CN114216376B - Multi-load hierarchical optimization method of carrier rocket - Google Patents
Multi-load hierarchical optimization method of carrier rocket Download PDFInfo
- Publication number
- CN114216376B CN114216376B CN202111497408.0A CN202111497408A CN114216376B CN 114216376 B CN114216376 B CN 114216376B CN 202111497408 A CN202111497408 A CN 202111497408A CN 114216376 B CN114216376 B CN 114216376B
- Authority
- CN
- China
- Prior art keywords
- moment
- section
- active segment
- track
- constraint condition
- 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
Links
- 238000005457 optimization Methods 0.000 title claims abstract description 103
- 238000000034 method Methods 0.000 title claims abstract description 67
- 230000001174 ascending effect Effects 0.000 claims abstract description 11
- 230000008569 process Effects 0.000 claims description 21
- 238000004590 computer program Methods 0.000 claims description 20
- 230000006870 function Effects 0.000 claims description 19
- 238000000926 separation method Methods 0.000 claims description 17
- 238000003860 storage Methods 0.000 claims description 9
- 230000005484 gravity Effects 0.000 claims description 8
- 238000006243 chemical reaction Methods 0.000 claims description 5
- 230000001133 acceleration Effects 0.000 claims description 4
- 238000001816 cooling Methods 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 7
- 238000012545 processing Methods 0.000 description 5
- 238000012986 modification Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 4
- 238000013459 approach Methods 0.000 description 3
- 230000004075 alteration Effects 0.000 description 2
- 238000004422 calculation algorithm Methods 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 235000015842 Hesperis Nutrition 0.000 description 1
- 235000012633 Iberis amara Nutrition 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
- F42B15/00—Self-propelled projectiles or missiles, e.g. rockets; Guided missiles
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Aviation & Aerospace Engineering (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Navigation (AREA)
Abstract
The application provides a multi-load hierarchical optimization method of a carrier rocket, which comprises the following steps: determining a mass center motion equation of a lifting section of the carrier rocket in a vacuum environment; determining constraint conditions of a first active section of the track entering stage, constraint conditions of a sliding section of the track entering stage and constraint conditions of a second active section of the track entering stage; and determining a multi-load hierarchical optimization strategy according to the motion equation and each constraint condition. According to the method, the multi-load hierarchical optimization strategy is determined according to the mass center motion equation of the ascending section of the carrier rocket in the vacuum environment, the constraint condition of the first active section of the track entering stage, the constraint condition of the sliding section of the track entering stage and the constraint condition of the second active section of the track entering stage, and the multi-load hierarchical optimization strategy is determined under the condition that the target track is ambiguous.
Description
Technical Field
The application relates to the field of carrier rocket control, in particular to a multi-load hierarchical optimization method of a carrier rocket.
Background
At present, many rockets have the launching capability of one rocket with multiple stars, and in order to improve the carrying capability, the rocket orbital stage engine has the capability of secondary starting.
The guidance system is responsible for controlling the mass center movement of the carrier rocket, controlling the acceleration direction through calculating a program angle during normal flight, and correcting the influence of disturbance and uncertainty during the flight.
The common methods in engineering include iterative guidance, dynamic display guidance and the like, and the guidance methods based on the optimal analytic form all need to define a target track and do not have the capability of target track planning.
However, in the case of a failure of the main engine, a situation may occur in which the original target track cannot be accessed because the carrying capacity is affected.
How to send the effective load into the safe parking track when the thrust of the carrier rocket descends and faults, so as to avoid the burning of the reentry atmosphere, and the problem to be solved is urgent at present.
Disclosure of Invention
In order to solve one of the technical defects, the application provides a multi-load hierarchical optimization method of a carrier rocket.
In a first aspect of the present application, a method for optimizing multiple loads of a carrier rocket in a hierarchical manner is provided, the method comprising:
determining a mass center motion equation of a lifting section of the carrier rocket in a vacuum environment;
determining constraint conditions of a first active section of the track entering stage, constraint conditions of a sliding section of the track entering stage and constraint conditions of a second active section of the track entering stage;
and determining a multi-load hierarchical optimization strategy according to the motion equation and each constraint condition.
In a second aspect of the present application, there is provided an electronic apparatus comprising:
a memory;
a processor; and
a computer program;
wherein a computer readable storage medium has a computer program stored thereon; the computer program is executed by a processor to implement the method as described in the first aspect above.
In a third aspect of the present application, there is provided a computer-readable storage medium, characterized in that a computer program is stored thereon; the computer program is executed by a processor to implement the method as described in the first aspect above.
The application provides a multi-load hierarchical optimization method of a carrier rocket, which comprises the following steps: determining a mass center motion equation of a lifting section of the carrier rocket in a vacuum environment; determining constraint conditions of a first active section of the track entering stage, constraint conditions of a sliding section of the track entering stage and constraint conditions of a second active section of the track entering stage; and determining a multi-load hierarchical optimization strategy according to the motion equation and each constraint condition. According to the method, the multi-load hierarchical optimization strategy is determined according to the mass center motion equation of the ascending section of the carrier rocket in the vacuum environment, the constraint condition of the first active section of the track entering stage, the constraint condition of the sliding section of the track entering stage and the constraint condition of the second active section of the track entering stage, and the multi-load hierarchical optimization strategy written under the undefined condition of the target track is determined.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:
FIG. 1 is a schematic flow chart of a multi-load hierarchical optimization method of a carrier rocket according to an embodiment of the present application;
fig. 2 is a schematic diagram of a multi-load hierarchical optimization strategy under online planning of faults according to an embodiment of the present application.
Detailed Description
In order to make the technical solutions and advantages of the embodiments of the present application more apparent, the following detailed description of exemplary embodiments of the present application is provided in conjunction with the accompanying drawings, and it is apparent that the described embodiments are only some embodiments of the present application and not exhaustive of all embodiments. It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other.
In carrying out the present application, the inventors have found that in the event of a failure of the main engine, there may be a situation in which the original target track cannot be accessed due to the carrying capacity being affected.
In view of the above problems, the embodiment of the application provides a multi-load hierarchical optimization method for a carrier rocket, which comprises the following steps: determining a mass center motion equation of a lifting section of the carrier rocket in a vacuum environment; determining constraint conditions of a first active section of the track entering stage, constraint conditions of a sliding section of the track entering stage and constraint conditions of a second active section of the track entering stage; and determining a multi-load hierarchical optimization strategy according to the motion equation and each constraint condition. According to the method, the multi-load hierarchical optimization strategy is determined according to the mass center motion equation of the ascending section of the carrier rocket in the vacuum environment, the constraint condition of the first active section of the track entering stage, the constraint condition of the sliding section of the track entering stage and the constraint condition of the second active section of the track entering stage, and the multi-load hierarchical optimization strategy written under the undefined condition of the target track is determined.
The embodiment provides a multi-load hierarchical optimization method of a carrier rocket, which defines an on-orbit task re-planning problem as a three-flight-segment track optimization problem comprising a first active segment, a sliding segment and a second active segment. And considering two branches according to task requirements: 1) The first active segment shutdown and partial payload separation are implemented as soon as possible, and the safety of the first separated payload is not required to be ensured, so that the number of payloads entering the original target track is as large as possible; 2) From the viewpoint of effective load safety, when the first active section is shut down, the effective load separated for the first time meets the minimum safety track condition, so that the number of effective loads capable of completing the original task is sacrificed, and all effective loads can stay on track safely. When describing the optimization problem, aiming at the characteristics of three flight segments, simultaneously considering all constraint conditions, and setting an optimal target to maximize the residual quality at the shutdown moment of the second active segment. And calculating the number of satellites which can enter the original target orbit at most and the number of satellites separated after the first active section is shut down by combining the planning result and the load quality.
Referring to fig. 1, the implementation flow of the method provided in this embodiment is as follows:
and 101, determining a mass center motion equation of a lifting section of the carrier rocket in a vacuum environment.
In the step, a mass center motion equation of a lifting section of the carrier rocket in a vacuum environment is determined under a launching inertial coordinate system.
In the emission inertial coordinate system, an origin O is at an emission point, an OY axis points out of the ground surface along the direction opposite to the gravity of the emission point, an OX axis is perpendicular to the OY axis and points to the emission direction, and an OZ axis is determined according to the right-hand rule.
Under the vacuum environment, neglecting the influence of aerodynamic force, the equation of motion is as follows:
wherein r is a position vector, V is a velocity vector, m is a mass, μ is an earth's gravity constant, I sp G is the specific impulse of the engine 0 Is accelerated by standard gravityDegree.
102, determining constraint conditions of a first active section of the track entering stage, constraint conditions of a sliding section of the track entering stage and constraint conditions of a second active section of the track entering stage.
1. Process for determining the constraints of a first active section of an approach stage
Wherein determining the constraint condition of the first active segment of the track-in stage comprises: initial value constraint conditions, first active segment process constraint conditions and first active segment terminal constraint conditions.
1) Defining the fault time as t 0 The initial constraint includes:
[r,V,m](t 0 )＝[r 0 ,V 0 ,m 0 ]。
wherein r is a position vector, V is a velocity vector, m is a mass, r 0 For the position vector at the moment of failure, V 0 For the velocity vector at the moment of failure, m 0 Is the quality at the moment of failure.
Note that, in this embodiment and the subsequent embodiments, the failure time status is indicated by the subscript 0.
2) In the flight process of the first active section, the thrust amplitude constraint needs to be considered, and the thrust amplitude of the first active section is defined as T 1 Then a first active segment process constraint includes:
‖T(t)‖＝T 1 。
wherein T is the current moment, T (T) is the thrust amplitude of the current moment, T 1 Is the first active segment thrust amplitude.
3) Defining the shutdown time of the first active segment as t 1 Less than the maximum flight time t of the first active segment 1max 。
For branch 2, the minimum safe height (h safe ) Constraint, i.e. near-to-site height h at first active segment shutdown time p (t 1 ) Should be greater than or equal to h safe The first active segment terminal constraint condition includes:
h p (t 1 )≥h safe ,t 1 ≤t 1max 。
2. process for determining constraints of an approach stage runner
Wherein determining the constraint condition of the track-in stage sliding section comprises: a taxi-section time-of-flight constraint, a taxi-section initial-state constraint, and a taxi-section terminal constraint.
1) The thrust amplitude of the taxiing section is zero, and the flight time of the taxiing section meets the maximum taxiing time (t cmax ) Constraint and engine secondary start pre-cooling time (t cool ) Constraints, therefore, taxi-segment time-of-flight constraints, include:
‖T(t)‖＝0,t cool ≤t-t 1 ≤t cmax 。
wherein T is the current moment, T (T) is the thrust amplitude of the current moment, T 1 For the shutdown time of the first active segment, t cmax For maximum coasting time, t-t 1 For taxiing periods of time of flight.
2) The initial state of the sliding section is equal to the end state of the first active section, and therefore, the constraint condition of the initial state of the sliding section includes:
[r,V,m](t c0 )＝[r,V,m](t 1 )。
wherein r is a position vector, V is a velocity vector, m is a mass, t c0 For initial moment of sliding section, t 1 And the first active segment is the shutdown time.
3) Defining the terminal moment of the sliding section as t cf Because the sliding section may have load separation, the sliding section terminal moment instruction should be less than or equal to the sliding section initial moment quality, so the sliding section terminal constraint conditions include:
m(t cf )≤m(t c0 )。
wherein t is c0 For the initial moment of the sliding section, m (t cf ) For the terminal moment mass of the sliding section, m (t c0 ) Is the initial moment quality of the sliding section.
3. Process for determining the constraints of a second active section of an approach stage
Wherein determining the constraint condition of the second active segment of the track-in stage comprises: the second active segment is powered on, the second active segment is process and the second active segment is terminal.
1) Defining the starting time of the second active segment as t 2 And if the corresponding state is equal to the state of the end time of the sliding section, starting the constraint condition of the second active section, wherein the constraint condition comprises the following steps:
[r,V,m](t 2 )＝[r,V,m](t cf )。
wherein r is a position vector, V is a velocity vector, m is a mass, t cf For the end of the taxi-section.
2) Defining the thrust amplitude of the first active section as T 2 A second active segment process constraint comprising:
‖T(t)‖＝T 2 。
wherein T is the current moment, and T (T) is the thrust amplitude at the current moment.
3) Defining the terminal time as t f The long half shaft of the original target track is a ref The eccentricity of the original target track is e ref The track inclination angle of the original target track is i ref The right ascent and intersection point of the original target track is omega ref The amplitude angle of the near point of the original target track is w ref Fun () is a function of the conversion relationship between the number of tracks and the position and speed under the inertial system (e.g., the conversion relationship between the number of five tracks and the position and speed under the inertial system is represented by Fun ()), i.e. [ a ] ref ,e ref ,i ref ,Ω ref ,w ref ] T ＝Fun(r(t f ),V(t f ) With the constraint as a terminal condition of rocket flight, m min And allowing the minimum residual mass for the rocket, and then carrying out terminal constraint conditions of the second active segment, wherein the terminal constraint conditions comprise:
[a ref ,e ref ,i ref ,Ω ref ,w ref ] T ＝Fun(r(t f ),V(t f )),m(t f )≥m min 。
wherein r (t) f ) V (t) is the position vector of the terminal time f ) For the velocity vector at the terminal instant, m (t f ) Is the quality of the terminal moment.
And 103, determining a multi-load hierarchical optimization strategy according to the motion equation and each constraint condition.
In particular, the method comprises the steps of,
1. and constructing a multi-payload hierarchical optimization problem according to the motion equation and the constraint condition.
Among the multiple payload hierarchical optimization problems include: objective functions and constraints.
The objective function is: minj= -m (t) f ). Wherein t is f For the terminal moment, m (t f ) Is the quality of the terminal moment.
The constraint conditions include: the motion equation, the constraint condition of the first active section determined according to the constraint condition of the first active section of the track entering stage, the constraint condition of the sliding section of the track entering stage and the constraint condition of the second active section of the track entering stage.
The payload hierarchy optimization problem includes a first optimization problem and a second optimization problem.
The first active segment constraint of the first optimization problem is:
[r 0 ,V 0 ,m 0 ]＝[r,V,m](t 0 )。
‖T(t)‖＝T 1 。
t 1 ≤t 1max 。
wherein r is a position vector, V is a velocity vector, m is a mass, r 0 For the position vector at the moment of failure, V 0 For the velocity vector at the moment of failure, m 0 For the quality of the fault moment, T is the current moment, T (T) is the thrust amplitude of the current moment, T 1 Is the first active segment thrust amplitude. t is t 1 For the shutdown time of the first active segment, t 1max For the first active segment maximum time of flight.
The first active segment constraint of the second optimization problem is:
[r 0 ,V 0 ,m 0 ]＝[r,V,m](t 0 )。
‖T(t)‖＝T 1 。
h p (t 1 )≥h safe ,t 1 ≤t 1max 。
wherein h is p (t 1 ) For the first active segment at the time of power-offNear-spot height, h safe To form the lowest safe height of the track.
For example, the number of the cells to be processed,
the branch 1 optimization problem is specifically as follows:
the objective function is: minj= -m (t) f )。
The constraint conditions are as follows:
equation of motion:
a first active segment:
and (3) sliding section:
the second active segment:
the branch 2 optimization problem is specifically as follows:
the objective function is: minj= -m (t) f )。
The constraint conditions are as follows:
equation of motion:
a first active segment:
and (3) sliding section:
the second active segment:
2. a multi-payload hierarchical optimization strategy is determined based on the multi-payload hierarchical optimization problem.
Specifically, 1) solving a multi-payload hierarchical optimization problem to obtain the maximum residual mass, the maximum residual satellite number and the flight trajectory. 2) Determining a multi-load separation strategy as: the satellite with the difference between the total number of satellites and the maximum number of the remaining satellites is separated in the first shutdown, and the total mass of the remaining satellites after separation is not more than the maximum remaining mass.
For example, according to the speed and position of the fault moment of the carrier rocket and the task requirement, one of Eq. (12) and Eq. (13) is selected as a track planning proposition, and a multi-load separation strategy and a flight track can be solved by using a numerical optimization algorithm (such as an adaptive point allocation method, a sequence quadratic programming method, an interior point method and the like) capable of processing a nonlinear programming problem.
According to the optimized maximum residual mass m opt The number of the remaining satellites at most (N 1 ) And N 1 The total mass of the satellite is not more than m opt Assuming a total of N satellites, the first shutdown separates out (N-N 1 ) And (3) a satellite.
The multi-load hierarchical optimization method of the carrier rocket provided by the embodiment firstly describes a mass center motion equation of a carrier rocket ascending section in a vacuum environment. And then describing constraint conditions which need to be met by the first active section, the sliding section and the second active section of the track entering stage, and constructing a multi-payload hierarchical optimization problem. And finally, utilizing a numerical optimization algorithm to plan multiple effective load separation strategies and flight trajectories under faults on line.
The multi-load hierarchical optimization method for the carrier rocket provided by the embodiment can plan multi-load separation strategies and flight trajectories under faults on line, and referring to fig. 2, a carrier rocket motion equation, an orbit-entering first active segment constraint, an orbit-entering sliding segment constraint, an orbit-entering second active segment constraint and a maximized orbit-entering satellite quantity objective function are described. And then constructing a multi-load hierarchical optimization problem, and further planning a multi-load separation strategy and a flight path under faults on line.
Currently, under the condition of main engine failure, the situation that the original target track cannot be accessed may occur due to the influence of carrying capacity. At this time, if the target track is re-planned according to the remaining carrying capacity, it is still possible to send the payload into the safe parking track, avoiding re-entry into the atmosphere for burning, and subsequently self-track transfer by the payload or re-launching other airship auxiliary track transfer, so that the loss caused by the launch failure can be reduced as much as possible. Based on this, this embodiment provides a multi-load hierarchical optimization method of a carrier rocket, for a multi-payload launching task with a sliding section in-orbit, if a main engine has the separation capability of payloads in both first shutdown and second shutdown, the task in a fault state can be re-planned, the separation strategy of payloads can be re-allocated, and by sacrificing part of payloads in the first shutdown, the other payloads can still enter the original target track in the second shutdown, so as to avoid complete failure of the task.
According to the multi-load hierarchical optimization method for the carrier rocket, provided by the embodiment, the adaptability of the carrier rocket with the sliding section track entering stage to the multi-payload launching task can be improved, the separation strategy of payloads is redistributed by re-planning the task in a fault state, part of payloads are sacrificed in the first shutdown, the other payloads can still enter the original target track in the second shutdown, and complete failure of the task is avoided.
In addition, according to the multi-load hierarchical optimization method for the carrier rocket, the characteristics of one-rocket multi-star launching task and the secondary launching of the orbit entering stage of the carrier rocket are combined, the task re-planning problem in the fault state is described as the three-flight-segment track optimization problem, and the probability of partial success of the launching task is improved in a mode of separating partial payloads in advance.
In addition, the multi-load hierarchical optimization method of the carrier rocket is a constraint condition design method combined with task requirements, and two different reconstruction effects that the number of payloads entering an original target track is as large as possible and all payloads can safely stay on the track can be achieved by adjusting the terminal constraint condition of the first active section.
In addition, the multi-load hierarchical optimization method of the carrier rocket further improves the performance capability of the carrier rocket and the adaptability to engine thrust decline faults in a manner of sacrificing part of effective load.
The method provided by the embodiment determines a mass center motion equation of a lifting section of the carrier rocket in a vacuum environment; determining constraint conditions of a first active section of the track entering stage, constraint conditions of a sliding section of the track entering stage and constraint conditions of a second active section of the track entering stage; and determining a multi-load hierarchical optimization strategy according to the motion equation and each constraint condition. According to the method provided by the embodiment, the multi-load hierarchical optimization strategy is determined according to the mass center motion equation of the ascending section of the carrier rocket in the vacuum environment, the constraint condition of the first active section of the track entering stage, the constraint condition of the sliding section of the track entering stage and the constraint condition of the second active section of the track entering stage, so that the multi-load hierarchical optimization strategy written under the undefined condition of the target track is determined.
The embodiment provides an electronic device, which is based on the same conception of a multi-load hierarchical optimization method of a carrier rocket, and comprises the following steps: memory, processor, and computer program.
Wherein the computer program is stored in the memory and configured to be executed by the processor to implement a multi-load hierarchical optimization method of a launch vehicle as shown in fig. 1.
In particular, the method comprises the steps of,
and determining a mass center motion equation of the ascending section of the carrier rocket in a vacuum environment.
And determining the constraint condition of the first active section of the track entering stage, the constraint condition of the sliding section of the track entering stage and the constraint condition of the second active section of the track entering stage.
And determining a multi-load hierarchical optimization strategy according to the motion equation and each constraint condition.
Optionally, determining a mass center motion equation of a rising section of the carrier rocket in a vacuum environment includes:
and determining a mass center motion equation of the ascending section of the carrier rocket in a vacuum environment under the launching inertial coordinate system.
In the emission inertial coordinate system, an origin O is at an emission point, an OY axis points out of the ground surface along the direction opposite to the gravity of the emission point, an OX axis is perpendicular to the OY axis and points to the emission direction, and an OZ axis is determined according to the right hand rule.
Alternatively, the equation of motion is:
wherein r is a position vector, V is a velocity vector, m is a mass, μ is an earth's gravity constant, I sp G is the specific impulse of the engine 0 Is the standard gravitational acceleration.
Optionally, determining the constraint condition of the first active segment of the track-in stage includes: initial value constraint conditions, first active segment process constraint conditions and first active segment terminal constraint conditions.
Optionally, the initial constraint includes:
[r,V,m](t 0 )＝[r 0 ,V 0 ,m 0 ]。
wherein r is a position vector, V is a velocity vector, m is a mass, r 0 For the position vector at the moment of failure, V 0 For the velocity vector at the moment of failure, m 0 Is the quality of the fault moment, t 0 Is the moment of failure.
Optionally, the first active segment process constraint includes:
‖T(t)‖＝T 1 。
wherein T is the current moment, T (T) is the thrust amplitude of the current moment, T 1 Is the first active segment thrust amplitude.
Optionally, the first active segment termination constraint includes:
h p (t 1 )≥h safe ,t 1 ≤t 1max 。
wherein t is 1 For the shutdown time of the first active segment, t 1max For the longest flight time of the first active segment, h p (t 1 ) For the near-place height of the shutdown moment of the first active section, h safe To form the lowest safe height of the track.
Optionally, determining the constraint condition of the track-in stage taxi section includes: a taxi-section time-of-flight constraint, a taxi-section initial-state constraint, and a taxi-section terminal constraint.
Optionally, the taxi-segment time-of-flight constraints include:
‖T(t)‖＝0,t cool ≤t-t 1 ≤t cmax 。
wherein T is the current moment, T (T) is the thrust amplitude of the current moment, T 1 For the shutdown time of the first active segment, t cmax For maximum coasting time, t-t 1 For taxiing period time of flight, t cool The pre-cooling time is started for the second time of the engine.
Optionally, the taxi-section initial-state constraint includes:
[r,V,m](t c0 )＝[r,V,m](t 1 )。
wherein r is a position vector, V is a velocity vector, m is a mass, t c0 For initial moment of sliding section, t 1 And the first active segment is the shutdown time.
Optionally, the taxi-section terminal constraints include:
m(t cf )≤m(t c0 )。
wherein t is cf For the terminal moment of the sliding section, t c0 For the initial moment of the sliding section, m (t cf ) For the terminal moment mass of the sliding section, m (t c0 ) Is the initial moment quality of the sliding section.
Optionally, determining the constraint condition of the second active segment of the track-in stage includes: the second active segment is powered on, the second active segment is process and the second active segment is terminal.
Optionally, the second active segment startup constraint includes:
[r,V,m](t 2 )＝[r,V,m](t cf )。
wherein r is a position vector, V is a velocity vector, m is a mass, t cf For the terminal moment of the sliding section, t 2 Is the starting time of the second active segment.
Optionally, the second active segment process constraint includes:
‖T(t)‖＝T 2 。
wherein T is the current moment, T (T) is the thrust amplitude of the current moment, T 2 Is the second active segment thrust amplitude.
Optionally, the second active segment termination constraint includes:
[a ref ,e ref ,i ref ,Ω ref ,w ref ] T ＝Fun(r(t f ),V(t f )),m(t f )≥m min 。
wherein a is ref A is a long half shaft of an original target track ref For the eccentricity of the original target track, i ref Is the track inclination angle omega of the original target track ref Is the right ascent point and the right ascent point of the original target track, w ref For the near-place amplitude angle of the original target track, fun () is the conversion relation function between the track number and the position and speed under the inertial system, t f For the terminal moment, r (t f ) V (t) is the position vector of the terminal time f ) For the velocity vector at the terminal instant, m (t f ) For the quality of the terminal moment, m min The minimum residual mass of the rocket.
Optionally, determining the multi-load hierarchical optimization strategy according to the equation of motion and the constraint condition includes:
and constructing a multi-payload hierarchical optimization problem according to the motion equation and the constraint condition.
A multi-payload hierarchical optimization strategy is determined based on the multi-payload hierarchical optimization problem.
Optionally, the multi-payload hierarchical optimization problem includes: objective functions and constraints.
The objective function is: minj= -m(t f ). Wherein t is f For the terminal moment, m (t f ) Is the quality of the terminal moment.
The constraint conditions include: the motion equation, the constraint condition of the first active section determined according to the constraint condition of the first active section of the track entering stage, the constraint condition of the sliding section of the track entering stage and the constraint condition of the second active section of the track entering stage.
Optionally, the payload hierarchy optimization problem comprises a first optimization problem and a second optimization problem.
The first active segment constraint of the first optimization problem is:
[r 0 ,V 0 ,m 0 ]＝[r,V,m](t 0 )。
‖T(t)‖＝T 1 。
t 1 ≤t 1max 。
wherein r is a position vector, V is a velocity vector, m is a mass, r 0 For the position vector at the moment of failure, V 0 For the velocity vector at the moment of failure, m 0 For the quality of the fault moment, T is the current moment, T (T) is the thrust amplitude of the current moment, T 1 Is the first active segment thrust amplitude. t is t 1 For the shutdown time of the first active segment, t 1max For the first active segment maximum time of flight.
The first active segment constraint of the second optimization problem is:
[r 0 ,V 0 ,m 0 ]＝[r,V,m](t 0 )。
‖T(t)‖＝T 1 。
h p (t 1 )≥h safe ,t 1 ≤t 1max 。
wherein h is p (t 1 ) For the near-place height of the shutdown moment of the first active section, h safe To form the lowest safe height of the track.
Optionally, determining the multi-payload hierarchical optimization strategy based on the multi-payload hierarchical optimization problem includes:
and solving the multi-payload hierarchical optimization problem to obtain the maximum residual mass, the maximum residual satellite number and the flight trajectory.
Determining a multi-load separation strategy as: the satellite with the difference between the total number of satellites and the maximum number of the remaining satellites is separated in the first shutdown, and the total mass of the remaining satellites after separation is not more than the maximum remaining mass.
The electronic equipment provided by the embodiment determines a mass center motion equation of a lifting section of the carrier rocket in a vacuum environment; determining constraint conditions of a first active section of the track entering stage, constraint conditions of a sliding section of the track entering stage and constraint conditions of a second active section of the track entering stage; and determining a multi-load hierarchical optimization strategy according to the motion equation and each constraint condition. The electronic equipment provided by the proposal determines the multi-load hierarchical optimization strategy according to the mass center motion equation of the ascending section of the carrier rocket under the vacuum environment, the constraint condition of the first active section of the track entering stage, the constraint condition of the sliding section of the track entering stage and the constraint condition of the second active section of the track entering stage, thereby realizing the determination of the multi-load hierarchical optimization strategy written under the undefined condition of the target track.
The same inventive concept of a multi-load hierarchical optimization method based on a carrier rocket, the present embodiment provides a computer-readable storage medium, characterized in that a computer program is stored thereon; the computer program is executed by the processor to implement a multi-load hierarchical optimization method of a launch vehicle as shown in fig. 1.
In particular, the method comprises the steps of,
and determining a mass center motion equation of the ascending section of the carrier rocket in a vacuum environment.
And determining the constraint condition of the first active section of the track entering stage, the constraint condition of the sliding section of the track entering stage and the constraint condition of the second active section of the track entering stage.
And determining a multi-load hierarchical optimization strategy according to the motion equation and each constraint condition.
Optionally, determining a mass center motion equation of a rising section of the carrier rocket in a vacuum environment includes:
and determining a mass center motion equation of the ascending section of the carrier rocket in a vacuum environment under the launching inertial coordinate system.
In the emission inertial coordinate system, an origin O is at an emission point, an OY axis points out of the ground surface along the direction opposite to the gravity of the emission point, an OX axis is perpendicular to the OY axis and points to the emission direction, and an OZ axis is determined according to the right hand rule.
Alternatively, the equation of motion is:
wherein r is a position vector, V is a velocity vector, m is a mass, μ is an earth's gravity constant, I sp G is the specific impulse of the engine 0 Is the standard gravitational acceleration.
Optionally, determining the constraint condition of the first active segment of the track-in stage includes: initial value constraint conditions, first active segment process constraint conditions and first active segment terminal constraint conditions.
Optionally, the initial constraint includes:
[r,V,m](t 0 )＝[r 0 ,V 0 ,m 0 ]。
wherein r is a position vector, V is a velocity vector, m is a mass, r 0 For the position vector at the moment of failure, V 0 For the velocity vector at the moment of failure, m 0 Is the quality of the fault moment, t 0 Is the moment of failure.
Optionally, the first active segment process constraint includes:
‖T(t)‖＝T 1 。
wherein T is the current moment, T (T) is the thrust amplitude of the current moment, T 1 Is the first active segment thrust amplitude.
Optionally, the first active segment termination constraint includes:
h p (t 1 )≥h safe ,t 1 ≤t 1max 。
wherein t is 1 For the shutdown time of the first active segment, t 1max For the longest flight time of the first active segment, h p (t 1 ) For the near-place height of the shutdown moment of the first active section, h safe To form the lowest safe height of the track.
Optionally, determining the constraint condition of the track-in stage taxi section includes: a taxi-section time-of-flight constraint, a taxi-section initial-state constraint, and a taxi-section terminal constraint.
Optionally, the taxi-segment time-of-flight constraints include:
‖T(t)‖＝0,t cool ≤t-t 1 ≤t cmax 。
wherein T is the current moment, T (T) is the thrust amplitude of the current moment, T 1 For the shutdown time of the first active segment, t cmax For maximum coasting time, t-t 1 For taxiing period time of flight, t cool The pre-cooling time is started for the second time of the engine.
Optionally, the taxi-section initial-state constraint includes:
[r,V,m](t c0 )＝[r,V,m](t 1 )。
wherein r is a position vector, V is a velocity vector, m is a mass, t c0 For initial moment of sliding section, t 1 And the first active segment is the shutdown time.
Optionally, the taxi-section terminal constraints include:
m(t cf )≤m(t c0 )。
wherein t is cf For the terminal moment of the sliding section, t c0 For the initial moment of the sliding section, m (t cf ) For the terminal moment mass of the sliding section, m (t c0 ) Is the initial moment quality of the sliding section.
Optionally, determining the constraint condition of the second active segment of the track-in stage includes: the second active segment is powered on, the second active segment is process and the second active segment is terminal.
Optionally, the second active segment startup constraint includes:
[r,V,m](y 2 )＝[r,V,m](t cf )。
wherein r is a position vector, V is a velocity vector, m is a mass, t cf For the terminal moment of the sliding section, t 2 Is the starting time of the second active segment.
Optionally, the second active segment process constraint includes:
‖T(t)‖＝T 2 。
wherein T is the current moment, T (T) is the thrust amplitude of the current moment, T 2 Is the second active segment thrust amplitude.
Optionally, the second active segment termination constraint includes:
[a ref ,e ref ,i ref ,Ω ref ,w ref ] T ＝Fun(r(t f ),V(t f )),m(t f )≥m min 。
wherein a is ref A is a long half shaft of an original target track ref For the eccentricity of the original target track, i ref Is the track inclination angle omega of the original target track ref Is the right ascent point and the right ascent point of the original target track, w ref For the near-place amplitude angle of the original target track, fun () is the conversion relation function between the track number and the position and speed under the inertial system, t f For the terminal moment, r (t f ) V (t) is the position vector of the terminal time f ) For the velocity vector at the terminal instant, m (t f ) For the quality of the terminal moment, m min The minimum residual mass of the rocket.
Optionally, determining the multi-load hierarchical optimization strategy according to the equation of motion and the constraint condition includes:
and constructing a multi-payload hierarchical optimization problem according to the motion equation and the constraint condition.
A multi-payload hierarchical optimization strategy is determined based on the multi-payload hierarchical optimization problem.
Optionally, the multi-payload hierarchical optimization problem includes: objective functions and constraints.
The objective function is: minj= -m (t) f ). Wherein t is f For the terminal moment, m (t f ) Is the quality of the terminal moment.
The constraint conditions include: the motion equation, the constraint condition of the first active section determined according to the constraint condition of the first active section of the track entering stage, the constraint condition of the sliding section of the track entering stage and the constraint condition of the second active section of the track entering stage.
Optionally, the payload hierarchy optimization problem comprises a first optimization problem and a second optimization problem.
The first active segment constraint of the first optimization problem is:
[r 0 ,V 0 ,m 0 ]＝[r,V,m](t 0 )。
‖T(t)‖＝T 1 。
t 1 ≤t 1max 。
wherein r is a position vector, V is a velocity vector, m is a mass, r 0 For the position vector at the moment of failure, V 0 For the velocity vector at the moment of failure, m 0 For the quality of the fault moment, T is the current moment, T (T) is the thrust amplitude of the current moment, T 1 Is the first active segment thrust amplitude. t is t 1 For the shutdown time of the first active segment, t 1max For the first active segment maximum time of flight.
The first active segment constraint of the second optimization problem is:
[r 0 ,V 0 ,m 0 ]＝[r,V,m](t 0 )。
‖T(t)‖＝T 1 。
h p (t 1 )≥h safe ,t 1 ≤t 1max 。
wherein h is p (t 1 ) For the near-place height of the shutdown moment of the first active section, h safe To form the lowest safe height of the track.
Optionally, determining the multi-payload hierarchical optimization strategy based on the multi-payload hierarchical optimization problem includes:
and solving the multi-payload hierarchical optimization problem to obtain the maximum residual mass, the maximum residual satellite number and the flight trajectory.
Determining a multi-load separation strategy as: the satellite with the difference between the total number of satellites and the maximum number of the remaining satellites is separated in the first shutdown, and the total mass of the remaining satellites after separation is not more than the maximum remaining mass.
The computer readable storage medium provided by the embodiment determines a mass center motion equation of a lifting section of the carrier rocket in a vacuum environment; determining constraint conditions of a first active section of the track entering stage, constraint conditions of a sliding section of the track entering stage and constraint conditions of a second active section of the track entering stage; and determining a multi-load hierarchical optimization strategy according to the motion equation and each constraint condition. The computer readable storage medium provided by the proposal determines a multi-load hierarchical optimization strategy according to a mass center motion equation of a lifting section of the carrier rocket under a vacuum environment, the constraint condition of a first active section of an orbit entering stage, the constraint condition of a sliding section of the orbit entering stage and the constraint condition of a second active section of the orbit entering stage, and realizes the determination of the multi-load hierarchical optimization strategy written under the undefined condition of a target orbit.
It will be appreciated by those skilled in the art that 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, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein. The scheme in the embodiment of the application can be realized by adopting various computer languages, such as object-oriented programming language Java, an transliteration script language JavaScript and the like.
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.
While preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the application.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present application without departing from the spirit or scope of the application. Thus, it is intended that the present application also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (3)
1. A method for multi-load hierarchical optimization of a launch vehicle, the method comprising:
determining a mass center motion equation of a lifting section of the carrier rocket in a vacuum environment;
determining constraint conditions of a first active section of the track entering stage, constraint conditions of a sliding section of the track entering stage and constraint conditions of a second active section of the track entering stage;
determining a multi-load hierarchical optimization strategy according to the motion equation and each constraint condition;
the determining the mass center motion equation of the ascending section of the carrier rocket in the vacuum environment comprises the following steps:
under the inertial coordinate system of launching, determining a mass center motion equation of a lifting section of the carrier rocket under a vacuum environment;
in the emission inertial coordinate system, an origin O is arranged at an emission point, an OY axis points out of the ground surface along the direction opposite to the gravity of the emission point, an OX axis is perpendicular to the OY axis and points to the emission direction, an OZ axis is determined according to the right-hand rule,
the equation of motion is:
wherein, · for the first derivative operator, r is the position vector, V is the velocity vector, m is the mass, μ is the gravitational constant, I sp G is the specific impulse of the engine 0 The standard gravity acceleration is adopted, and T is the thrust amplitude;
determining the constraint condition of the first active segment of the track-in stage comprises: initial value constraint conditions, first active segment process constraint conditions and first active segment terminal constraint conditions;
the initial constraint condition includes:
[r，V，m](t 0 )＝[r 0 ，V 0 ，m 0 ]；
wherein r is a position vector and V is a velocity vectorM is mass, r 0 For the position vector at the moment of failure, V 0 For the velocity vector at the moment of failure, m 0 Is the quality of the fault moment, t 0 The time is the fault time;
the first active segment process constraint includes:
||T(t)||＝T 1 ；
wherein T is the current moment, T (T) is the thrust amplitude of the current moment, T 1 The thrust amplitude of the first active section;
the first active segment terminal constraint condition includes:
h p (t 1 )≥h safe ，t 1 ≤t 1max ；
wherein t is 1 For the shutdown time of the first active segment, t 1max For the longest flight time of the first active segment, h p (t 1 ) For the near-place height of the shutdown moment of the first active section, h safe To form a minimum safe height of the track;
determining constraints for the rail-entering stage taxi segments, comprising: a taxi-section flight time constraint condition, a taxi-section initial state constraint condition and a taxi-section terminal constraint condition;
the taxi-segment time-of-flight constraints include:
||T(t)||＝0，t cool ≤t-t 1 ≤t cmax ；
wherein T is the current moment, T (T) is the thrust amplitude of the current moment, T 1 For the shutdown time of the first active segment, t cmax For maximum coasting time, t-t 1 For taxiing period time of flight, t cool Pre-cooling time is started for the second time of the engine;
the initial state constraint condition of the sliding section comprises the following steps:
[r，V，m](t c0 )＝[r，V，m](t 1 )；
wherein r is a position vector, V is a velocity vector, m is a mass, t c0 For initial moment of sliding section, t 1 The first active segment is powered off;
the taxi-segment terminal constraints include:
m(t cf )≤m(t c0 )；
wherein t is cf For the terminal moment of the sliding section, t c0 For the initial moment of the sliding section, m (t cf ) For the terminal moment mass of the sliding section, m (t c0 ) The quality of the initial moment of the sliding section is;
determining constraint conditions of the second active segment of the track-in stage comprises: a second active segment start constraint condition, a second active segment process constraint condition and a second active segment terminal constraint condition;
the second active segment startup constraint condition includes:
[r，V，m](t 2 )＝[r，V，m](t cf )；
wherein r is a position vector, V is a velocity vector, m is a mass, t cf For the terminal moment of the sliding section, t 2 The starting time of the second active segment;
the second active segment process constraint includes:
||T(t)||＝T 2 ；
wherein T is the current moment, T (T) is the thrust amplitude of the current moment, T 2 A second active segment thrust amplitude;
the second active segment terminal constraint condition includes:
[a ref ，e ref ，i ref ，Ω ref ，w ref ] T ＝Fun(r(t f )，V(t f ))，m(t f )≥m min ；
wherein a is ref A long half shaft which is the original target track, e ref For the eccentricity of the original target track, i ref Is the track inclination angle omega of the original target track ref Is the right ascent point and the right ascent point of the original target track, w ref For the near-place amplitude angle of the original target track, fun () is the conversion relation function between the track number and the position and speed under the inertial system, t f For the terminal moment, r (t f ) V (t) is the position vector of the terminal time f ) For the velocity vector at the terminal instant, m (t f ) For the quality of the terminal moment, m min The minimum residual mass of the rocket;
the multi-load hierarchical optimization strategy is determined according to the motion equation and the constraint condition, and comprises the following steps:
constructing a multi-payload hierarchical optimization problem according to the motion equation and the constraint condition;
determining a multi-load hierarchical optimization strategy based on the multi-payload hierarchical optimization problem;
the multi-payload hierarchical optimization problem includes: objective functions and constraints;
the objective function is: minj= -m (t) f ) The method comprises the steps of carrying out a first treatment on the surface of the Wherein t is f For the terminal moment, m (t f ) The quality of the terminal moment;
the constraint conditions include: the motion equation, a first active segment constraint condition determined according to the constraint condition of the first active segment of the track entering stage, and a constraint condition of the track entering stage sliding segment, and a constraint condition of the second active segment of the track entering stage;
the payload hierarchical optimization problem comprises a first optimization problem and a second optimization problem;
the first active segment constraint condition of the first optimization problem is:
[r 0 ，V 0 ，m 0 ]＝[r，V，m](t 0 )；
||T(t)||＝T 1 ；
t 1 ≤t 1max ；
wherein r is a position vector, V is a velocity vector, m is a mass, r 0 For the position vector at the moment of failure, V 0 For the velocity vector at the moment of failure, m 0 For the quality of the fault moment, T is the current moment, T (T) is the thrust amplitude of the current moment, T 1 The thrust amplitude of the first active section; t is t 1 For the shutdown time of the first active segment, t 1max The maximum flight time of the first active segment;
the first active segment constraint condition of the second optimization problem is:
[r 0 ，V 0 ，m 0 ]＝[r，V，m](t 0 )；
||T(t)||＝T 1 ；
h p (t 1 )≥h safe ，t 1 ≤t 1max ；
wherein h is p (t 1 ) For the near-place height of the shutdown moment of the first active section, h safe To form a minimum safe height of the track;
the determining a multi-load hierarchical optimization strategy based on the multi-payload hierarchical optimization problem includes:
solving the multi-payload hierarchical optimization problem to obtain the maximum residual mass, the maximum residual satellite number and the flight trajectory;
determining a multi-load separation strategy as: and separating the satellites with the difference between the total number of the satellites and the maximum number of the remaining satellites at the first shutdown, wherein the total mass of the remaining satellites after separation is not more than the maximum remaining mass.
2. An electronic device, comprising:
a memory;
a processor; and
a computer program;
wherein the computer program is stored in the memory and configured to be executed by the processor to implement the method of claim 1.
3. A computer-readable storage medium, characterized in that a computer program is stored thereon; the computer program being executed by a processor to implement the method of claim 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111497408.0A CN114216376B (en) | 2021-12-09 | 2021-12-09 | Multi-load hierarchical optimization method of carrier rocket |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111497408.0A CN114216376B (en) | 2021-12-09 | 2021-12-09 | Multi-load hierarchical optimization method of carrier rocket |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114216376A CN114216376A (en) | 2022-03-22 |
| CN114216376B true CN114216376B (en) | 2023-11-14 |
Family
ID=80700452
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111497408.0A Active CN114216376B (en) | 2021-12-09 | 2021-12-09 | Multi-load hierarchical optimization method of carrier rocket |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114216376B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114962076B (en) * | 2022-04-28 | 2023-03-31 | 蓝箭航天空间科技股份有限公司 | Method and device for optimizing stage cold separation time sequence of liquid carrier rocket |
| CN115618657B (en) * | 2022-12-16 | 2023-06-16 | 中国人民解放军63921部队 | Optimal design method for deployment task mode of medium-low orbit spacecraft |
| CN117892559A (en) * | 2024-03-14 | 2024-04-16 | 西安现代控制技术研究所 | Ultra-remote guidance rocket overall coordination multidisciplinary hierarchical optimization method |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5203844A (en) * | 1989-10-05 | 1993-04-20 | Leonard Byron P | Multiple payload/failure mode launch vehicles |
| RU2160214C1 (en) * | 1999-07-29 | 2000-12-10 | Карпов Анатолий Степанович | Method for control of aero-space systems for injection of payload |
| JP2013107585A (en) * | 2011-11-24 | 2013-06-06 | Mitsubishi Space Software Kk | Multistage rocket guidance equipment, multistage rocket guidance program, multistage rocket guidance method, and multistage rocket guidance system |
| WO2017018903A1 (en) * | 2015-07-28 | 2017-02-02 | Общество С Ограниченной Ответственностью "Космокурс" Ооо "Космокурс" | Method for placing a payload into orbit using a carrier rocket |
| CN109573103A (en) * | 2018-11-19 | 2019-04-05 | 北京航天自动控制研究所 | A kind of remaining carrying capacity appraisal procedure declined under fault condition suitable for thrust |
| RU2703763C1 (en) * | 2018-09-05 | 2019-10-22 | Акционерное общество "Корпорация "Московский институт теплотехники" (АО "Корпорация "МИТ") | Method of payload delivery to circumterrestrial orbits by means of space launching vehicle |
| CN111428372A (en) * | 2020-03-29 | 2020-07-17 | 西北工业大学 | Rocket power failure degradation orbit-entering guidance method based on convex planning and adaptive iteration |
| CN112231831A (en) * | 2020-10-14 | 2021-01-15 | 西北工业大学 | Terminal multi-constraint energy management method under strong coupling condition of solid carrier rocket |
| CN112455723A (en) * | 2020-11-12 | 2021-03-09 | 大连理工大学 | RBFNN-based rescue orbit decision method under rocket thrust descent fault |
| CN112550770A (en) * | 2020-12-15 | 2021-03-26 | 北京航天自动控制研究所 | Rocket soft landing trajectory planning method based on convex optimization |
-
2021
- 2021-12-09 CN CN202111497408.0A patent/CN114216376B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5203844A (en) * | 1989-10-05 | 1993-04-20 | Leonard Byron P | Multiple payload/failure mode launch vehicles |
| RU2160214C1 (en) * | 1999-07-29 | 2000-12-10 | Карпов Анатолий Степанович | Method for control of aero-space systems for injection of payload |
| JP2013107585A (en) * | 2011-11-24 | 2013-06-06 | Mitsubishi Space Software Kk | Multistage rocket guidance equipment, multistage rocket guidance program, multistage rocket guidance method, and multistage rocket guidance system |
| WO2017018903A1 (en) * | 2015-07-28 | 2017-02-02 | Общество С Ограниченной Ответственностью "Космокурс" Ооо "Космокурс" | Method for placing a payload into orbit using a carrier rocket |
| RU2703763C1 (en) * | 2018-09-05 | 2019-10-22 | Акционерное общество "Корпорация "Московский институт теплотехники" (АО "Корпорация "МИТ") | Method of payload delivery to circumterrestrial orbits by means of space launching vehicle |
| CN109573103A (en) * | 2018-11-19 | 2019-04-05 | 北京航天自动控制研究所 | A kind of remaining carrying capacity appraisal procedure declined under fault condition suitable for thrust |
| CN111428372A (en) * | 2020-03-29 | 2020-07-17 | 西北工业大学 | Rocket power failure degradation orbit-entering guidance method based on convex planning and adaptive iteration |
| CN112231831A (en) * | 2020-10-14 | 2021-01-15 | 西北工业大学 | Terminal multi-constraint energy management method under strong coupling condition of solid carrier rocket |
| CN112455723A (en) * | 2020-11-12 | 2021-03-09 | 大连理工大学 | RBFNN-based rescue orbit decision method under rocket thrust descent fault |
| CN112550770A (en) * | 2020-12-15 | 2021-03-26 | 北京航天自动控制研究所 | Rocket soft landing trajectory planning method based on convex optimization |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114216376A (en) | 2022-03-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN114216376B (en) | Multi-load hierarchical optimization method of carrier rocket | |
| Braun et al. | Active debris removal of multiple priority targets | |
| CN109911249B (en) | Interstellar transfer limited thrust orbit-entering iterative guidance method for low thrust-weight ratio aircraft | |
| JP5597865B2 (en) | How to lighten the fuel mass during interplanetary missions | |
| WO2018029839A1 (en) | Transport method, transport ship and method for manufacturing transport ship | |
| CN112179217B (en) | Guidance method and device for solid launch vehicle, storage medium, and electronic device | |
| CN112361896B (en) | Solid carrier rocket guidance method and device, storage medium, and electronic device | |
| CN114413691A (en) | Cross-gliding-section analytic guidance reconstruction method for thrust descent fault of carrier rocket | |
| Martin et al. | Active debris removal mission design in low earth orbit | |
| US8583297B2 (en) | Method and device for optimization of the mass of a satellite | |
| CN113569391A (en) | Method, device, equipment and medium for determining parameters of earth-moon transfer orbit | |
| Rahman et al. | Pseudospectral model predictive control for exo-atmospheric guidance | |
| Losa et al. | Electric station keeping of geostationary satellites: a differential inclusion approach | |
| Zhengyu | The development of autonomous dynamic trajectory optimization control of launch vehicles | |
| Wilken et al. | Mission design for point-to-point passenger transport with reusable launch vehicles | |
| Gaudel et al. | De-orbit strategies with low-thrust propulsion | |
| Hawkins et al. | Guidance Modifications and Enhancements for Space Launch System Block-1 in Support of Artemis I and Beyond | |
| Huang et al. | Orbit raising and de-orbit for coplanar satellite constellations with low-thrust propulsion | |
| CN114476133B (en) | Online target track planning method, equipment and storage medium | |
| Thrasher et al. | Orion's exoatmospheric burn guidance architecture and algorithm | |
| Silva et al. | Automated transfer vehicle thrusters selection and management function | |
| Marrdonny et al. | A guidance algorithm for launch to equatorial orbit | |
| Song et al. | Autonomous Guidance Control for Ascent Flight | |
| Zhang et al. | Predictive control of teleoperation rendezvous with large time delay | |
| US20180273213A1 (en) | Propulsion system with differential throttling of electric thrusters |
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 |