CN111680364B - Method and device for calculating length and load of pipeline between rocket and ground equipment - Google Patents

Method and device for calculating length and load of pipeline between rocket and ground equipment Download PDF

Info

Publication number
CN111680364B
CN111680364B CN202010520895.7A CN202010520895A CN111680364B CN 111680364 B CN111680364 B CN 111680364B CN 202010520895 A CN202010520895 A CN 202010520895A CN 111680364 B CN111680364 B CN 111680364B
Authority
CN
China
Prior art keywords
pipeline
stage
rocket
erecting
length
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202010520895.7A
Other languages
Chinese (zh)
Other versions
CN111680364A (en
Inventor
辛健
赵立乔
张亚民
韩宏茵
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Landspace Technology Co Ltd
Original Assignee
Landspace Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Landspace Technology Co Ltd filed Critical Landspace Technology Co Ltd
Priority to CN202010520895.7A priority Critical patent/CN111680364B/en
Publication of CN111680364A publication Critical patent/CN111680364A/en
Application granted granted Critical
Publication of CN111680364B publication Critical patent/CN111680364B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/10—Geometric CAD
    • G06F30/15—Vehicle, aircraft or watercraft design
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2113/00—Details relating to the application field
    • G06F2113/14—Pipes
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2113/00—Details relating to the application field
    • G06F2113/16—Cables, cable trees or wire harnesses

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Geometry (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Computational Mathematics (AREA)
  • Mathematical Analysis (AREA)
  • Mathematical Optimization (AREA)
  • Pure & Applied Mathematics (AREA)
  • Computer Hardware Design (AREA)
  • Evolutionary Computation (AREA)
  • General Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)

Abstract

The application provides a method and a device for calculating the length and the load of a pipeline between a rocket and ground equipment, wherein the calculating method comprises the following steps: setting a calculation coordinate system and acquiring data required by calculation; preliminarily determining a design shedding stage of a pipeline in a rocket launching process and an attention stage in a takeoff process; obtaining the coordinate of the mounting interface of one end of the pipeline on the arrow body and the motion position envelope of the erecting bracket; determining the position coordinate of the installation interface of the other end of the pipeline on the erecting bracket; setting a margin for the length of the pipeline, and preliminarily determining the length of the pipeline; calculating the suspension state of the pipeline and the load of the pipeline to the installation interface; judging whether the pipeline with the preliminarily determined length meets the stress requirement and the interference analysis requirement or not; if the requirements are met, the length of the pipeline, the catenary equation, and the load that the pipeline generates to the installation interface are exported. The method and the device can provide technical support for rocket structural design, erecting bracket structural design, pipeline stress, model selection and arrangement interference analysis.

Description

Method and device for calculating length and load of pipeline between rocket and ground equipment
Technical Field
The application belongs to the field of aerospace, and particularly relates to a method and a device for calculating the length and the load of a pipeline between a space carrier and ground equipment.
Background
In preparation for launching an aerospace vehicle or a launch vehicle (a launch vehicle is different from a rocket in weapons, and is a vehicle for launching satellites, airships and the like into space, and corresponds to launcher vehicle, not pocket), a plurality of electric, gas and liquid pipelines are generally required to be arranged in order to establish a connection between the aerospace vehicle or the launch vehicle and ground equipment. For a low-temperature liquid rocket, based on the characteristics of a low-temperature propellant and the requirements of rocket test launching, part of pipelines in electric, gas and liquid pipelines are required to normally work before the rocket takes off or after the rocket takes off by ignition.
The three-flat mode (namely horizontal assembly, horizontal transfer, horizontal test and vertical launching) has the advantages of no need of a tall factory building and a service tower, capability of keeping an arrow-ground interface unchanged in the transfer process, capability of shortening the occupation time of a launching area and the like, so the three-flat mode is more and more widely applied to the launching of novel low-temperature carrier rockets at home and abroad, particularly to the launching activity of commercial spaceflight. In each stage of erecting, pre-swinging of the erecting bracket, secondary backward falling of the erecting bracket, taking off of the rocket and the like of the low-temperature liquid rocket launched by adopting the 'three-horizontal' mode test, loads of electric lines, gas lines and liquid lines between the erecting bracket and the rocket on the rocket body and the erecting bracket are different.
In order to ensure that the electric, gas and liquid pipelines can be normally connected in each working stage required by the testing and launching processes, the functions of power supply, gas supply, filling, discharging, gas exhausting and the like are completed, and meanwhile, the electric, gas and liquid pipelines can reliably fall off or be separated from the rocket in the required design falling stage; the system also provides necessary design input for rocket body and erecting bracket structure design, pipeline stress, interference and model selection analysis for determining the load of the pipeline on the connection point in each working stage; it is necessary to perform analytical calculations on the lengths and loads of these pipelines.
Disclosure of Invention
In order to overcome the problems in the related art at least to a certain extent, the application provides a method and a device for calculating the length and the load of a pipeline between a rocket and ground equipment.
According to a first aspect of embodiments of the present application, there is provided a method for calculating a length and a load of a pipeline between a rocket and ground equipment, comprising the steps of:
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.
In the method for calculating the length and the load of the pipeline between the rocket and the ground equipment, if the pipeline with the preliminarily determined length does not meet the stress requirement and the interference analysis requirement, the design falling stage of the pipeline is readjusted, or the margin is set for the length of the pipeline again until the length and the load of the pipeline meet the requirements of the design and the measurement and launch process.
In the method for calculating the length and the load of the pipeline between the rocket and the ground equipment, the coordinates of the installation interface of one end of the pipeline on the rocket body are (x) in the design shedding stage and the attention stagei,yi,zi)，xi、yiAnd ziRespectively as follows:
Figure BDA0002531978530000031
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, tiShowing the takeoff time, alpha, of the rocket body at each stage of interestiIndicating the amount of drift of the rocket during takeoff, betaiRepresenting the roll angle, kiIndicating the takeoff altitude of the rocket during the phase of interest.
In the above method for calculating the length of the pipeline between the rocket and the ground equipment and the load, the envelope of the motion position of the erecting bracket is expressed as the rear chamfering degree of the erecting bracket, and in the design falling stage and the attention stage, the rear chamfering degree of the erecting bracket is: omega0+vtiWherein, ω is0And v represents the rear chamfering speed of the vertical bracket in the pre-swing stage.
Further, the position coordinates of the installation interface of the other end of the pipeline in the pre-swing stage, the design falling stage and the attention stage on the erecting bracket are (l)i,mi,ni)，li、miAnd niRespectively as follows:
Figure BDA0002531978530000032
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,
Figure BDA0002531978530000033
Lk3the 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 pipelinek3＝R2sin(ω0+vt3-θ1)+|l1|；
θ1Showing the other end of the pipeline in the erecting stage on the erecting bracketThe vertical included angle between the mounting interface and the turning point of the vertical bracket,
Figure BDA0002531978530000034
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,
Figure BDA0002531978530000035
tithe takeoff time of the arrow body in each attention stage is shown.
Still further, the preliminarily determined lengths of the pipelines are:
Length＝Lmax+Q，
where Length represents the Length of the pipeline, LmaxRepresents LiMaximum value of, LiThe 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,
Figure BDA0002531978530000041
the allowance Q is more than or equal to Qth，QthRepresenting a preset margin threshold.
Further, the catenary condition of the pipeline at each stage f (x) is:
Figure BDA0002531978530000042
the load that the pipeline generates to the installation interface is:
Figure BDA0002531978530000043
in the formula, FiIndicating the magnitude of the load generated by the pipeline to the installation interface, psiiIndicating the direction of the load generated by the pipeline to the installation interface,
Figure BDA0002531978530000044
ei、fiand q isiAre all intermediate coefficients;
wherein the intermediate coefficient eiAccording to the formula
Figure BDA0002531978530000045
Calculating to obtain;
intermediate coefficient fiComprises the following steps:
Figure BDA0002531978530000046
intermediate coefficient qiComprises the following steps:
Figure BDA0002531978530000047
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, δ denotes the wall thickness of the pipeline, and ρ denotes the density of the propellant medium.
Furthermore, the specific process of judging whether the pipeline with the preliminarily determined length meets the stress requirement and the interference analysis requirement in the step is as follows:
arranging all pipelines between the rocket and the erecting bracket in each stage according to the suspension state of the pipelines in each stage, and calculating the load F generated by the pipelines to the mounting interface of one end of the pipelines on the rocket bodyAiAnd the load F generated to the mounting interface of the other end of the pipeline on the erecting bracketBi；
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;
make the pipeline to one of themLoad F generated by end-on-arrow mounting interfaceAiAllowable pulling force of mounting interfaceA]Comparing the load F generated by the pipeline to the mounting interface of the other end of the pipeline on the arrow bodyBiAllowable pulling force of mounting interfaceB]Making a comparison if FAi≤[FA]And FBi≤[FB]And judging that the pipeline meets the stress requirement.
According to a second aspect of embodiments of the present application, there is also provided a device for calculating a length and a load of a pipeline between a rocket and ground equipment, comprising:
a memory and a processor, wherein the processor is capable of,
the processor is configured to perform any of the above methods of calculating a length and a load of a line between a rocket and ground equipment based on instructions stored in the memory.
According to a third aspect of embodiments of the present application, there is also provided a computer storage medium having a computer program stored thereon, the computer program, when executed by a processor, implementing any of the above-described methods for calculating length and load of a pipeline between a rocket and ground equipment.
According to the above embodiments of the present application, at least the following advantages are obtained: the method for calculating the length and the load of the pipeline between the rocket and the ground equipment can quickly calculate and determine the reasonable length of the electric, gas and liquid pipelines meeting the requirements of a test and a launching process, and the suspension attitude equation of each concerned stage in the launching process, the load of the pipeline on the installation interface of one end of the pipeline on the rocket body and the load of the pipeline on the installation interface of the other end of the pipeline on the rocket body, so that technical support is provided for rocket structure design, erecting bracket structure design, pipeline stress, model selection and arrangement 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 restrictive of the scope of the invention, as claimed.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of the specification of the application, illustrate embodiments of the application and together with the description, serve to explain the principles of the application.
Fig. 1 is a flowchart of a method for calculating a length and a load of a pipeline between a rocket and ground equipment according to an embodiment of the present application.
Fig. 2 is a schematic diagram of a positional relationship between a erecting carriage and a rocket in the erecting stage according to an embodiment of the present application.
Fig. 3 is a view in the direction of R-R in fig. 2.
Fig. 4 is a schematic diagram of a positional relationship between a vertical bracket and a rocket in a pre-swing stage according to an embodiment of the present application.
Fig. 5 is a schematic diagram of a positional relationship between a design launch carriage and a rocket in a launch stage according to an embodiment of the present application.
Fig. 6 is a schematic diagram of a positional relationship between a erecting carriage and a rocket in an ith attention stage provided in the embodiment of the present application.
Description of reference numerals:
1. erecting a bracket; 2. provided is a rocket.
Detailed Description
For the purpose of promoting a clear understanding of the objects, aspects and advantages of the embodiments of the present application, reference will now be made to the accompanying drawings and detailed description, wherein like reference numerals refer to like elements throughout.
The illustrative embodiments and descriptions of the present application are provided to explain the present application and not to limit the present application. Additionally, the same or similar numbered elements/components used in the drawings and the embodiments are used to represent the same or similar parts.
As used herein, "first," "second," …, etc., are not specifically intended to mean in a sequential or chronological order, nor are they intended to limit the application, but merely to distinguish between elements or operations described in the same technical language.
With respect to directional terminology used herein, for example: up, down, left, right, front or rear, etc., are simply directions with reference to the drawings. Accordingly, the directional terminology used is intended to be illustrative and is not intended to be limiting of the present teachings.
As used herein, the terms "comprising," "including," "having," "containing," and the like are open-ended terms that mean including, but not limited to.
As used herein, "and/or" includes any and all combinations of the described items.
References to "plurality" herein include "two" and "more than two"; reference to "multiple sets" herein includes "two sets" and "more than two sets".
As used herein, the terms "substantially", "about" and the like are used to modify any slight variation in quantity or error that does not alter the nature of the variation. In general, the range of slight variations or errors that such terms modify may be 20% in some embodiments, 10% in some embodiments, 5% in some embodiments, or other values. It should be understood by those skilled in the art that the aforementioned values can be adjusted according to actual needs, and are not limited thereto.
Certain words used to describe the present application are discussed below or elsewhere in this specification to provide additional guidance to those skilled in the art in describing the present application.
Fig. 1 is a flowchart of a method for calculating a length and a load of a pipeline between a rocket and ground equipment according to an embodiment of the present application.
It should be noted that the floor device referred to in this application is mainly a vertical bracket.
As shown in fig. 1, a method for calculating a length and a load of a pipeline between a rocket and ground equipment provided in an embodiment of the present application includes the following steps:
and S1, setting a calculation coordinate system and acquiring data required by calculation.
Specifically, as shown in fig. 2 and 4 to 6, the center of the cross section of the tail of the rocket 2 may be the origin o, the vertical direction from the arrow body to the vertical carriage 1 may be the positive direction of the x-axis, the vertical direction from the arrow body tail to the arrow body head may be the positive direction of the y-axis, and the direction perpendicular to the xoy plane may be the positive direction of the z-axis.
The acquired data required for the calculation includes:
the takeoff drifting amount { alpha ] from the ignition takeoff of the rocket 2 to the departure of the tail end of the rocket 2 from the erecting bracket 11,α2,α3,L,αiL and roll angle [ beta ]1,β2,β3,L,βi,L}；
Coordinates (a, b, c) of a turning point of the erecting bracket 1 and a back chamfer degree omega of the erecting bracket 1 in a pre-swing stage0And a rear chamfering speed v;
as shown in FIG. 2, assume the position coordinate A of the mounting interface A of one end of the pipeline on the arrow body in the erecting stage1(x1,y1,z1) And simultaneously, the geometrical parameters of the pipeline and the physical parameters of the propellant medium need to be considered. Wherein the geometrical parameters of the pipeline comprise the inner diameter d and the wall thickness δ of the pipeline. The physical property parameter of the propellant medium may be the density ρ of the propellant medium.
S2, preliminarily determining the design shedding stage of the pipeline in the launching process of the rocket 2 and other required attention stages in the takeoff process according to the requirements of the test launching process.
The design-off stage of the pipeline may be an amount of time based on the takeoff time or a displacement based on the takeoff and landing height. For example, as shown in FIG. 5, the design-off stage of the pipeline may be a distance k from the launching platform after the rocket body takes off1。
Other required attention stages in the takeoff process of the rocket 2 can be the distance k between the rocket body and the launching platform after takeoffiOr the moment when the pipeline and rocket 2 must be connected or disconnected.
S3, obtaining the coordinates of the mounting interface of one end of the pipeline on the arrow body and the motion position envelope of the erecting bracket 1 in the erecting stage, the pre-swing stage, the design falling stage and other stages needing attention through interpolation calculation as shown in the table 1.
Specifically, according to the position coordinate A of the installation interface A of one end of the pipeline on the arrow body in the erecting stage1(x1,y1,z1) Takeoff drift amount { alpha ] of rocket 21,α2,α3,L,αiL and roll angle [ beta ]1,β2,β3,L,βiAnd L, calculating to obtain the coordinates of the installation interface A of one end of the pipeline on the rocket body in each concerned stage after the takeoff of the rocket 2.
The coordinate of a mounting interface A of one end of the pipeline on the rocket body in each concerned stage after the takeoff of the rocket 2 is assumed to be (x)i,yi,zi) Then xi、yiAnd ziRespectively as follows:
Figure BDA0002531978530000081
in the formula (1), i is an integer greater than 1, R1Represents the distance from the mounting interface A of one end of the pipeline on the arrow body to the central line of the arrow body, tiShows the takeoff time, k, of the rocket body at each stage of interestiIndicating the takeoff altitude of the rocket 2 during the phase of interest.
The motion position envelope of the erecting bracket 1 is embodied as the rear chamfering degree of the erecting bracket 1, wherein the rear chamfering degree of the erecting bracket 1 is omega in the design falling-off stage and other concerned stages as shown in table 10+vti。
Table 1 positional coordinates of an installation port a of one end of a pipeline on an arrow body and positional coordinates changes and distances of an installation port B of the other end of the pipeline on a erection bracket 1 at each stage
Figure BDA0002531978530000091
S4, according to the coordinates of the installation interface A of one end of the pipeline on the arrow body and the motion position envelope of the erecting bracket 1 in the erecting stage, the pre-swing stage, the design falling stage and other stages needing attention, the geometric parameters and installation requirements of the pipeline, the functional requirements of completing filling and discharging and the like, the requirements of interference analysis of the installation position and arrangement on the erecting bracket 1 and the like. As shown in FIG. 2, the other end of the pipeline at the erection stage is preliminarily determinedPosition coordinates B of the mounting interface B on the erection support 11(l1,m1,n1) And according to the position coordinates B1(l1,m1,n1) And calculating the motion data of the erecting bracket 1 to obtain the position coordinates of the mounting interface B of the other end of the pipeline on the erecting bracket 1 in a pre-swing stage, a design shedding stage and other stages needing attention.
Suppose the position coordinates of the mounting 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 needing attention are (l)i,mi,ni) Then l isi、miAnd niRespectively as follows:
Figure BDA0002531978530000101
in the formula (2), R2Showing the distance of the mounting interface B of the other end of the pipeline on the erecting carriage 1 to the turning point (a, B, c) of the erecting carriage 1,
Figure BDA0002531978530000102
as shown in fig. 3 and 5, Lk3The horizontal distance L from the mounting interface B of the other end of the pipeline on the erecting bracket 1 to the central line of the arrow body in the design falling stage of the pipelinek3＝R2sin(ω0+vt3-θ1)+|l1|；
θ1The vertical included angle between the installation interface B of the other end of the pipeline at the erecting stage on the erecting bracket 1 and the turning point of the erecting bracket 1 is shown,
Figure BDA0002531978530000103
θ2shows the included angle between the connecting line of the installation interface A of one end of the pipeline on the arrow body and the origin o and the vertical surface of the erecting bracket 1,
Figure BDA0002531978530000104
tithe takeoff time of the arrow body in each attention stage is shown.
S5, setting a margin Q for the Length of the pipeline on the basis of the design falling stage or the compulsory falling stage of the pipeline, and preliminarily determining the Length of the pipeline as follows:
Length＝Lmax+Q (3)
in the formula (3), LmaxRepresents LiWherein L isiThe straight line distance between the installation interface A of one end of the pipeline on the rocket body and the installation interface B of the other end of the pipeline on the erecting bracket 1 at each stage of launching of the rocket 2 is shown,
Figure BDA0002531978530000111
the allowance Q is more than or equal to QthWherein Q isthRepresenting a predetermined margin threshold, QthMay be 500 mm.
And S6, calculating the suspension state of the pipeline in each stage and the load of the pipeline on the installation interface based on the catenary calculation theory according to the geometric parameters of the pipeline and the physical parameters of the propellant medium.
In particular, the catenary condition of the pipeline at each stage, f (x), is:
Figure BDA0002531978530000112
the load that the pipeline generates to the installation interface is:
Figure BDA0002531978530000113
in the formulae (4) and (5), FiIndicating the magnitude of the load generated by the pipeline to the installation interface, psiiIndicating the direction of the load generated by the pipeline to the installation interface,
Figure BDA0002531978530000114
Figure BDA0002531978530000115
ei、fiand q isiAre all intermediate coefficients;
wherein the intermediate coefficient eiAccording to the formula
Figure BDA0002531978530000116
Calculating to obtain;
intermediate coefficient fiComprises the following steps:
Figure BDA0002531978530000117
intermediate coefficient qiComprises the following steps:
Figure BDA0002531978530000121
wherein Length represents the Length of the pipeline, h represents the height difference between an installation interface A of one end of the pipeline on the arrow body and an installation interface B of the other end of the pipeline on the erecting bracket 1; p represents the horizontal distance between the mounting interface a of one end of the pipeline on the arrow body and the mounting interface B of the other end of the pipeline on the erection bracket 1.
S7, judging whether the pipeline with the preliminarily determined length meets the stress requirement and the interference analysis requirement according to the allowable stress range of the structure of one end of the pipeline at the mounting interface A on the arrow body and the structure of the other end of the pipeline at the mounting interface B on the erecting bracket 1, the interference analysis of the arrangement among the pipelines at each stage and the like, wherein the specific process is as follows:
arranging all pipelines between the rocket 2 and the erecting bracket 1 at each stage according to the suspension state of the pipelines at each stage, and calculating the load F of the pipelines on the installation interface A according to the formula (5)AiAnd the load F generated to the mounting interface BBi。
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; otherwise, the pipeline is judged to meet the requirement of the interference analysis.
Load F generated by connecting pipeline to installation interface AAiAllowable pulling force of mounting interfaceA]Comparing the loads F generated by the pipelines to the mounting interface BBiAllowable pulling force of mounting interfaceB]Making a comparison if FAi≤[FA]And FBi≤[FB]And judging that the pipeline meets the stress requirement.
S8, if the pipeline with the preliminarily determined length meets the stress requirement and the interference analysis requirement, outputting the length of the pipeline, an overhang equation (or a coordinate point) and the load of the pipeline on the installation interface as shown in the table 2; otherwise, when the pipeline with the initially determined length does not meet the stress requirement, returning to the step S2 to readjust the design shedding stage of the pipeline, and when the pipeline with the initially determined length does not meet the interference analysis requirement, returning to the step S5 to set the margin for the length of the pipeline again, and repeating the calculation iteration until the length and the load of the pipeline both meet the requirements of the design and test-sending processes.
TABLE 2 pipeline catenary hang equations for each stage and the loads generated by the pipeline to the installation interface
Figure BDA0002531978530000131
In an exemplary embodiment, the present application further provides a method for calculating a length and a load of a pipeline between a rocket and ground equipment, which includes a memory and a processor, where the processor is configured to execute the method for calculating a length and a load of a pipeline between a rocket and ground equipment in any one of the embodiments of the present application based on instructions stored in the memory.
The memory may be a system memory, a fixed nonvolatile storage medium, or the like, and the system memory may store an operating system, an application program, a boot loader, a database, other programs, and the like.
In an exemplary embodiment, the present application further provides a computer storage medium, which is a computer readable storage medium, for example, a memory including a computer program, which is executable by a processor to perform the method for calculating the length and load of the pipeline between the rocket and the ground equipment in any of the embodiments of the present application.
The foregoing is merely an illustrative embodiment of the present application, and any equivalent changes and modifications made by those skilled in the art without departing from the spirit and principles of the present application 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 designing the length of the pipeline in the shedding stage or ensuring the length of the pipeline in the shedding stage, 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 for calculating the length and the load of the pipeline between the rocket and the ground equipment according to claim 1, wherein if the pipeline with the preliminarily determined length does not meet the stress requirement and the interference analysis requirement, the design falling stage of the pipeline is readjusted, or the margin is set for the length of the pipeline again until the length and the load of the pipeline both meet the requirements of the design and the test and launch process; the design shedding stage of the pipeline is the time amount based on the takeoff time or the displacement amount based on the takeoff and landing height.
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,yi,zi)，xi、yiAnd ziRespectively as follows:
Figure FDA0003124044070000021
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, tiShowing the takeoff time, alpha, of the rocket body at each stage of interestiIndicating the amount of drift of the rocket during takeoff, betaiRepresenting the roll angle, kiRepresenting the takeoff height of the rocket in the attention stage; z is a radical of1Z-axis coordinate representing position coordinate of installation interface of one end of pipeline on arrow body in erecting stage, i represents each concerned stage。
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 bracket is represented by a rear chamfering degree of the erecting bracket, and the rear chamfering degree of the erecting bracket in the design falling stage is as follows: omega0+vt1，t1The takeoff time of the rocket body in the design falling stage is shown; in the attention stage, the rear chamfer degree of the erecting bracket is as follows: omega0+vtiI is an integer greater than 1, i represents each stage of interest, tiRepresenting the takeoff time of the arrow body in each attention stage; wherein, 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,mi,ni)，li、miAnd niRespectively as follows:
Figure FDA0003124044070000022
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,
Figure FDA0003124044070000023
Lk3the 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 pipelinek3＝R2sin(ω0+vt3-θ1)+|l1|；
θ1Showing the mounting interface of the other end of the pipeline in the erecting stage on the erecting bracketA vertical included angle between the vertical bracket and a rotating point of the vertical bracket,
Figure FDA0003124044070000031
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,
Figure FDA0003124044070000032
tirepresenting the takeoff time of the arrow body in each attention stage;
x1x-axis coordinate, y-axis coordinate representing position coordinate of installation interface of one end of pipeline on arrow body in erecting stage1Y-axis coordinate, z-axis coordinate representing the position coordinate of the mounting interface of one end of the pipeline on the arrow body in the erecting phase1A z-axis coordinate representing a position coordinate of a mounting interface of one end of the pipeline on the arrow body in the erecting stage;
when the value of i is 2, the position coordinate of the installation interface of the other end of the pipeline in the pre-swing stage on the vertical bracket is (l)2,m2,n2) (ii) a When the value of i is 3, the position coordinate of the installation interface of the other end of the pipeline at the design falling stage on the erecting bracket is (l)3,m3,n3) (ii) a When the value of i is an integer which is greater than or equal to 4, the position coordinate of the installation interface of the other end of the pipeline in the concerned stage on the vertical bracket is (l)i,mi,ni)。
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＝Lmax+Q，
where Length represents the Length of the pipeline, LmaxRepresents LiMaximum value of, LiThe 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,
Figure FDA0003124044070000033
the allowance Q is more than or equal to Qth，QthRepresents a preset margin threshold;
Lithe 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 in the pre-swing stage, the design falling stage and each concerned stage of the rocket is shown, wherein when the value of i is 2, L2The straight line distance between the installation interface of one end of the pipeline of the rocket body and the installation interface of the other end of the pipeline on the erecting bracket in the pre-swing stage is represented; when i is 3, L3The 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 the design shedding stage of the rocket is represented; when i is an integer of 4 or more, LiThe 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 attention is represented;
when i is 2, (x)i,yi,zi) Coordinates representing a mounting interface of one end of the pipeline of the rocket body in the design shedding stage; when i is an integer of 3 or more, (x)i,yi,zi) Coordinates representing the mounting interface of the rocket body at one end of the pipeline at each stage of interest.
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 in the design-off stage and each concerned stage is:
Figure FDA0003124044070000041
the load that the pipeline generates to the installation interface is:
Figure FDA0003124044070000042
in the formula, FiIndicating the magnitude of the load generated by the pipeline to the installation interface, psiiIndicating the direction of the load generated by the pipeline to the installation interface,
Figure FDA0003124044070000043
ei、fiand q isiAre all intermediate coefficients;
wherein the intermediate coefficient eiAccording to the formula
Figure FDA0003124044070000044
Calculating to obtain;
intermediate coefficient fiComprises the following steps:
Figure FDA0003124044070000045
intermediate coefficient qiComprises the following steps:
Figure FDA0003124044070000051
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 represents the internal diameter of the pipeline, δ represents the wall thickness of the pipeline, ρ represents the density of the propellant medium;
when i takes a value of 2, xiAn x-axis coordinate representing the coordinates of the installation interface of one end of the pipeline on the rocket body at the design shedding stage of the rocket; when i is an integer of 3 or more, xiX-axis coordinates in coordinates representing a mounting interface of one end of the pipeline on the rocket body at each stage of interest of the rocket;
e represents a constant for determining the catenary of the pipeline, and g represents the acceleration of gravity.
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 is as follows:
arranging all pipelines between the rocket and the erecting bracket in the erecting stage, the pre-swinging stage, the design falling stage and each concerned stage according to the suspension state of the pipelines in the erecting stage, the pre-swinging stage, the design falling stage and each concerned stage, and calculating to obtain the load F generated by the pipelines to the mounting interface of one end of the pipelines on the rocket bodyAiAnd the load F generated to the mounting interface of the other end of the pipeline on the erecting bracketBi；
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 bodyAiAllowable pulling force of mounting interfaceA]Comparing the load F generated by the pipeline to the mounting interface of the other end of the pipeline on the vertical bracketBiAllowable pulling force of mounting interfaceB]Making a comparison if FAi≤[FA]And FBi≤[FB]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.
CN202010520895.7A 2020-06-10 2020-06-10 Method and device for calculating length and load of pipeline between rocket and ground equipment Active CN111680364B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010520895.7A CN111680364B (en) 2020-06-10 2020-06-10 Method and device for calculating length and load of pipeline between rocket and ground equipment

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010520895.7A CN111680364B (en) 2020-06-10 2020-06-10 Method and device for calculating length and load of pipeline between rocket and ground equipment

Publications (2)

Publication Number Publication Date
CN111680364A CN111680364A (en) 2020-09-18
CN111680364B true CN111680364B (en) 2021-09-14

Family

ID=72454379

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010520895.7A Active CN111680364B (en) 2020-06-10 2020-06-10 Method and device for calculating length and load of pipeline between rocket and ground equipment

Country Status (1)

Country Link
CN (1) CN111680364B (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113886943B (en) * 2021-09-06 2022-11-01 蓝箭航天空间科技股份有限公司 Carrier rocket takeoff interference detection method and detection device

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109858189A (en) * 2019-01-09 2019-06-07 北京蓝箭空间科技有限公司 Carrier rocket loading analysis method
CN110386268A (en) * 2019-07-04 2019-10-29 蓝箭航天空间科技股份有限公司 The containing system that falls off for carrier rocket filling connector
CN111023899A (en) * 2019-11-05 2020-04-17 蓝箭航天空间科技股份有限公司 Rocket transferring and erecting system

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8960590B2 (en) * 2013-07-18 2015-02-24 Elbert L. Rutan Pressure-equalizing cradle for booster rocket mounting

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109858189A (en) * 2019-01-09 2019-06-07 北京蓝箭空间科技有限公司 Carrier rocket loading analysis method
CN110386268A (en) * 2019-07-04 2019-10-29 蓝箭航天空间科技股份有限公司 The containing system that falls off for carrier rocket filling connector
CN111023899A (en) * 2019-11-05 2020-04-17 蓝箭航天空间科技股份有限公司 Rocket transferring and erecting system

Also Published As

Publication number Publication date
CN111680364A (en) 2020-09-18

Similar Documents

Publication Publication Date Title
Olds et al. IRVE-3 post-flight reconstruction
CN109484674B (en) Real-time rail maneuvering control method based on target rail parameters
CN110057382B (en) Strapdown inertial navigation value updating method based on emission coordinate system
CN110096726B (en) GEO satellite emergency transfer orbit rapid optimization design method based on lunar force borrowing
CN103063216B (en) A kind of inertia based on star image coordinates modeling and celestial combined navigation method
CN113503894B (en) Inertial navigation system error calibration method based on gyro reference coordinate system
CN111680364B (en) Method and device for calculating length and load of pipeline between rocket and ground equipment
CN109460049B (en) Geosynchronous orbit satellite apogee orbit transfer method based on inertial pointing mode
CN114779799B (en) Flexible spacecraft attitude and orbit tracking control method based on expansion disturbance observer
CN105382843A (en) Coordination control method for mechanical arm and operation platform in final stage of grabbing
CN109858189B (en) Carrier rocket load analysis method
Fuhry Adaptive atmospheric reentry guidance for the Kistler K-1 orbital vehicle
CN111220182A (en) Rocket transfer alignment method and system
CN110245405B (en) Carrier rocket top-down modeling method based on SIEMENS NX and rocket modeling structure
CN110044385B (en) Rapid transfer alignment method under condition of large misalignment angle
CN107702718B (en) Airborne POS maneuvering optimization method and device based on instant observability model
CN104932520A (en) Spacecraft raindrop shape hovering configuration control method under existence of measurement error
Zheng et al. Propagation mechanism analysis of navigation errors caused by initial state errors for long-range vehicles
CN112405528B (en) Space manipulator system explicit dynamics control method considering gravitational influence
CN115388899A (en) Mobile robot vision inertia fusion SLAM method based on variational Bayes
CN115392540A (en) Rapid forecasting method for lunar orbit rendezvous guidance
KR101460505B1 (en) Kick Motor System Thrust Axis Alignment
CN113886943A (en) Carrier rocket takeoff interference detection method and detection device
Striepe et al. An atmospheric guidance algorithm testbed for the Mars Surveyor Program 2001 Orbiter and Lander
CN112987691B (en) Soft landing closed-loop follow-up control test method for surface of extraterrestrial celestial body

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant