n _i are:

In formula (2), R ₂ represents the distance from the installation interface B of the other end of the pipeline on the erecting bracket 1 to the turning point (a, b, c) of the erecting bracket 1,

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 bracket 1 to the centerline of the arrow body in the stage of pipeline design falling off, L _k3 =R ₂ sin(ω ₀ + vt ₃ -θ ₁ )+|l ₁ |;

θ ₁ represents the vertical angle between the installation interface B of the other end of the pipeline on the erection bracket 1 and the pivot point of the erection bracket 1 in the erection stage,

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 bracket 1,

t _i represents the take-off time of the rocket body at each stage of interest.

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)

裕量Q满足Q≥Q_th，其中，Q_th表示预设的裕量阈值，Q_th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 bracket 1 in each stage of the launch of the rocket 2. straight-line distance between interfaces B,

The margin Q satisfies Q≥Q _th , where Q _th represents a preset margin threshold, and Q _th can be 500mm.

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.

Specifically, the suspended state f(x) of the pipeline at each stage is:

The load generated by the pipeline on the installation interface is:

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,

e _i , _{f i} and qi are all intermediate coefficients;

计算得到；Among them, the intermediate coefficient e _i is according to the formula

calculated;

The intermediate coefficient f _i is:

The intermediate coefficient _qi is:

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 bracket 1; p represents the one end of the pipeline on the arrow The horizontal distance between the installation interface A on the body and the installation interface B on the erection bracket 1 at the other end of the pipeline.

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 bracket 1, the allowable force range, and the interference analysis of the pipeline arrangement at each stage etc., to judge whether the pipeline whose length is initially determined meets the requirements of force and interference analysis. The specific process is as follows:

All pipelines between the rocket 2 and the erecting bracket 1 in each stage are arranged according to the suspended state of the pipeline at each stage, and the load F Ai generated by the pipeline to the installation interface A and the load F _Ai generated by the pipeline to the installation interface B are calculated according to the formula (5). The load F _Bi .

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.

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. 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.

Table 2. The pipeline suspension equation at each stage and the load generated by the pipeline on the installation interface

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.

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.

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.

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. .

Claims (10)

1. A method for calculating the length and the load of a pipeline between a rocket and ground equipment is characterized by comprising the following steps:

setting a calculation coordinate system and acquiring data required by calculation;

the data required by the calculation comprise takeoff drift amount and roll angle during the period from the ignition takeoff of the rocket to the tail end of the rocket leaving the vertical bracket; the coordinates of the rotation point of the erecting bracket, the rear chamfering degree and the rear chamfering speed of the erecting bracket in the pre-swinging stage; the position coordinates of an installation interface of one end of the pipeline on the rocket body in the erecting stage, the geometric parameters of the pipeline and the physical parameters of the propellant medium;

according to the requirements of a test launching process, preliminarily determining a design shedding stage of a pipeline in the rocket launching process and an attention stage in the takeoff process;

obtaining coordinates of an installation interface of one end of a pipeline on the arrow body and a motion position envelope of the erecting bracket in the erecting stage, the pre-swinging stage, the design falling stage and the attention stage through interpolation calculation;

determining the position coordinates of the installation interface of the other end of the pipeline on the erecting bracket in the erecting stage, and calculating 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 falling stage and the attention stage according to the position coordinates and the motion data of the erecting bracket;

setting a margin for the length of the pipeline on the basis of a design falling stage or a necessary falling stage of the pipeline, and preliminarily determining the length of the pipeline according to the margin;

calculating the suspension state of the pipeline in each stage and the load of the pipeline on an installation interface based on a catenary calculation theory according to the geometric parameters of the pipeline and the physical parameters of a propellant medium;

judging whether the pipeline with the preliminarily determined length meets the stress requirement and the interference analysis requirement or not;

if the preliminarily determined length of pipeline meets the force-bearing requirements and the interference analysis requirements, the length of the pipeline, the catenary equation, and the load that the pipeline generates on the installation interface are output.

2. The method of claim 1, wherein if the length of the pipeline is determined to be insufficient for the force requirement and the interference analysis requirement, the design drop stage of the pipeline is readjusted, or a margin is set for the length of the pipeline until the length and the load of the pipeline meet the design and test flow requirements.

3. A method of calculating the length and load of a pipeline between a rocket and ground equipment according to claim 1, wherein the coordinates of the installation interface of one end of the pipeline on the rocket body in the design release stage and the attention stage are (x)_i,y_i,z_i)，x_i、y_iAnd z_iRespectively as follows:

wherein i is an integer greater than 1, R₁Represents the distance from the mounting interface of one end of the pipeline on the arrow body to the central line of the arrow body, t_iShows the takeoff time of the arrow body in each attention stage, α_iIndicating the amount of rocket drift from takeoff, β_iRepresenting the roll angle, k_iIndicating the takeoff altitude of the rocket during the phase of interest.

4. The method for calculating the length and the load of the pipeline between the rocket and the ground equipment according to claim 1, wherein the motion position envelope of the erecting carriage is represented by a rear chamfering degree of the erecting carriage, and the rear chamfering degree of the erecting carriage is represented by: omega₀+vt_iWherein, ω is₀And v represents the rear chamfering speed of the vertical bracket in the pre-swing stage.

5. The method of calculating the length and load of the pipeline between the rocket and the ground equipment according to claim 4, wherein the position coordinates of the installation interface of the other end of the pipeline on the erection bracket in the pre-swing stage, the design-off stage and the attention stage are (l)_i,m_i,n_i)，l_i、m_iAnd n_iRespectively as follows:

in the formula, R₂Representing the distance of the mounting interface of the other end of the pipeline on the erecting carriage to the turning point (a, b, c) of the erecting carriage,

L_k3the horizontal distance L from the mounting interface of the other end of the pipeline on the erecting bracket to the central line of the arrow body in the design falling stage of the pipeline_k3＝R₂sin(ω₀+vt₃-θ₁)+|l₁|；

θ₁Pipe for indicating erection stageThe other end of the wire is vertically included between the mounting interface on the vertical bracket and the turning point of the vertical bracket,

θ₂shows the included angle between the connecting line of the installation interface of one end of the pipeline on the rocket body and the section center of the tail part of the rocket and the vertical surface of the vertical bracket,

t_ithe takeoff time of the arrow body in each attention stage is shown.

6. A method for calculating the length and load of a pipeline between a rocket and ground equipment as recited in claim 5, wherein said preliminarily determined length of said pipeline is:

Length＝L_max+Q，

where Length represents the Length of the pipeline, L_maxRepresents L_iMaximum value of, L_iThe straight line distance between the installation interface of one end of the pipeline on the rocket body and the installation interface of the other end of the pipeline on the erecting bracket at each stage of rocket launching is shown,

the allowance Q is more than or equal to Q_th，Q_thRepresenting a preset margin threshold.

7. The method of calculating the length and load of the pipeline between the rocket and the ground equipment according to claim 5, wherein the suspension state f (x) of the pipeline at each stage is:

the load that the pipeline generates to the installation interface is:

in the formula, F_iIndicating the magnitude of the load generated by the pipeline to the installation interface, psi_iIndicating the direction of the load generated by the pipeline to the installation interface,

e_i、f_iand q is_iAre all intermediate coefficients;

wherein the intermediate coefficient e_iAccording to the formula

Calculating to obtain;

intermediate coefficient f_iComprises the following steps:

intermediate coefficient q_iComprises the following steps:

wherein 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 horizontal distance between the mounting interface of one end of the pipeline on the arrow body and the mounting interface of the other end of the pipeline on the erecting bracket; d denotes the inner diameter of the pipeline, the wall thickness of the pipeline and p the density of the propellant medium.

8. The method for calculating the length and the load of the pipeline between the rocket and the ground equipment according to claim 7, wherein the specific process of judging whether the pipeline with the preliminarily determined length meets the stress requirement and the interference analysis requirement comprises the following steps:

arranging all pipelines between the rockets and the erecting brackets in each stage according to the suspension state of the pipelines in each stage, and calculating to obtain the pipesLoad F generated to mounting interface of one end of line on arrow body_AiAnd the load F generated to the mounting interface of the other end of the pipeline on the erecting bracket_Bi；

Judging whether the pipelines are mutually interfered or not according to whether the spatial positions of the pipelines are overlapped or crossed, and if so, judging that the pipelines do not meet the requirement of interference analysis;

load F produced by a pipeline to its mounting interface on the rocket body_AiAllowable pulling force of mounting interface_A]Comparing the load F generated by the pipeline to the mounting interface of the other end of the pipeline on the arrow body_BiAllowable pulling force of mounting interface_B]Making a comparison if F_Ai≤[F_A]And F_Bi≤[F_B]And judging that the pipeline meets the stress requirement.

9. A rocket and ground equipment pipeline length and load calculating device, comprising:

a memory and a processor, wherein the processor is capable of,

the processor is configured to perform the method of calculating length and load of a line between a rocket and ground equipment according to any one of claims 1 to 8, based on instructions stored in the memory.

10. A computer storage medium having stored thereon a computer program which, when executed by a processor, implements a method of calculating line length and load between a rocket and ground equipment as claimed in any one of claims 1 to 8.

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