CN118069963A - Method, equipment and storage medium for predicting numerical value of parallel interstage separation of aircraft - Google Patents
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Abstract
The invention relates to the technical field of object track numerical prediction, and discloses a method, equipment and a storage medium for predicting an inter-stage separation numerical value of an aircraft in parallel, wherein the method comprises the following steps: s1: acquiring aerodynamic force and aerodynamic moment received by a two-stage aircraft; s2: respectively calculating the accelerations of the upper-stage aircraft restraint device point and the lower-stage aircraft restraint device point; s3: according to the calculation result of the S2, reducing the dimension of the constraint equation; s4: coupling the constraint equation and the rigid motion equation, and calculating constraint force and constraint moment generated by the constraint device in the first time step; s5: acquiring the gesture and displacement information of the two-stage aircraft at the second time step; s6: and (3) judging whether the quantity change of the constraint devices accords with preset conditions according to the gesture and displacement information obtained in the step (S5), and performing multiple calculation to obtain a trajectory and gesture of two stages of parallel inter-stage separation of the two-stage aircraft, wherein the trajectory and gesture change along with time. The method and the device reasonably reduce the dimension of the constraint equation and improve the solving efficiency of the coupling equation.
Description
Technical Field
The invention relates to the technical field of object trajectory numerical prediction, in particular to a method, equipment and a storage medium for predicting an inter-stage separation numerical value of an aircraft in parallel.
Background
The two-stage in-orbit aerospace vehicle must solve the problem of two-stage parallel safe separation. Two-stage aircraft with a slightly larger pitch angle can easily result in two-body collisions. The two-stage separation process is restrained by a mechanical restraint device near the tail part of the interstage, so that the method is an effective scheme for realizing the interstage parallel safe separation. However, such separation problem research can introduce constraint action among separators, and a constraint force model needs to be established to develop numerical simulation research of interstage separation under complex constraint.
At present, an idea simulation constraint separation process based on a pneumatic database and a rigid motion equation coupling constraint equation is often adopted. However, two problems exist in adopting the simulation thought for the parallel interstage separation process of the two-stage orbit-entering aerospace vehicle. Firstly, the shock wave structure in the interstage separation process is changed rapidly, and a separation simulation result driven by a pneumatic database has larger error; secondly, the multi-constraint device exists simultaneously, the dimension of constraint equation is increased, and the solving difficulty is increased sharply; therefore, in order to improve the aerodynamic force prediction precision of the interstage separation and reduce the solving difficulty of simultaneous existence of multiple constraints, an efficient and accurate parallel interstage separation numerical prediction method considering constraint counter force needs to be explored.
Disclosure of Invention
In view of the above, the present invention provides a method, apparatus and storage medium for predicting numerical value of parallel inter-stage separation of aircraft to solve the above-mentioned problems.
In order to solve the technical problems, the invention provides a numerical prediction method for parallel interstage separation of an aircraft, which comprises the following steps:
S1: calculating flow field information of the two-stage aircraft at the first time step, and acquiring aerodynamic force and aerodynamic moment received by the two-stage aircraft;
S2: calculating a first acceleration of an upper stage aircraft restraint device point and a second acceleration of a lower stage aircraft restraint device point respectively;
s3: reducing the number of constraint devices according to the calculation result in the step S2, and reducing the dimension of the constraint equation;
S4: coupling the constraint equation and the rigid motion equation, and calculating constraint force and constraint moment generated by the constraint device in the first time step;
S5: acquiring resultant force generated by aerodynamic force and constraint force of the two-stage aircraft in a second time step, and acquiring resultant moment generated by aerodynamic moment and constraint moment of the two-stage aircraft in the second time step; substituting the resultant force and the resultant moment into a rigid motion equation to obtain the gesture and displacement information of the two-stage aircraft at the second time step;
S6: and (3) judging whether the quantity change of the constraint devices accords with preset conditions according to the gesture and displacement information obtained in the step (S5), and performing multiple calculation to obtain a trajectory and gesture of two stages of parallel inter-stage separation of the two-stage aircraft, wherein the trajectory and gesture change along with time.
As an alternative, in the step S1, flow field information of the two-stage aircraft at the first time step is calculated, and aerodynamic force and aerodynamic moment received by the two-stage aircraft are obtained, including:
At the moment of the first time step, respectively calculating the attitude and displacement information of the upper-stage aircraft and the lower-stage aircraft, and obtaining the first aerodynamic force and the first aerodynamic moment of the upper-stage aircraft, and the second aerodynamic force and the second aerodynamic moment of the lower-stage aircraft; wherein the first time step is an indefinite length time step.
As an alternative, before calculating the first acceleration and the second acceleration in the step S2, the method further includes:
A first position vector, a first mass, a first moment of inertia, a first angular velocity, a second position vector, a second mass, a second moment of mass, and a second angular velocity of the upper stage aircraft and the lower stage aircraft from the centroid to the restraint device point is obtained.
As an alternative, in the step S3, the number of constraint devices is reduced, and the dimension reduction is performed on the constraint equation, including:
Reducing the restraint device according to a preset condition according to the difference value between the first acceleration and the second acceleration, wherein,
If the difference is less than 0, the restraint device point is released from restraint; if the difference is greater than 0, calculating the relative amount of the difference;
the relative amount of difference is used to compare to a threshold for unconstrained in constraint modeling.
As an alternative, in the above step S4, calculating the restraining force and the restraining moment generated by the restraining means further includes:
and acquiring a translational equation and a rotational equation of the upper-stage aircraft and the lower-stage aircraft around the mass center of the upper-stage aircraft and the lower-stage aircraft respectively to obtain upper-stage acceleration and lower-stage acceleration of the upper-stage aircraft and the lower-stage aircraft respectively at the point of the restraint device, and obtaining restraint force and restraint moment generated by the restraint device according to the upper-stage acceleration and the lower-stage acceleration.
As an alternative, the second time step is an indefinite length time step; wherein,
Repeating steps S1-S5 when the number of the restraining devices is greater than 0; when the number of restraining devices is equal to 0, repeating the steps S1 and S5, and circulating until the time-varying track and gesture of the two stages of parallel inter-stage separation are obtained.
As an alternative, the rigid motion equation is a six degree-of-freedom rigid motion equation.
In another aspect, the present invention further provides an electronic device, including: a memory for storing a computer program; and the processor is used for realizing the steps of the numerical prediction method for the parallel inter-stage separation of the aircraft when executing the computer program.
On the other hand, the invention also provides a storage medium, wherein a computer program is stored in the storage medium, and the computer program realizes the steps of the parallel inter-stage separation numerical value prediction method of the aircraft when being executed by a processor.
The beneficial effects of the invention are as follows:
According to the method, in each unsteady step, aiming at the problem of high difficulty in solving the constraint equation/motion equation coupling, the constraint equation is reasonably reduced in dimension, and the solving efficiency of the coupling equation is improved; and then solving the interstage flow field at every unsteady step instead of solving based on pneumatic database interpolation, so that the pneumatic solving precision is high.
Drawings
FIG. 1 is a schematic flow chart of a method for predicting numerical value of parallel interstage separation of an aircraft according to embodiment 1 of the present invention;
FIG. 2 is a side view of a two-stage aircraft and restraint device provided in accordance with embodiment 2 of the present invention;
FIG. 3 is a front view of a two-stage aircraft and restraint device provided in embodiment 2 of the present invention;
FIG. 4 is a schematic view showing the change of yaw attitude angle with time according to embodiment 2 of the present invention;
FIG. 5 is a graph showing the change of pitch attitude angle with time according to embodiment 2 of the present invention;
FIG. 6 is a graph showing the change of the roll attitude angle with time according to embodiment 2 of the present invention;
FIG. 7 is a graph showing the variation of X displacement with time according to embodiment 2 of the present invention;
FIG. 8 is a graph showing the Y-shift with time according to embodiment 2 of the present invention;
fig. 9 is a graph showing the change of Z displacement with time according to embodiment 2 of the present invention.
Detailed Description
In order to make the technical scheme of the present invention better understood by those skilled in the art, the present invention will be further described in detail with reference to the following specific embodiments.
Example 1
Referring to fig. 1, the present embodiment aims to provide a parallel interstage separation numerical prediction method considering the supporting force of a symmetrical constraint device, which considers the problem of aerodynamic nonlinear change caused by rapid shock wave structure change in the interstage separation process, solves around the constraint counter force which plays a dominant role in a multi-constraint device, solves the flow field control equation in a coupling way, reasonably reduces the dimension of the constraint equation, and solves the problem that the parallel constraint interstage separation numerical simulation nonlinear aerodynamic problem and the high-dimensional constraint equation are difficult to solve. The present embodiment is realized as follows:
s1: two-stage aircraft And calculating an inter-stage flow field at the moment. /(I)Gesture and displacement of the upper and lower stages at timeAnd/>. Two-stage aircraft/>, is developed by solving a computational fluid dynamics unsteady control equationMoment flow field calculation and integral solving of aerodynamic force born by two-stage aircraft as/>And/>Aerodynamic moment is/>And/>. Wherein/>Represents the/>An unsteady time step. paw is yaw angle, pitch is pitch angle, roll is roll angle, position (x, y, z) represents the position of the separator in three directions, gesture (paw, pitch, roll) represents the euler attitude angle of the separator. Corner mark/>Represents the superior aircraft, the corner mark/>Representing the next level of aircraft.
S2: solving forMoment all-level aircraft restraint device/>Acceleration due to aerodynamic forces-And/>. Assume centroid to constraint device at each level/>The location vector at is/>And/>The mass is/>And/>Moment of inertia is/>And/>Angular velocity is/>And/>
Then:
（1）
（2）。
S3: according to restraining means Two-stage relative acceleration at/>The number of the restraining devices is reasonably reduced, namely, the number of the restraining devices is reduced according to the preset piece in the earlier stage. /(I)Representing the following level relative to the above level at the restriction device/>Acceleration at then:
（3）
since the constraint device will eventually be unconstrained (e.g., about Shu Li, the reverse sign, etc.), this embodiment, as an alternative, sets the unconstrained vector as Then:
If it is Then/>The constraint device at the position releases the constraint, the number of the constraint devices is reduced, and the dimension of the constraint equation is reduced;
If it is Find/>Relative amounts/>In/>Representation/>Is provided.
（4）
If it isThen/>The mutual constraint force at the position is small, the number of constraint devices is reduced, the dimension of constraint equation is reduced (the/>, finally, can be realizedThe restraint means at). /(I)To release the threshold of constraint in constraint modeling, the present embodiment takes 1 as an example, but is not limited to 1.
Through S3, the number of constraint devices is countedReduced to/>The dimension reduction of the constraint equation is realized.
S4: constraint equation coupling rigid motion equation and solvingAnd the moment constraint device generates constraint counter force and moment. Provided with restraining means/>The restraining force generated at the position is/>And/>Constraint moment is/>And/>Then:
（5）
（6）
（7）
the translational and rotational equations of the upper and lower stages about the centroid are:
（8）
（9）
wherein, For the acceleration of the upper level around the centroid,/>For acceleration of the following stage around centroid,/>For the upper level moment of inertia,/>For the following stage moment of inertia,/>For the upper level angular velocity,/>Is the following level angular velocity.
The acceleration of the aircraft of the upper and lower stages at the restraint device i isAnd/>Then:
（10）
In the middle of And/>Representing normal velocity,/>And/>Expressing tangential velocity, the expression is:
（11）
and (5) to (11) of the combined type, and the restraining force and the restraining moment at the position of the restraining device i can be obtained.
S5: solving forThe posture and displacement of each stage at the moment. According to/>And solving aerodynamic force and aerodynamic moment by the flow field at the moment, and restraining force and restraining moment generated by the restraining device, so that resultant force and resultant moment born by the two-stage aircraft can be obtained. The/> can be obtained by bringing the resultant force and the resultant moment into a six-degree-of-freedom rigid motion equationAttitude and displacement of each stage at momentAnd/>。
S6: if it isRepeating the steps S1 to S5; if/>If the constraint device is completely released, repeating the step S1 and the step S5; and (5) circularly reciprocating until the calculation is finished, and obtaining the track and the gesture of the parallel interstage separation two-stage along with time change.
In the embodiment, the constraint equation can be reasonably reduced in dimension aiming at the problem of high difficulty in solving the constraint equation/motion equation coupling in each unsteady step, so that the solving efficiency of the coupling equation is improved; and then solving the interstage flow field at every unsteady step instead of solving based on pneumatic database interpolation, so that the pneumatic solving precision is high.
On the other hand, the embodiment also provides an electronic device, which comprises: a memory for storing a computer program; and the processor is used for realizing the steps of the numerical prediction method for the parallel inter-stage separation of the aircraft when executing the computer program.
On the other hand, the embodiment also provides a storage medium, and a computer program is stored in the storage medium, and when the computer program is executed by a processor, the steps of the method for predicting the numerical value of the inter-stage separation of the parallel aircraft are realized.
Example 2
Referring to fig. 2-9, this embodiment supplements embodiment 1 in an alternative case using the method of embodiment 1 described above. FIG. 2 is a side view of the two-stage aircraft and restraint device provided in this embodiment; FIG. 3 is a front view of the two-stage aircraft and restraint device provided in this embodiment; FIG. 4 is a schematic view showing the change of yaw attitude angle with time according to the present embodiment; FIG. 5 is a graph showing the change of pitch attitude angle with time according to the present embodiment; FIG. 6 is a schematic diagram showing the change of the roll attitude angle with time according to the present embodiment; FIG. 7 is a schematic diagram showing the variation of X displacement with time according to the present embodiment; FIG. 8 is a schematic diagram showing the Y displacement of the present embodiment with time; fig. 9 is a schematic diagram showing the change of Z displacement with time according to the present embodiment.
S1: two-stage aircraftAnd calculating an inter-stage flow field at the moment. A schematic of a two-stage aircraft and restraint device is shown in fig. 3.Pose and displacement of the upper and lower levels at time are/>And. By solving the computational fluid dynamics control equation, the aerodynamic forces suffered by the two-stage aircraft are integrated and solved as/>And; Aerodynamic moment is/>Sum of. The aerodynamic unit is N in international unit system, the aerodynamic moment unit is N.m in international unit system, and the subsequent force and moment units are all international unit systems.
S2: solving forAcceleration/>, due to aerodynamic forces, at two restraining devices of each stage of aircraft at all timesAnd/>. The two stages of mass are respectively: /(I)And/>Moment of inertia is/>AndThe unit of moment of inertia is International Unit/>At initial time, angular velocity is/>AndConstraint means/>The acceleration generated by aerodynamic force is as follows: /(I)，; In the restraint device/>The acceleration generated by aerodynamic force is as follows:，/> . The unit of acceleration is International Unit/> 。
S3: according to restraining meansTwo-stage relative acceleration at/>The number of the restraint devices is reasonably reduced.
，/>Since the restraining device can only bear two-stage mutually inward extrusion forces, the upward vector can be set as positive/>Then/>But is provided with
I.e.Then/>The mutual constraint force is small, the number of constraint devices is reduced, and the dimension of constraint equations is reduced. Through the third step, the number of constraint devices is reduced to 1 from 2, and dimension reduction of constraint equations is realized.
S4: constraint equation coupling rigid motion equation and solvingAnd the moment constraint device generates constraint counter force and moment. Restraint device/>The restraining force to the upper stage is/>Constraint moment is/>; The lower stage is subjected to a restraining force ofConstraint moment is/>。
S5: solving forThe posture and displacement of each stage at the moment. According to/>And solving aerodynamic force and aerodynamic moment by the flow field at the moment, and restraining force and restraining moment generated by the restraining device, so that resultant force and resultant moment born by the two-stage aircraft can be obtained. The/> can be obtained by bringing the resultant force and the resultant moment into a six-degree-of-freedom rigid motion equationAttitude and displacement of each stage at momentAnd。
S6：Repeating the steps S1 to S5; if/>If the constraint device is completely released, repeating the step S1 and the step S5; and (5) circularly reciprocating until the calculation is finished, and obtaining the track and the gesture of the parallel interstage separation two-stage along with time change.
In fig. 4 to 6, the ordinate paw is the yaw angle, the ordinate pitch is the pitch angle, the ordinate roll is the roll angle, and the abscissa time is the time. In fig. 7-9, the time is the time on the abscissa and the x, y, zc represent the displacement of the centroid in the x, y, z directions, respectively, where c is centroid, representing the centroid. And, legend up in fig. 4 to 9 is the upper level, and down is the lower level. As can be seen from fig. 4 to 9: the yaw and pitch attitude of the upper stage is smaller than that of the lower stage, the roll angle is slightly larger, and the attitude is more stable; in addition, the inter-stage distances in three directions of two stages X, Y and Z are continuously increased, so that safe separation can be realized.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that the above-mentioned preferred embodiment should not be construed as limiting the invention, and the scope of the invention should be defined by the appended claims. It will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the spirit and scope of the invention, and such modifications and adaptations are intended to be comprehended within the scope of the invention.
Claims (9)
1. The numerical prediction method for the parallel inter-stage separation of the aircraft is characterized by comprising the following steps of:
S1: calculating flow field information of the two-stage aircraft at a first time step, and acquiring aerodynamic force and aerodynamic moment received by the two-stage aircraft;
S2: calculating a first acceleration of an upper stage aircraft restraint device point and a second acceleration of a lower stage aircraft restraint device point respectively;
s3: reducing the number of constraint devices according to the calculation result in the step S2, and reducing the dimension of the constraint equation;
S4: coupling the constraint equation with a rigid motion equation, and calculating constraint force and constraint moment generated by a constraint device in the first time step;
S5: acquiring resultant force generated by aerodynamic force and constraint force of the two-stage aircraft in a second time step, and acquiring resultant moment generated by aerodynamic moment and constraint moment of the two-stage aircraft in the second time step; substituting the resultant force and the resultant moment into a rigid motion equation to obtain the gesture and displacement information of the two-stage aircraft in the second time step;
S6: and (3) judging whether the quantity change of the constraint devices accords with preset conditions according to the gesture and displacement information obtained in the step (S5), and performing multiple calculation to obtain the trajectory and gesture of the parallel inter-stage separation two stages of the two-stage aircraft, wherein the trajectory and gesture change along with time.
2. The method according to claim 1, wherein in the step S1, the calculating flow field information of the two-stage aircraft at the first time step, and obtaining aerodynamic forces and moments of the two-stage aircraft, includes:
At the moment of the first time step, respectively calculating the attitude and displacement information of the upper-stage aircraft and the lower-stage aircraft, and obtaining the first aerodynamic force and the first aerodynamic moment of the upper-stage aircraft, and the second aerodynamic force and the second aerodynamic moment of the lower-stage aircraft; wherein the first time step is a non-fixed length time step.
3. The method according to claim 1, wherein before calculating the first acceleration and the second acceleration in the step S2, further comprises:
A first position vector, a first mass, a first moment of inertia, a first angular velocity, a second position vector, a second mass, a second moment of mass, and a second angular velocity of the upper stage aircraft and the lower stage aircraft from the centroid to the restraint device point is obtained.
4. The method for predicting the numerical value of the inter-stage separation of parallel connection of aircraft according to claim 2, wherein in the step S3, the reducing the number of constraint devices reduces the dimension of the constraint equation, and the method comprises:
reducing the restraint device according to a preset condition according to the difference value between the first acceleration and the second acceleration, wherein,
If the difference is less than 0, the restraint device point is released from restraint; if the difference is greater than 0, calculating the relative amount of the difference;
the relative amount of the difference is used to compare to a threshold for releasing the constraint in constraint modeling.
5. The method according to claim 4, wherein in the step S4, the calculating the restraining force and the restraining moment generated by the restraining device further comprises:
and acquiring a translational equation and a rotational equation of the upper-stage aircraft and the lower-stage aircraft around the mass center of the upper-stage aircraft and the lower-stage aircraft respectively to obtain upper-stage acceleration and lower-stage acceleration of the upper-stage aircraft and the lower-stage aircraft respectively at the restraint device point, and obtaining restraint force and restraint moment generated by the restraint device according to the upper-stage acceleration and the lower-stage acceleration.
6. The method for predicting the number of parallel inter-stage separations of an aircraft of claim 1, wherein said second time step is an indefinite length time step; wherein,
Repeating steps S1-S5 when the number of the restraining devices is greater than 0; and when the number of the restraint devices is equal to 0, repeating the steps S1 and S5, and cycling until the time-varying track and gesture of the two stages of parallel inter-stage separation are obtained.
7. The method of claim 1, wherein the rigid motion equation is a six degree of freedom rigid motion equation.
8. An electronic device, comprising: a memory for storing a computer program; a processor for implementing the steps of the aircraft parallel inter-stage separation numerical prediction method according to any one of claims 1 to 7 when executing said computer program.
9. A storage medium having stored therein a computer program which, when executed by a processor, implements the steps of the aircraft parallel inter-stage separation numerical prediction method of any of claims 1-7.
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