CN115203963A - Method, device, equipment and medium for identifying equivalent offset of engine thrust line - Google Patents
Method, device, equipment and medium for identifying equivalent offset of engine thrust line Download PDFInfo
- Publication number
- CN115203963A CN115203963A CN202210884203.6A CN202210884203A CN115203963A CN 115203963 A CN115203963 A CN 115203963A CN 202210884203 A CN202210884203 A CN 202210884203A CN 115203963 A CN115203963 A CN 115203963A
- Authority
- CN
- China
- Prior art keywords
- preset
- target
- thrust line
- engine thrust
- axis direction
- 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.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 45
- 238000004364 calculation method Methods 0.000 claims abstract description 38
- 238000005259 measurement Methods 0.000 claims abstract description 17
- 230000001133 acceleration Effects 0.000 claims description 25
- 238000012545 processing Methods 0.000 claims description 14
- 238000004891 communication Methods 0.000 claims description 10
- 238000001914 filtration Methods 0.000 claims description 5
- 238000003860 storage Methods 0.000 claims description 5
- 238000010586 diagram Methods 0.000 description 14
- 239000007787 solid Substances 0.000 description 13
- 238000002485 combustion reaction Methods 0.000 description 7
- 238000004590 computer program Methods 0.000 description 7
- 238000004519 manufacturing process Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 239000013598 vector Substances 0.000 description 6
- 230000006870 function Effects 0.000 description 5
- 239000007788 liquid Substances 0.000 description 5
- 238000012986 modification Methods 0.000 description 5
- 230000004048 modification Effects 0.000 description 5
- 239000003380 propellant Substances 0.000 description 5
- 230000007246 mechanism Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000005457 optimization Methods 0.000 description 2
- 239000007921 spray Substances 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000001413 cellular effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
-
- 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
- F02K9/96—Rocket-engine plants, i.e. plants carrying both fuel and oxidant therefor; Control thereof characterised by specially adapted arrangements for testing or measuring
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2119/00—Details relating to the type or aim of the analysis or the optimisation
- G06F2119/14—Force analysis or force optimisation, e.g. static or dynamic forces
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Computer Hardware Design (AREA)
- Evolutionary Computation (AREA)
- Geometry (AREA)
- General Physics & Mathematics (AREA)
- Testing Of Balance (AREA)
Abstract
The invention discloses an identification method, a device, equipment and a medium for equivalent deflection of an engine thrust line, wherein the method comprises the following steps: acquiring a target angular rate output by the rocket inertial measurement unit; performing moment calculation on the target angular rate in the directions of preset three axes to obtain target moments corresponding to the preset three axes; and calculating to obtain the equivalent deflection of the engine thrust line in the arrow body according to the corresponding target moments in the preset three axial directions. By adopting the method, the equivalent deflection of the thrust line of the rocket engine can be simply, conveniently, quickly and accurately calculated.
Description
Technical Field
The invention relates to the technical field of aerospace, in particular to an identification method, device, equipment and medium for equivalent offset of an engine thrust line.
Background
In the flight process of the solid carrier rocket outside the atmosphere (more than 100 kilometers), the maximum disturbance of the flight attitude control of the solid carrier rocket is from a solid engine, and the current common main attitude control is side jet flow control. The actuating mechanism for controlling the side jet flow is a liquid attitude control engine, and the control force is generated by the combustion of a propellant. After the flight test is finished, the interference of the solid engine needs to be evaluated and identified so as to verify whether the propellant consumption of the corresponding actuating mechanism liquid attitude control engine is normal and reasonable.
However, in practice, no method for identifying equivalent deflection of an arrow-shaped solid engine is found at present. Therefore, it is desirable to provide an identification scheme for equivalent deflection of the engine thrust line.
Disclosure of Invention
The embodiment of the application provides an identification method, device, equipment and medium for equivalent deflection of an engine thrust line, and can simply, conveniently, quickly and accurately calculate the equivalent deflection of the rocket engine thrust line.
In one aspect, the present application provides a method for identifying an equivalent deflection of an engine thrust line through an embodiment of the present application, where the method includes:
acquiring a target angular rate output by the rocket inertial measurement unit;
performing moment calculation in the preset three-axis direction on the target angular rate to obtain target moments corresponding to the preset three-axis direction;
and calculating to obtain the equivalent deflection of the engine thrust line in the arrow body according to the target moments corresponding to the three preset shaft directions.
Optionally, the performing, on the target angular rate, torque calculation in preset three axis directions to obtain target torques corresponding to the preset three axis directions includes:
filtering the target angular rate output by the rocket inertial set to obtain rigid angular rates and time data of the rocket in the preset three-axis direction;
fitting the rigid angular rates and the time data in the preset three-axis direction to obtain respective angular acceleration in the preset three-axis direction;
and calculating to obtain target moments corresponding to the preset three axis directions according to the respective angular accelerations in the preset three axis directions.
Optionally, the calculating to obtain the target moments corresponding to the preset three axis directions according to the respective angular accelerations in the preset three axis directions includes:
and carrying out moment calculation on the respective angular acceleration in the preset three-axis direction according to a kinetic equation to obtain the respective corresponding target moment in the preset three-axis direction.
Optionally, the calculating to obtain the equivalent deflection of the engine thrust line in the arrow body according to the target moments corresponding to the preset three axial directions includes:
according to a preset torque formula, performing component force calculation on the target torque corresponding to each of the preset three axial directions to obtain the target component force corresponding to each of the preset three axial directions;
and calculating to obtain the equivalent deflection of the engine thrust line in the arrow body according to the target component forces corresponding to the preset three shaft directions.
Optionally, the target component forces corresponding to the preset three axial directions respectively at least include a target component force in a first direction, and the calculating to obtain the equivalent deflection of the engine thrust line in the arrow body according to the target component forces corresponding to the preset three axial directions respectively includes:
and calculating to obtain the equivalent deflection of the engine thrust line in the arrow body according to the target component force in the first direction and the thrust predictive value of the engine.
In another aspect, the present application provides an apparatus for identifying an equivalent deflection of an engine thrust line, according to an embodiment of the present application, where the apparatus includes: the device comprises an acquisition module, a calculation module and a processing module, wherein:
the acquisition module is used for acquiring a target angular rate output by the rocket inertial set;
the calculation module is used for performing moment calculation in the preset three-axis direction on the target angular rate to obtain target moments corresponding to the preset three-axis direction;
and the processing module is used for calculating and obtaining the equivalent deflection of the engine thrust line in the arrow body according to the target moments corresponding to the preset three shaft directions.
For the content that is not introduced or not described in the embodiment of the present application, reference may be made to the related descriptions in the foregoing method embodiments, and details are not described here again.
On the other hand, the present application provides a terminal device according to an embodiment of the present application, where the terminal device includes: a processor, a memory, a communication interface, and a bus; the processor, the memory and the communication interface are connected through the bus and complete mutual communication; the memory stores executable program code; the processor runs a program corresponding to the executable program code by reading the executable program code stored in the memory for performing the method of identifying an equivalent deflection of an engine thrust line as described above.
In another aspect, the present application provides a computer-readable storage medium storing a program for executing the method for identifying an equivalent deflection of an engine thrust line as described above when the program runs on a terminal device, through an embodiment of the present application.
One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages: the method comprises the steps of obtaining a target angular rate output by an rocket inertial measurement unit; performing moment calculation on the target angular rate in the preset three-axis direction to obtain target moments corresponding to the preset three-axis direction; and calculating to obtain the equivalent deflection of the engine thrust line in the arrow body according to the preset target moments corresponding to the three shaft directions. In the scheme, the equivalent deflection of the engine thrust line in the rocket body can be directly calculated according to the target angular rate of the rocket body inertial measurement unit, so that the convenience, the high efficiency and the accuracy of the equivalent deflection calculation are realized.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.
FIG. 1 is a schematic flow chart of a method for identifying an equivalent deflection of an engine thrust line according to an embodiment of the present disclosure;
FIG. 2 is a Bode diagram of a Chebyshev low-pass filter according to an embodiment of the present disclosure;
FIG. 3 is a schematic structural diagram of an apparatus for identifying an equivalent deflection of an engine thrust line according to an embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of a terminal device according to an embodiment of the present application.
Detailed Description
The applicant has also found in the course of the present application that: in the process of flying the solid carrier rocket outside the atmosphere, the maximum disturbance of the flight attitude control is from a solid engine, and mainly comprises engine thrust line deflection, engine thrust line transverse movement and rocket body structure mass center transverse movement.
The thrust line deflection refers to an included angle between a thrust action line of the engine and an arrow body theoretical axis, and is caused by factors such as manufacturing errors of the engine structure, structural deformation, combustion jet flow asymmetry and the like. The transverse movement of the thrust line of the engine refers to the distance between the thrust action line and the theoretical axis of the arrow body, and is caused by manufacturing errors and assembly errors of the engine.
The mass center transverse movement of the arrow body structure refers to the distance between the actually measured mass center line of the arrow body and the theoretical mass center axis, and is generally caused by manufacturing errors and assembling errors of the arrow body. After the engine is ignited, the combustion chamber and the spray pipe can deform and displace under the action of gas pressure in the working process along with the time, the combustion chamber is radially enlarged and axially extended, structural members, particularly the spray pipe, on the combustion chamber are correspondingly driven to displace, and the corresponding thrust line deflection and transverse movement can gradually change.
The deflection and the transverse movement of the engine thrust line (the transverse movement of the engine thrust line and the transverse movement of the center of mass of the arrow body structure) can bring extra interference torque, and the balance of control torque of corresponding magnitude is needed. At present, when a solid carrier rocket flies outside the atmosphere, side jet control is one of the commonly used main attitude control modes. The executing mechanism for controlling the side jet flow is a liquid attitude control engine, and the control force is generated by the combustion of a propellant.
And after the flight test is finished, evaluating and identifying the interference of the solid engine so as to verify whether the propellant consumption of the corresponding actuating mechanism liquid attitude control engine is normal and reasonable. In the solid engine interference identification process, the equivalent deflection (including engine thrust line deflection, engine thrust line transverse movement and arrow structure mass center transverse movement) finally generated by the solid engine interference torque is relatively concerned, and the larger the identified equivalent deflection is, the larger the error generated by the production, installation or combustion of the engine is, and the larger the consumption of the corresponding liquid attitude control propellant is.
Therefore, the equivalent deflection can be used as a characteristic quantity of solid engine interference, data support is provided for subsequent optimization of solid engine design, production and assembly processes, and data input is provided for attitude control design scheme optimization. It can be seen that the engine thrust line equivalent deflection is a very important index parameter.
The embodiment of the application provides an identification method, device, equipment and medium for equivalent deflection of an engine thrust line, and can simply, conveniently, quickly and accurately calculate the equivalent deflection of the rocket engine thrust line.
In order to solve the technical problems, the general idea of the embodiment of the application is as follows: acquiring a target angular rate output by the rocket inertial measurement unit; performing moment calculation on the target angular rate in the preset three-axis direction to obtain target moments corresponding to the preset three-axis direction; and calculating to obtain the equivalent deflection of the engine thrust line in the arrow body according to the preset target moments corresponding to the three shaft directions.
In order to better understand the technical solution, the technical solution will be described in detail with reference to the drawings and the specific embodiments.
First, it is noted that the term "and/or" appearing herein is merely an associative relationship that describes an associated object, meaning that three relationships may exist, e.g., a and/or B, may represent: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
Fig. 1 is a schematic flow chart of a method for identifying an equivalent deflection of an engine thrust line according to an embodiment of the present application. The method as shown in fig. 1 comprises the following implementation steps:
s101, obtaining a target angular rate output by the rocket inertial set.
The rocket inertial set related to the application generally comprises a gyroscope and a meter. According to the method, the target angular rate output by the inertial measurement unit needs to be obtained first.
S102, carrying out moment calculation on the target angular rate in the preset three-axis direction to obtain target moments corresponding to the preset three-axis direction.
In a specific embodiment, after obtaining the target angular rate output by the inertial measurement unit, the present application may filter the target angular rate to obtain the rigid angular rate and time data (also referred to as time vectors) of the rocket body in the preset three axis directions. Specifically, the application can adopt a low-pass filter for inertial navigationFiltering the target angular rate (data) output by the group to respectively obtain the rigid angular rate omega of the three channels of the rocket body x 、ω y 、ω z And corresponding time data t, which can each be represented as a 1 × N column vector. Wherein, the interval of the time sequence is a sampling interval T. The low pass filter may filter out elastic angular rates, such as a Chebyshev low pass filter, whose bandwidth and depth are chosen according to the arrow elastic natural frequency. For example, please refer to fig. 2, which particularly shows a bode diagram of a chebyshev low-pass filter. As in fig. 2, the bandwidth of the chebyshev low-pass filter is 8Hz and the filter depth is-10 dB.
Further, the method and the device can fit rigid angular rates and time data in the preset three-axis direction to obtain respective angular acceleration alpha in the preset three-axis direction x 、α y 、α z . Specifically, the method can adopt a linear least square method to fit and calculate the corresponding angular acceleration alpha x 、α y 、α z . Taking the angular velocity in the pitch channel (z-axis direction) as an example, the independent variable is t, and the rigid angular velocity (function) is ω z Its linear fit formula type is y = kx + b. In a specific implementation, assuming i =1 and the interval point n =10, the application uses t (i), t (i + 1), … t (i + n) and ω z (i)、ω z (i+1)、…ω z (i + n) is used as input, and the slope k can be calculated according to the linear fitting formula 1 Corresponding to pitch angular acceleration a z (1)＝k 1 . When i =2, a can be calculated to be obtained by the same principle z (2)＝k 2 . So circulating, when i = N-N, alpha z (N-n)＝k N-n Thus obtaining the total pitch angle acceleration alpha z . In the same way, the angular acceleration alpha on the other two channels is calculated x 、α y . Wherein alpha is x 、α y 、α z Each can be represented as a 1 (N-N) column vector.
Finally, the target moments corresponding to the preset three axis directions can be calculated and obtained according to the respective angular accelerations of the preset three axis directions. Specifically, for example, the present application can preset three axes according to the kinetic equation of the arrow body rotating around the center of massCarrying out moment calculation on the respective angular acceleration in the direction to obtain the target moment M corresponding to the respective angular acceleration in the preset three-axis direction x 、M y 、M z . Wherein, the kinetic equation is shown as the following formula (1):
wherein, J x 、J y 、J z The method is characterized in that the pre-acquired rotational inertia in three axis directions is preset, and the method can also be called three-channel rotational inertia. M is a group of x 、M y 、M z Each can be represented as a 1 (N-N) column vector.
And S103, calculating to obtain the equivalent deflection of the engine thrust line in the arrow body according to the preset target moments corresponding to the three axis directions.
In a specific embodiment, component force calculation may be performed on target torque corresponding to each of the preset three axis directions according to a preset torque formula to obtain target component forces corresponding to each of the preset three axis directions, that is, to calculate respective force components F of an X axis, a Y axis and a Z axis in an arrow coordinate system x 、F y 、F z 。
Specifically, the present application may be based on the moment formula M z ＝F y Δ L and M y ＝F z Δ L, calculating respective force components (i.e., target component forces) F of the Y-axis and the Z-axis y 、F z . Wherein, the delta L is the distance from the throat part of the engine to the theoretical sharp point of the arrow body. Further, the application is based on the engine thrust predictive value P 0 Calculating to obtain the force component in the X-axis direction
Wherein, F x 、F y 、F z Each can be represented as a 1 (N-N) column vector.
Further, the equivalent deflection of the engine thrust line in the rocket body can be obtained through calculation according to the preset target component force corresponding to each of the three shaft directions. Specifically, for example, the target component forces corresponding to the three axial directions are presetIncluding less target component force F in a first direction x The present application can be based on a target force component F in a first direction x And a predicted thrust value P of the engine 0 Calculating to obtain the equivalent deflection theta of the engine thrust line in the arrow body px 。
In specific implementation, the method can be used for determining the component force F according to the target component force in the X-axis direction x And a predicted thrust value P of the engine 0 Calculating to obtain theta px The specific calculation is shown in the following formula (2):
wherein, theta px Is a 1 (N-N) column vector that varies with time.
By implementing the embodiment of the application, the target angular rate output by the rocket inertial measurement unit is obtained; performing moment calculation on the target angular rate in the preset three-axis direction to obtain target moments corresponding to the preset three-axis direction; and calculating to obtain the equivalent deflection of the engine thrust line in the arrow body according to the respective corresponding target moments in the preset three axial directions. In the scheme, the equivalent deflection of the engine thrust line in the rocket body can be directly calculated according to the target angular rate of the rocket body inertial measurement unit, so that the convenience, the high efficiency and the accuracy of the equivalent deflection calculation are realized. In addition, the scheme is simple and easy to implement, good in reliability and high in engineering application value.
One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages: the method comprises the steps of obtaining a target angular rate output by an rocket inertial measurement unit; performing moment calculation on the target angular rate in the preset three-axis direction to obtain target moments corresponding to the preset three-axis direction; and calculating to obtain the equivalent deflection of the engine thrust line in the arrow body according to the preset target moments corresponding to the three shaft directions. In the scheme, the equivalent deflection of the engine thrust line in the rocket body can be directly calculated according to the target angular rate of the rocket body inertial measurement unit, so that the convenience, the high efficiency and the accuracy of the equivalent deflection calculation are realized. In addition, the scheme is simple and easy to implement, good in reliability and high in engineering application value.
Based on the same inventive concept, another embodiment of the present application provides a device and a terminal device corresponding to the method for identifying the equivalent deflection of the engine thrust line in the embodiment of the present application.
Please refer to fig. 3, which is a schematic structural diagram of an identification apparatus for equivalent deflection of an engine thrust line according to an embodiment of the present disclosure. The apparatus 30 shown in fig. 3 comprises: an obtaining module 301, a calculating module 302 and a processing module 303, wherein:
an obtaining module 301, configured to obtain a target angular rate output by an inertial measurement unit;
the calculating module 302 is configured to perform moment calculation in preset three axis directions on the target angular rate to obtain target moments corresponding to the preset three axis directions;
and the processing module 303 is configured to calculate and obtain an equivalent deflection of an engine thrust line in the rocket body according to the preset target moments corresponding to the three axis directions.
Optionally, the calculating module 302 is specifically configured to:
filtering a target angular rate output by the rocket inertial measurement unit to obtain rigid angular rates and time data of the rocket in the directions of preset three axes;
fitting the rigid angular rates and the time data in the preset three axis directions to obtain respective angular accelerations in the preset three axis directions;
and calculating to obtain target moments corresponding to the preset three axis directions according to the respective angular accelerations in the preset three axis directions.
Optionally, the calculating module 302 is specifically configured to:
and carrying out moment calculation on the respective angular acceleration in the preset three-axis direction according to a kinetic equation to obtain the respective corresponding target moment in the preset three-axis direction.
Optionally, the processing module 303 is specifically configured to:
according to a pre-configured torque formula, performing component force calculation on target torque corresponding to each of the preset three axial directions to obtain target component forces corresponding to each of the preset three axial directions;
and calculating to obtain the equivalent deflection of the engine thrust line in the arrow body according to the preset target component forces corresponding to the three axis directions.
Optionally, it is preset that the target component forces corresponding to the three axial directions at least include a target component force in a first direction, and the processing module 303 is specifically configured to:
and calculating to obtain the equivalent deflection of the engine thrust line in the arrow body according to the target component force in the first direction and the thrust predictive value of the engine.
Please refer to fig. 4, which is a schematic structural diagram of a terminal device according to an embodiment of the present application. The terminal device 40 shown in fig. 4 includes: at least one processor 401, a communication interface 402, a user interface 403 and a memory 404, wherein the processor 401, the communication interface 402, the user interface 403 and the memory 404 may be connected by a bus or other means, and the embodiment of the present invention is exemplified by being connected by a bus 405. Wherein,
The communication interface 402 may be a wired interface (e.g., an ethernet interface) or a wireless interface (e.g., a cellular network interface or using a wireless local area network interface) for communicating with other terminals or websites. In this embodiment of the present invention, the communication interface 402 is specifically configured to obtain the target angular rate.
The user interface 403 may be a touch panel, including a touch screen and a touch screen, for detecting an operation command on the touch panel, and the user interface 403 may also be a physical button or a mouse. The user interface 403 may also be a display screen for outputting, displaying images or data.
The Memory 404 may include Volatile Memory (Volatile Memory), such as Random Access Memory (RAM); the Memory may also include a Non-Volatile Memory (Non-Volatile Memory), such as a Read-Only Memory (ROM), a Flash Memory (Flash Memory), a Hard Disk (Hard Disk Drive, HDD), or a Solid-State Drive (SSD); the memory 404 may also comprise a combination of the above types of memory. The memory 404 is used for storing a set of program codes, and the processor 401 is used for calling the program codes stored in the memory 404 and executing the following operations:
acquiring a target angular rate output by the rocket inertial measurement unit;
performing moment calculation on the target angular rate in the preset three-axis direction to obtain target moments corresponding to the preset three-axis direction;
and calculating to obtain the equivalent deflection of the engine thrust line in the arrow body according to the preset target moments corresponding to the three shaft directions.
Optionally, performing moment calculation in preset three axis directions on the target angular rate, and obtaining target moments corresponding to the preset three axis directions respectively includes:
filtering a target angular rate output by the rocket inertial measurement unit to obtain rigid angular rates and time data of the rocket in the directions of preset three axes;
fitting the rigid angular rates and the time data in the preset three-axis direction to obtain respective angular acceleration in the preset three-axis direction;
and calculating to obtain target moments corresponding to the preset three axis directions according to the respective angular accelerations in the preset three axis directions.
Optionally, the obtaining, by calculation, target moments corresponding to the preset three axis directions according to respective angular accelerations in the preset three axis directions includes:
and carrying out moment calculation on the respective angular acceleration in the preset three-axis direction according to a kinetic equation to obtain the respective corresponding target moment in the preset three-axis direction.
Optionally, the calculating to obtain the equivalent deflection of the engine thrust line in the arrow body according to the target moments respectively corresponding to the preset three axial directions includes:
according to a pre-configured torque formula, performing component force calculation on target torque corresponding to each of the preset three axial directions to obtain target component forces corresponding to each of the preset three axial directions;
and calculating to obtain the equivalent deflection of the engine thrust line in the arrow body according to the preset target component forces corresponding to the three axial directions.
Optionally, the step of presetting the target component forces corresponding to the three axial directions at least includes a target component force in the first direction, and the step of calculating and obtaining the equivalent deflection of the engine thrust line in the rocket body according to the preset target component forces corresponding to the three axial directions includes:
and calculating to obtain the equivalent deflection of the engine thrust line in the arrow body according to the target component force in the first direction and the thrust predictive value of the engine.
For the content that is not introduced or described in the embodiments of the present application, reference may be made to the related descriptions in the foregoing method embodiments, and details are not repeated here.
One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages: the method comprises the steps of obtaining a target angular rate output by an rocket inertial set; performing moment calculation on the target angular rate in the preset three-axis direction to obtain target moments corresponding to the preset three-axis direction; and calculating to obtain the equivalent deflection of the engine thrust line in the arrow body according to the preset target moments corresponding to the three shaft directions. In the scheme, the equivalent deflection of the engine thrust line in the rocket body can be directly calculated according to the target angular rate of the rocket body inertial measurement unit, so that the convenience, the high efficiency and the accuracy of the equivalent deflection calculation are realized.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention 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 present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams 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 invention 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. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A method for identifying equivalent deflection of an engine thrust line, the method comprising:
acquiring a target angular rate output by the rocket inertial measurement unit;
performing moment calculation on the target angular rate in the directions of preset three axes to obtain target moments corresponding to the preset three axes;
and calculating to obtain the equivalent deflection of the engine thrust line in the arrow body according to the corresponding target moments in the preset three axial directions.
2. The method according to claim 1, wherein the performing the moment calculation on the target angular rate in the preset three-axis direction to obtain the target moments corresponding to the preset three-axis direction comprises:
filtering the target angular rate output by the rocket inertial set to obtain rigid angular rates and time data of the rocket in the preset three-axis direction;
fitting the rigid angular rates and the time data in the preset three-axis direction to obtain respective angular acceleration in the preset three-axis direction;
and calculating to obtain target moments corresponding to the preset three axis directions according to the respective angular accelerations in the preset three axis directions.
3. The method according to claim 2, wherein the calculating to obtain the target moments corresponding to the preset three axial directions according to the respective angular accelerations in the preset three axial directions comprises:
and carrying out moment calculation on the respective angular acceleration in the preset three-axis direction according to a kinetic equation to obtain the respective corresponding target moment in the preset three-axis direction.
4. The method according to claim 1, wherein the calculating and obtaining the equivalent deflection of the engine thrust line in the arrow body according to the target moments corresponding to the three preset axial directions comprises:
according to a pre-prepared torque formula, performing component force calculation on the target torque corresponding to each of the preset three axial directions to obtain the target component forces corresponding to each of the preset three axial directions;
and calculating to obtain the equivalent deflection of the engine thrust line in the arrow body according to the target component forces corresponding to the preset three shaft directions.
5. The method of claim 4, wherein the predetermined three axis directions each correspond to a target force component comprising at least a target force component in a first direction, and wherein the calculating the equivalent deflection of the engine thrust line in the arrow body based on the predetermined three axis directions each correspond to a target force component comprises:
and calculating to obtain the equivalent deflection of the engine thrust line in the arrow body according to the target component force in the first direction and the thrust predictive value of the engine.
6. An apparatus for identifying an equivalent deflection of an engine thrust line, the apparatus comprising: the device comprises an acquisition module, a calculation module and a processing module, wherein:
the acquisition module is used for acquiring a target angular rate output by the rocket inertial set;
the calculation module is used for performing moment calculation in the preset three-axis direction on the target angular rate to obtain target moments corresponding to the preset three-axis direction;
and the processing module is used for calculating and obtaining the equivalent deflection of the engine thrust line in the arrow body according to the target moments corresponding to the three preset axis directions.
7. The apparatus of claim 6, wherein the computing module is specifically configured to:
filtering the target angular rate output by the rocket inertial set to obtain rigid angular rates and time data of the rocket in the preset three-axis direction;
fitting the rigid angular rates and the time data in the preset three-axis direction to obtain respective angular acceleration in the preset three-axis direction;
and calculating to obtain target moments corresponding to the preset three axis directions according to the respective angular accelerations in the preset three axis directions.
8. The apparatus of claim 6, wherein the processing module is specifically configured to:
according to a preset torque formula, performing component force calculation on the target torque corresponding to each of the preset three axial directions to obtain the target component force corresponding to each of the preset three axial directions;
and calculating to obtain the equivalent deflection of the engine thrust line in the arrow body according to the target component forces corresponding to the preset three shaft directions.
9. A terminal device, characterized in that the terminal device comprises: a processor, a memory, a communication interface, and a bus; the processor, the memory and the communication interface are connected through the bus and complete mutual communication; the memory stores executable program code; the processor runs a program corresponding to the executable program code by reading the executable program code stored in the memory for performing the method of identifying an engine thrust line equivalent deflection as set forth in any one of claims 1-5 above.
10. A computer-readable storage medium characterized by storing a program that executes the method for identifying an equivalent deflection of an engine thrust line according to any one of claims 1 to 5 when the program is run on a terminal device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210884203.6A CN115203963A (en) | 2022-07-26 | 2022-07-26 | Method, device, equipment and medium for identifying equivalent offset of engine thrust line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210884203.6A CN115203963A (en) | 2022-07-26 | 2022-07-26 | Method, device, equipment and medium for identifying equivalent offset of engine thrust line |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115203963A true CN115203963A (en) | 2022-10-18 |
Family
ID=83584190
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210884203.6A Pending CN115203963A (en) | 2022-07-26 | 2022-07-26 | Method, device, equipment and medium for identifying equivalent offset of engine thrust line |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115203963A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116185058A (en) * | 2023-04-21 | 2023-05-30 | 东方空间技术(山东)有限公司 | Carrier rocket attitude control method and device and flight control computer |
-
2022
- 2022-07-26 CN CN202210884203.6A patent/CN115203963A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116185058A (en) * | 2023-04-21 | 2023-05-30 | 东方空间技术(山东)有限公司 | Carrier rocket attitude control method and device and flight control computer |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20180290719A1 (en) | Motion control device and motion control method for ship | |
| CN109483529B (en) | Mechanical arm servo control method, system and device based on spiral theory | |
| KR102021498B1 (en) | Design method of attitude control system for flight vehicle and computer program | |
| CN107618678B (en) | Attitude control information joint estimation method under satellite attitude angle deviation | |
| CN103712623B (en) | Optical-fiber gyroscope inertial navigation system attitude optimization method based on angular speed input | |
| CN108645404B (en) | Method for resolving attitude of small multi-rotor unmanned aerial vehicle | |
| CN115203963A (en) | Method, device, equipment and medium for identifying equivalent offset of engine thrust line | |
| CN113587925B (en) | Inertial navigation system and full-attitude navigation resolving method and device thereof | |
| WO2024125071A1 (en) | Gnss/ins redundant integrated navigation method, module and system, and medium | |
| CN108592902B (en) | Positioning equipment, positioning method and system based on multiple sensors and mechanical arm | |
| CN109211278B (en) | System and method for automatic calibration of non-linearity of MIMU accelerometer | |
| CN111207734B (en) | EKF-based unmanned aerial vehicle integrated navigation method | |
| CN115839726B (en) | Method, system and medium for jointly calibrating magnetic sensor and angular velocity sensor | |
| CN106092141B (en) | A kind of method and device improving relative position sensor performance | |
| Tran et al. | Developing an Approach for Fault Detection and Diagnosis of Angular Velocity Sensors | |
| CN104699918A (en) | Rudder deflection angle calculation method and rudder deflection angle calculation system | |
| CN114111773A (en) | Integrated navigation method, device, system and storage medium | |
| CN108945526A (en) | A kind of Racemization control method and system of inert satellite | |
| CN106826826B (en) | A kind of robot control method and device | |
| CN117325149B (en) | Gesture adjustment method and system based on Kalman filtering | |
| CN110618694B (en) | Robust attitude control method for space interceptor | |
| CN110879553B (en) | Control method and system of micro gyroscope available based on output state | |
| CN111897226B (en) | Output feedback control method and device of MEMS gyroscope | |
| CN113532482B (en) | Fault detection device and method for redundant inertial measurement system | |
| CN117148718B (en) | Overload simulation method, device and equipment for three-axis manned centrifuge and storage medium |
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 |