CN113944570B - Track control method based on electric pump engine and computing equipment - Google Patents
Track control method based on electric pump engine and computing equipment Download PDFInfo
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- CN113944570B CN113944570B CN202111015246.2A CN202111015246A CN113944570B CN 113944570 B CN113944570 B CN 113944570B CN 202111015246 A CN202111015246 A CN 202111015246A CN 113944570 B CN113944570 B CN 113944570B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02K—JET-PROPULSION PLANTS
- F02K9/00—Rocket-engine plants, i.e. plants carrying both fuel and oxidant therefor; Control thereof
- F02K9/42—Rocket-engine plants, i.e. plants carrying both fuel and oxidant therefor; Control thereof using liquid or gaseous propellants
- F02K9/44—Feeding propellants
- F02K9/46—Feeding propellants using pumps
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02K—JET-PROPULSION PLANTS
- F02K9/00—Rocket-engine plants, i.e. plants carrying both fuel and oxidant therefor; Control thereof
- F02K9/42—Rocket-engine plants, i.e. plants carrying both fuel and oxidant therefor; Control thereof using liquid or gaseous propellants
- F02K9/44—Feeding propellants
- F02K9/56—Control
- F02K9/563—Control of propellant feed pumps
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02K—JET-PROPULSION PLANTS
- F02K9/00—Rocket-engine plants, i.e. plants carrying both fuel and oxidant therefor; Control thereof
- F02K9/42—Rocket-engine plants, i.e. plants carrying both fuel and oxidant therefor; Control thereof using liquid or gaseous propellants
- F02K9/60—Constructional parts; Details not otherwise provided for
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Abstract
The application discloses a track control method and computer equipment based on an electric pump transmitter, wherein the method comprises the following steps: constructing a track dynamics model, obtaining a first final track state by recursion according to a preset first working time length set, a first charging time length set, a preset initial track state and the track dynamics model, and judging whether a preset expected track state and the first final track state meet preset constraint conditions or not; if the working time length and the charging time length do not meet the requirements, the first working time length set and the first charging time length set are adjusted to obtain a second working time length set and a second charging time length set, the working time length and the charging time length corresponding to the derailment control are respectively determined from the second working time length set and the second charging time length set, and the track control is carried out according to the working time length and the charging time length. The technical problem how to carry out track control through the electric pump engine is solved in this application.
Description
Technical Field
The application relates to the technical field of aerospace, in particular to an orbit control method based on an electric pump transmitter and computer equipment.
Background
In order to meet the requirements of low cost, quick launching and high reliability of the launching market of the micro spacecraft, the spacecraft design based on the electric pump engine is produced. The electric pump propulsion system drives the motor through a battery carried by the spacecraft, and then drives the fuel pump and the oxidant pump to pump the propellant in the storage tank, so that the pressure of the propellant reaching a combustion chamber is increased, and the propellant is conveyed. Compared with the traditional turbo pump propellant supply mode, the electric pump propellant supply mode has the advantages of simple structure, convenience in thrust ratio adjustment, high energy utilization efficiency, low cost and the like, and is highly concerned by researchers at home and abroad.
For a spacecraft, after the pressure of a combustion chamber and the initial pressure of a high-pressure gas storage tank are determined, the working time of an engine needs to ensure the normal work of the spacecraft, for example, the spacecraft needs to meet the requirement of multiple orbit control operations or position maintenance operations. The working time of the transmitter is related to the battery capacity, which is related to the battery quality, which in turn affects the overall quality of the supply system; in addition, because the battery cannot be charged during the launching process of the spacecraft, the weight of the system cannot be reduced from the perspective of the battery in order to keep the spacecraft in normal operation. However, if the electric pump engine is used as the orbit control engine of the spacecraft, the solar wing of the spacecraft can be used for charging the battery for multiple times, the capacity of the battery only needs to meet the requirement of the orbit control machine for operation at every time, the battery can be charged for multiple times by using the solar wing of the spacecraft, the multiple orbit control work of the battery is guaranteed, the quality of the battery can be reduced by using the capacity of the battery, and therefore the improvement of the quality of an effective load or the mobility of the battery is reduced. Therefore, how to realize the orbit control of the spacecraft by the electric pump engine becomes a problem to be solved urgently.
Disclosure of Invention
The technical problem that this application solved is: aiming at how to realize the orbit control of the spacecraft through the electric pump engine, the application provides an orbit control method and computer equipment based on the electric pump engine.
In a first aspect, an embodiment of the present application provides a method for controlling a track based on an electric pump transmitter, where the method includes:
constructing a track dynamics model, and recursion according to a preset first working time length set, a preset first charging time length set, a preset initial track state and the track dynamics model to obtain a first final track state, wherein the first working time length set is a set of initial working time lengths corresponding to at least one orbit control, and the first charging time length set is a set of charging working time lengths corresponding to at least one orbit control;
judging whether the preset expected track state and the first last track state meet preset constraint conditions or not according to the preset expected track state and the first last track state;
if the first working time length set and the first charging time length set are not satisfied, respectively adjusting the first working time length set and the first charging time length set in a preset value range to obtain a second working time length set and a second charging time length set, and recurrently obtaining a second final orbit state again according to the second working time length set, the second charging time length set, a preset initial orbit state and an orbit dynamics model;
and determining a second working time length set and a second charging time length set corresponding to the preset expected track state and the second last track state meeting the preset constraint condition, determining the working time length from the second working time length set, determining the working time length and the charging time length corresponding to the derailment control from the second charging time length set, and performing track control according to the working time length and the charging time length.
Optionally, before constructing the orbit dynamics model, the method further includes:
the method comprises the steps of respectively determining initial working time and initial charging time corresponding to each time of orbital control of an electric pump propeller according to preset orbital control times, obtaining a first working time according to the initial working time corresponding to all the times of orbital control of the electric pump propeller, and obtaining a first charging time set according to the initial charging time corresponding to all the times of orbital control of the electric pump propeller.
Optionally, according to predetermine the rail accuse number of times respectively to determine the electric pump propeller initial operating duration and the initial charge duration that each time rail accuse corresponds, include:
determining the initial working time length corresponding to each orbit control within the range not greater than the preset working time length;
and determining the initial charging time length corresponding to each orbit control within the range of not less than the preset charging time length.
Optionally, constructing an orbital dynamics model, comprising:
the orbital dynamics model is represented by:
wherein a represents a semi-major axis of a spacecraft orbit; e represents the eccentricity of the spacecraft orbit; v represents the flight velocity vector of the spacecraft relative to the atmosphere; μ represents a gravitational constant; f. of t Representing a perturbing acceleration tangential component in a current track velocity direction; θ represents a true proximal angle; r represents the distance of the spacecraft from the earth; f. of m Representing the normal component of the perturbed acceleration in the plane of the orbit away from the center of curvature.
Optionally, the preset constraint condition includes:
presetting that the absolute value of the difference between the long half shaft of the expected track and the long half shaft of the tail track is not greater than a preset first threshold value;
the absolute value of the difference between the eccentricity of the preset expected track and the eccentricity of the last track is not greater than a preset second threshold.
Optionally, determining whether the first initial track state and the first final track state satisfy a preset constraint condition according to the first initial track state and the first final track state includes: respectively determining a first long half shaft and a first eccentricity corresponding to the last track according to the state of the first last track; calculating a first absolute value of a difference between the first major axis and a value of a major axis of the preset desired track, and a second absolute value of a difference between a value of the first eccentricity and an eccentricity of the preset desired track; and judging whether the first absolute value is not greater than a preset first threshold value or not, and whether the second absolute value is not greater than a preset second threshold value or not.
Optionally, determining the operating time length corresponding to the derailment control from the second operating time length set and determining the charging time length corresponding to the derailment control from the second charging time length set includes:
determining the working time length and the charging time length according to the following formula:
wherein x represents a second set of charging time periods, x = [ x ] 1 ,x 2 ,…,x i ,…x n ](ii) a q represents a second set of operating times, q = [ q ] 1 ,q 2 ,…,q i ,…q n ](ii) a f (x, q) represents a function with the second set of charging time periods and the second set of operating time periods as variables; k represents a preset weight coefficient; n represents the preset track control times; q. q.s i The working time length corresponding to the ith track control in the second working time length is represented; x is the number of i And the charging time length corresponding to the ith rail control in the second charging time length is represented.
In a second aspect, the present application provides a computer device comprising:
a memory for storing instructions for execution by the at least one processor;
a processor for executing instructions stored in a memory to perform the method of the first aspect.
Compared with the prior art, the application has the following beneficial effects:
in the scheme provided by the embodiment of the application, the electric pump propeller is adopted and used as an orbit control engine, and the transfer problem based on continuous thrust is converted into an optimization design problem aiming at transfer time and fuel consumption by utilizing the characteristics of battery charging and discharging, so that reference is provided for the electric pump propeller applied to the actual spacecraft to carry out orbit maneuvering.
Drawings
Fig. 1 is a schematic flowchart of a method for controlling a track based on an electric pump transmitter according to an embodiment of the present disclosure;
FIG. 2 is a schematic diagram of a continuous thrust transfer track based on an electric pump engine provided in an embodiment of the present application;
FIG. 3 is a schematic diagram of yet another continuous thrust transfer trajectory based on an electric pump engine provided by an embodiment of the present application;
fig. 4 is a schematic structural diagram of a computer device according to an embodiment of the present application.
Detailed Description
In the solutions provided in the embodiments of the present application, the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The track control method based on the electric pump transmitter provided by the embodiment of the present application is further described in detail with reference to the drawings in the specification, and a specific implementation manner of the track control method may include the following steps (a flow of the method is shown in fig. 1):
step 101, constructing a track dynamics model, and obtaining a first last track state according to a preset first working time length set, a preset first charging time length set, a preset initial track state and a track dynamics model recursion, wherein the first working time length set is a set of initial working time lengths corresponding to at least one orbit control, and the first charging time length set is a set of charging working time lengths corresponding to at least one orbit control.
For the traditional continuous thrust rail transfer problem, the working time of the engine is almost not limited, and the rail design only needs to satisfy a rail dynamic equation and realize the working mode of the engine with optimal fuel. However, for an electric pump engine, the operational time after each ignition is limited by the battery capacity, and a period of unpowered coasting is required after ignition, during which the electric pump propeller battery is charged until the battery state SOC reaches 100%, ready for the next engine operation. Referring to fig. 2, a schematic diagram of a continuous thrust transfer orbit based on an electric pump engine is provided for an embodiment of the present application.
Further, the solution provided in the embodiments of the present application requires setting basic parameters before constructing the orbit dynamics model. As an example, the basic parameter is that the satellite runs on a circular orbit with an altitude of 200km, and after the orbit transfer, the altitude is expected to be raised to 500km. Taking the data of the aerospace vehicle X-37B as an example for analysis, the engine thrust is 490N, the specific impulse is 315.5s, the empty weight is 3500kg, and the load is 227kg.
In order to realize attitude and orbit control of the spacecraft based on the electric pump engine, the scheme provided by the embodiment of the application converts the problem of an engine mode into the problem of the working time and the charging time of the electric pump engine. The track dynamics problem is converted into a problem of optimizing the working time and the charging time of the motor of the electric pump. In order to optimize the operation time and the charging time of the electric pump engine, in a possible implementation manner, before constructing the track dynamics model, the method further comprises the following steps: and respectively determining the initial working time and the initial charging time corresponding to each orbit control of the electric pump propeller according to the preset orbit control times, and respectively obtaining a first working time set and a first charging time set according to the initial working time and the initial charging time.
In a possible implementation manner, the method includes the steps of determining the initial working time and the initial charging time corresponding to each tracking control of the electric pump propeller according to the preset tracking control times, respectively, and including: determining the initial working time length corresponding to each orbit control within the range not greater than the preset working time length; and determining the initial charging time length corresponding to each orbit control within the range of not less than the preset charging time length.
In the solution provided in the embodiments of the present application, there is a maximum thrust duration constraint t due to the electric pump propeller battery capacity limitation opt I.e. the preset operating time range is x i ≤t opt I =1,2, \ 8230n. In addition, the battery needs to be charged after each ignition is finished, the spacecraft is in the unpowered sliding stage in the period, and the constraint t of the minimum charging time duration is considered maxCharge Then the preset charging time length range q must be satisfied i ≥t maxCharge ,i＝1,2,…n。
And (4) considering perturbation influence of the earth oblateness and establishing an orbit recursion model. In practical situations, the specific impulse and the thrust of the rail-controlled engine are constant and limited, and the thrust direction of the engine is frequently adjusted to be unfavorable for improving the reliability of tasks, so that the tangential speed increment is adopted to realize the rail maneuvering. The second set of orbital perturbation equations is as follows:
wherein a, e, omega, i, omega and u respectively represent a track semi-major axis, eccentricity, ascension at a rising intersection point, a track inclination angle, a perigee argument and a latitude argument; μ represents a gravitational constant of the earth; r represents the distance of the satellite from the earth, v represents the flight velocity vector of the spacecraft relative to the atmosphere; f. of t Representing a perturbed acceleration tangential component in a current track velocity direction; f. of m Representing the normal component of perturbed acceleration in the plane of the orbit away from the center of curvature.
Aiming at the problem of the height lifting of the circular track, only the state changes of the semi-long axis and the eccentricity of the track need to be considered, and the track dynamics equation obtained by simplification is as follows:
wherein the perturbation force f m Only at J 2 The items are related. In the continuous thrust section, shown in FIG. 2, the perturbation force ft t Mainly composed of the oblateness of the earth J 2 The perturbation and the rail control engine thrust are formed; in the unpowered gliding section, f t Only include and J 2 Perturbing the relevant terms. When the track recursion time reaches t charge +t engine Then the iteration terminates and outputs the track state at that time.
Further, in the solution provided in the embodiment of the present application, the first operating duration set is a set of initial operating durations corresponding to at least one trajectory control, and the first charging duration set is a set of charging operating durations corresponding to at least one trajectory control. As an example, if the number of times of orbit control of the spacecraft is set to three, the first charging time length x = [ x = [ x ] 1 ,x 2 ,x 2 ]Wherein x is 1 ,x 2 ,x 3 Respectively corresponding to the first, second and third tracking control, and a second working time set q = [ q ] 1 ,q 2 ,q 3 ]Wherein q is 1 ,q 2 ,q 3 The working time lengths corresponding to the first, second and third tracking control.
Further, after a preset first working time length set and a preset first charging time length set are obtained, a first last track state is obtained according to the preset first working time length set, the preset first charging time length set, a preset initial track state and a track dynamics model, wherein the first working time length set is a set of initial working time lengths corresponding to at least one track control, and the first charging time length set is a set of charging working time lengths corresponding to at least one track control.
And 102, judging whether the preset expected track state and the first end track state meet preset constraint conditions or not according to the preset expected track state and the first end track state.
In one possible implementation, the preset constraint includes: presetting that the absolute value of the difference between the long half shaft of the expected track and the long half shaft of the tail track is not greater than a preset first threshold; the absolute value of the difference between the eccentricity of the preset expected track and the eccentricity of the last track is not greater than a preset second threshold.
Further, in a possible implementation manner, determining whether the first initial track state and the first final track state satisfy a preset constraint condition according to the first initial track state and the first final track state includes: respectively determining a first long half shaft and a first eccentricity ratio corresponding to the last track according to the first last track state; calculating a first absolute value of the difference between the first major axis and the value of the major axis of the preset desired trajectory and a second absolute value of the difference between the value of the first eccentricity and the eccentricity of the preset desired trajectory; and judging whether the first absolute value is not larger than a preset first threshold value or not, and whether the second absolute value is not larger than a preset second threshold value or not.
Specifically, in the solution provided in the embodiment of the present application, the preset constraint condition is represented by the following formula:
|a f -a 0 |≤1m,|e f -e 0 |≤10 -6
x i ≤t opt ,q i ≥t MaxCharge
wherein, a 0 And a f Semi-major axes, e, representing respectively a preset desired trajectory and a last state trajectory 0 And e f Respectively representing the eccentricity of a preset expected track and the eccentricity of a final state track; optimum operating time t opt Determined by the battery properties, expressed as the ratio of the battery energy density to the power density; t is t Maxcharge May be predetermined. By way of example, the deviation of the semimajor axis and eccentricity sets the error tolerance: tolerance of 1 meter (m) for semi-major axis and 10 for eccentricity -6 . In addition, in the scheme provided in the embodiment of the present application, the number of times of tracking n =3 is set.
Step 103, if the preset expected track state and the first last track state are not satisfied, adjusting the first operating duration set and the first charging duration set within a preset value range to obtain a second operating duration set and a second charging duration set, and recurrently obtaining a second last track state according to the second operating duration set, the second charging duration set, the preset initial track state and the track dynamics model.
In one possible implementation manner, determining the operating time length corresponding to the derailment control from the second operating time length set and determining the charging time length corresponding to the derailment control from the second charging time length set includes:
the working time length and the charging time length are determined according to the following formulas:
wherein x represents a second set of charging time periods, x = [ x ] 1 ,x 2 ,…,x i ,…x n ](ii) a q represents a second set of operating times, q = [ q ] 1 ,q 2 ,…,q i ,…q n ](ii) a f (x, q) represents a function with the second set of charging time periods and the second set of operating time periods as variables; k represents a preset weight coefficient; n represents the preset track control times; q. q of i The working time length corresponding to the ith track control in the second working time length is represented; x is the number of i And the charging time length corresponding to the ith rail control in the second charging time length is represented.
Specifically, in the solution provided in the embodiment of the present application, the circular orbit height lift problem is converted into the following optimization model:
and 104, determining a second working time length set and a second charging time length set corresponding to the preset expected track state and the second last track state meeting the preset constraint condition, determining the working time length from the second working time length set and determining the working time length and the charging time length corresponding to the derailment control from the second charging time length set, and performing track control according to the working time length and the charging time length.
In the solution provided in the embodiment of the present application, for solving the problem of the optimization of the orbit control, as an example, a combined optimization method of a genetic algorithm and a function set is used for solving. An optimal continuous thrust transfer trajectory considering the charging conditions is shown in fig. 3. The working time of the propeller of the electric pump for twice is x 1 ＝551.07s，x 2 ＝809.52s，x 3 =362.81s; the charging time of the electric pump propeller twice is q 1 ＝1862.58s，q 2 ＝1816.96s，q 3 =1816.41s. The total maneuver duration is 1723s, the optimal transfer trajectory consumes 169.23kg of fuel, which saves 100.45kg compared to the Hoeman transfer.
Further, in the solution provided in this embodiment of the application, if the preset expected track state and the first last track state satisfy the preset constraint condition, the operating time set corresponding to the derailment control is determined from the first operating time set, the charging time set corresponding to the derailment control is determined from the first charging time set, and the track control is performed according to the operating time set and the charging time set.
In the scheme provided by the embodiment of the application, the electric pump propeller is adopted and used as an orbit control engine, and the transfer problem based on continuous thrust is converted into the optimal design problem aiming at transfer time and fuel consumption by utilizing the charge-discharge characteristics of the battery, so that reference is provided for the actual spacecraft to apply the electric pump propeller to carry out orbital maneuver.
Referring to fig. 4, the present application provides a computer device comprising:
a memory 401 for storing instructions for execution by at least one processor;
a processor 402 for executing instructions stored in memory to perform the method described in fig. 1.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
Claims (8)
1. A method of rail control based on an electric pump engine, comprising:
constructing a track dynamics model, and recursion according to a preset first working time length set, a preset first charging time length set, a preset initial track state and the track dynamics model to obtain a first final track state, wherein the first working time length set is a set of initial working time lengths corresponding to at least one orbit control, and the first charging time length set is a set of charging working time lengths corresponding to at least one orbit control;
judging whether the expected track state and the first end track state meet preset constraint conditions or not according to the preset expected track state and the first end track state;
if not, respectively adjusting the first working time length set and the first charging time length set in a preset value range to obtain a second working time length set and a second charging time length set, and recurrently obtaining a second final orbit state again according to the second working time length set, the second charging time length set, a preset initial orbit state and an orbit dynamics model;
determining a second working time length set and a second charging time length set corresponding to the preset expected track state and the second last track state meeting the preset constraint condition, determining the working time length and the charging time length corresponding to the derailment control from the second working time length set and the second charging time length set, and performing track control according to the working time length and the charging time length;
and if the preset expected track state and the first last track state meet the preset constraint condition, determining a working time length set corresponding to the derailment control from the first working time length set and a charging time length set corresponding to the derailment control from the first charging time length set, and performing track control according to the working time length set and the charging time length set.
2. The method of claim 1, wherein prior to constructing the orbital dynamics model, further comprising:
the method comprises the steps of respectively determining initial working time and initial charging time corresponding to each time of rail control of the electric pump propeller according to preset rail control times, obtaining a first working time according to the initial working time corresponding to all the secondary rail controls of the electric pump propeller, and obtaining a first charging time set according to the initial charging time corresponding to all the secondary rail controls of the electric pump propeller.
3. The method of claim 2, wherein determining the initial operating time and the initial charging time corresponding to each tracking of the electric pump thruster according to the preset number of tracking respectively comprises:
determining the initial working time length corresponding to each orbit control within the range not greater than the preset working time length;
and determining the initial charging time length corresponding to each orbit control within the range of not less than the preset charging time length.
4. The method of claim 3, wherein constructing an orbital dynamics model comprises:
the orbital dynamics model is represented by:
wherein a represents a semi-major axis of a spacecraft orbit; e represents the eccentricity of the spacecraft orbit; v represents the flight velocity vector of the spacecraft relative to the atmosphere; μ represents a gravitational constant; f. of t Representing a perturbed acceleration tangential component in a current track velocity direction; θ represents a true proximal angle; r represents the distance of the spacecraft from the earth; f. of m Representing the normal component of the perturbed acceleration in the plane of the orbit away from the center of curvature.
5. The method of claim 4, wherein the predetermined constraints comprise:
presetting that the absolute value of the difference between the long half shaft of the expected track and the long half shaft of the tail track is not greater than a preset first threshold;
the absolute value of the difference between the eccentricity of the preset expected track and the eccentricity of the last track is not greater than a preset second threshold.
6. The method according to claim 5, wherein determining whether the preset constraint is satisfied according to the preset desired track state and the first end track state comprises:
respectively determining a first long half shaft and a first eccentricity corresponding to the last track according to the state of the first last track;
calculating a first absolute value of the difference between the first major axis and the value of the major axis of the preset desired trajectory and a second absolute value of the difference between the value of the first eccentricity and the eccentricity of the preset desired trajectory;
and judging whether the first absolute value is not greater than a preset first threshold value or not, and whether the second absolute value is not greater than a preset second threshold value or not.
7. The method of claim 6, wherein determining the operating time period for the derailment control from the second set of operating time periods and determining the charging time period from the second set of charging time periods comprises:
the working time length and the charging time length are determined according to the following formulas:
wherein x represents a second set of charging time periods, x = [ x ] 1 ,x 2 ,…,x i ,…x n ](ii) a q represents a second set of operating times, q = [ q ] 1 ,q 2 ,…,q i ,…q n ](ii) a f (x, q) represents a function with the second set of charging time periods and the second set of operating time periods as variables; k represents a preset weight coefficient; n represents the preset track control times; q. q of i The working time length corresponding to the ith track control in the second working time length is represented; x is the number of i Indicating the ith tracking control in the second charging periodThe charging time period of (c).
8. A computer device, comprising:
a memory for storing instructions for execution by the at least one processor;
a processor for executing instructions stored in a memory to perform the method of any one of claims 1 to 7.
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