Model construction method under shaking base and system thereof

Abstract

The invention relates to a model construction method under a shaking base and a system thereof. The model construction method under the shaking base comprises the following steps: establishing a transformation matrix of a coordinate system; after a transformation matrix of the coordinate system is established, establishing a shake angle motion description expression; after the sloshing angular motion description expression is completed, a linear motion description expression is established, and model construction is completed; and performing simulation analysis according to the constructed model. According to the method, mathematical derivation modeling is adopted to construct an accurate shaking model, and non-exchangeable errors in the rotation process can be reduced. The shake model constructed by the invention is convenient for completing simulation analysis, provides reliable design input for verifying initial alignment design, and improves the correctness of initial alignment scheme design. Meanwhile, the development of an initial alignment external field test can be reduced, the efficiency of an initial alignment verification simulation test is improved, and it is ensured that the simulation test can be strictly and orderly developed according to test requirements.

Description

Technical Field

[0001] The present application relates to the field of rocket technology, and in particular to a model construction method and system under a shaking base. Background Art

[0002] Sea launch is of great significance to the improvement of my country's launch services and has very good development prospects. On the one hand, the demand for space launch activities is increasing, the land population density is denser, and the safety issues of rocket flight landing areas are becoming increasingly prominent. Sea launch can flexibly select launch points and landing areas through sea navigation, effectively solving the safety issues of rocket flight areas and debris landing areas. On the other hand, there are more and more small-angle satellites in the world. The sea launch platform can move over a large range at sea, which can effectively solve the problem that my country's land launch site is difficult to meet the launch needs of 0° to 13° inclination satellites. In addition, sea launch can also make full use of my country's rich civilian ship resources, port resources, measurement and control resources, and social resources are deeply involved to achieve the effective integration of aerospace technology and marine engineering, and drive the high-quality development of social economy. Initial alignment is one of the important guarantees for effectively improving the navigation accuracy of the carrier. The initial alignment function of the carrier rocket refers to the real-time calculation of the current attitude of the rocket before the rocket takes off, and the attitude changes caused by the shaking of the sensitive rocket body, so as to provide the initial attitude angle that meets the accuracy requirements for navigation before takeoff. In order to improve the accuracy of autonomous alignment, it is also necessary to improve the accuracy of the strapdown inertial group gyro from the perspective of engineering application; conducting a fully autonomous alignment algorithm verification test is an important link to ensure the correctness of the alignment scheme. The key is to simulate the state and environmental conditions during the actual launch, and to obtain theoretical attitude information in real time to conduct self-alignment accuracy assessment. For the launch of carrier rockets at sea, considering the particularity of the launch environment at sea, in order to design the initial alignment method to meet different sea conditions, reduce the demand for field tests, and conduct launch dynamics analysis under complex sea conditions, it is an indispensable part to build an accurate sloshing model. Among them, the prior art proposes to analyze the actual conditions of the initial alignment of the sloshing base, use the constructed velocity vector observation to realize its alignment process, suppress periodic noise and Gaussian white noise, improve its alignment performance, and verify it through a comparative test of the dock mooring state. At present, the initial alignment test of the land launch uses a turntable to simulate the slight sloshing of the rocket body. For the launch at sea, the sea surface waves are complex and the sloshing angle is large. It is indispensable to conduct dock tests and tests under real sea conditions. However, there is still a serious lack of solutions suitable for constructing swaying base models. In order to verify the correctness of the initial alignment design and reduce the number of field tests, it is necessary to construct an accurate and effective mathematical model.

[0003] Therefore, how to propose a model construction method to improve the efficiency of the initial alignment verification simulation test, ensure that the simulation test can be carried out rigorously and orderly according to the test requirements, and verify the correctness of the initial alignment scheme design is a technical problem that technical personnel in this field urgently need to solve. Summary of the invention

[0004] The present application provides a method for constructing a model under a shaking base, comprising the following steps: establishing a transformation matrix of a coordinate system; after completing the establishment of the transformation matrix of the coordinate system, establishing an expression for describing the shaking angle motion; after completing the expression for describing the shaking angle motion, establishing an expression for describing the linear motion to complete the model construction; and performing simulation analysis based on the constructed model.

[0005] The model construction method under the shaking base as described above, wherein establishing the transformation matrix of the coordinate system includes establishing the transformation matrix of the launch coordinate system to the carrier system at time t0 The transformation matrix from the carrier coordinate system to the carrier system at time t0 Transformation matrix from the launch coordinate system to the carrier coordinate system And the transformation matrix from the carrier coordinate system to the launch coordinate system

[0006] The model construction method under the shaking base as described above, wherein the transformation matrix from the launch coordinate system to the carrier system at time t0 is The transformation matrix from the carrier coordinate system to the carrier system at time t0 Transformation matrix from the launch coordinate system to the carrier coordinate system And the transformation matrix from the carrier coordinate system to the launch coordinate system It is expressed as:

[0007]

[0008] is the initial attitude of the vehicle, where C Y , C X , C Z is the coordinate rotation elementary transformation matrix, ZY(t) represents the pitch motion expression of the ship, SY(t) represents the bow motion expression of the ship, HY(t) represents the roll motion expression of the ship, represents the initial pitch attitude angle, ψ0 represents the initial yaw attitude angle, γ0 represents the initial roll attitude angle, b0 is the vehicle system (b0 system) at the time t0, T represents the transposition, b0 is the vehicle system (b0 system) at the time t0, T represents the transposition.

[0009] In the model building method under the shaking base as described above, the shaking angular motion description for establishing the shaking angular motion description expression includes: angle description, angular velocity description, and angular acceleration description.

[0010] The model construction method under the shaking base as described above, wherein establishing the shaking angular motion description expression includes the following sub-steps: determining the ship angular motion description expression; determining the rocket body angular velocity description expression based on the ship angular motion description expression; determining the rocket body angular acceleration description expression based on the ship angular motion description expression.

[0011] A model building system under a shaking base includes: a coordinate system conversion matrix building unit, an angular motion description building unit, a linear motion description building unit and a simulation analysis unit; the coordinate system conversion matrix building unit is used to build the conversion matrix of the coordinate system; the angular motion description building unit is used to build the shaking angular motion description expression; the linear motion description building unit is used to build the linear motion description expression to complete the model building; the simulation analysis unit is used to perform simulation analysis based on the built model.

[0012] In the model building system under the shaking base as described above, the coordinate system conversion matrix building unit builds the coordinate system conversion matrix including building the conversion matrix of the launch coordinate system to the carrier system at time t0. The transformation matrix from the carrier coordinate system to the carrier system at time t0 Transformation matrix from the launch coordinate system to the carrier coordinate system And the transformation matrix from the carrier coordinate system to the launch coordinate system

[0013] The model building system under the shaking base as described above, wherein the transformation matrix from the launch coordinate system to the carrier system at time t0 is The transformation matrix from the carrier coordinate system to the carrier system at time t0 Transformation matrix from the launch coordinate system to the carrier coordinate system And the transformation matrix from the carrier coordinate system to the launch coordinate system It is expressed as:

[0014]

[0015] is the initial attitude of the vehicle, where C Y , C X , C Z is the coordinate rotation elementary transformation matrix, ZY(t) represents the pitch motion expression of the ship, SY(t) represents the bow motion expression of the ship, HY(t) represents the roll motion expression of the ship, represents the initial pitch attitude angle, ψ0 represents the initial yaw attitude angle, γ0 represents the initial roll attitude angle, b0 is the vehicle system (b0 system) at the time t0, T represents the transposition, b0 is the vehicle system (b0 system) at the time t0, T represents the transposition.

[0016] In the model building system under the shaking base as described above, the shaking angular motion description of the shaking angular motion description expression established by the angular motion description establishing unit includes: angle description, angular velocity description, and angular acceleration description.

[0017] The model building system under the shaking base as described above, wherein the angular motion description establishing unit establishes the shaking angular motion description expression including the following sub-steps: determining the ship angular motion description expression; determining the rocket body angular velocity description expression based on the ship angular motion description expression; determining the rocket body angular acceleration description expression based on the ship angular motion description expression.

[0018] Compared with the above background technology, this application uses mathematical derivation modeling to construct an accurate sway model, which can reduce the non-commutative error of the rotation process compared with direct differential modeling. The sway model constructed by this application is convenient for completing simulation analysis, provides reliable design input for verifying the initial alignment design, and improves the correctness of the initial alignment scheme design. At the same time, it can reduce the implementation of initial alignment field tests, improve the efficiency of initial alignment verification simulation tests, and ensure that simulation tests can be carried out rigorously and orderly in accordance with test requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0020] Figure 1 It is a schematic diagram of the flow of the model construction method under the shaking base provided in the embodiment of the present application;

[0021] Figure 2 It is a schematic diagram of the internal structure of a model building system based on a shaking base provided in an embodiment of the present application. DETAILED DESCRIPTION

[0022] The following is a clear and complete description of the technical solutions in the embodiments of the present application in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0023] This application analyzes the swaying motion of the launch ship and the arrow at sea, and derives the mathematical expression of the angular velocity, acceleration and other parameters generated by the shaking of the arrow body, thereby completing the construction of a six-degree-of-freedom model of the dynamic base, reducing the implementation of initial alignment field tests, improving the efficiency of the initial alignment verification simulation test, and ensuring that the simulation test can be carried out rigorously and orderly in accordance with the test requirements, verifying the correctness of the initial alignment scheme design.

[0024] Embodiment 1

[0025] like Figure 1 As shown, the present application provides a model construction method under a shaking base, which specifically includes the following sub-steps:

[0026] Step S110: Establish a transformation matrix of the coordinate system.

[0027] The conversion matrix of the coordinate system is established, including the conversion matrix from the launch coordinate system (G system) to the carrier system (b0 system) at time t0. The transformation matrix from the carrier coordinate system (b system) to the carrier system (b0 system) at time t0 is Transformation matrix from the launch coordinate system (G system) to the carrier coordinate system (b system) And the transformation matrix from the carrier coordinate system (b system) to the launch coordinate system (G system)

[0028] The above matrix is ​​expressed as:

[0029]

[0030] is the initial attitude of the vehicle, where C Y , C X , C Z is the coordinate rotation elementary transformation matrix, ZY(t) represents the pitch motion expression of the ship, SY(t) represents the bow motion expression of the ship, HY(t) represents the roll motion expression of the ship, represents the initial pitch attitude angle, ψ0 represents the initial yaw attitude angle, γ 0 represents the initial roll attitude angle, b0 is the vehicle system at time t0 (b0 system), and T represents transposition.

[0031] Step S120: After the conversion matrix of the coordinate system is established, a description expression of the shaking angle motion is established.

[0032] The hull shaking in each direction is applied at a single frequency, and the description of the shaking angular motion includes: angle description, angular velocity description, and angular acceleration description.

[0033] Firstly, the expression describing the ship's angular motion is determined, and then the expressions of the rocket's angular velocity and angular acceleration are derived based on the description of the ship's angular motion.

[0034] Based on the above, step S120 includes the following sub-steps:

[0035] Step S1201: Determine the expression describing the angular motion of the ship.

[0036] The hull sway is applied to the three attitude angles γ(t), ψ(t), superior.

[0037]

[0038] in, is the angle generated during the vertical erection of the vehicle. represents the initial pitch attitude angle, ψ0 represents the initial yaw attitude angle, γ 0 represents the initial roll attitude angle, t represents time, Acos(2π / T*t+φ) represents the law of shaking represented by a sine wave, A represents the shaking amplitude, subscript 123 represents the sine of different amplitude phases, T1, T2, T3 represent the periods corresponding to A1, A2, A3 respectively, Φ 01 , Φ 02 , Φ 03 They represent the initial phases of shaking corresponding to A1, A2, and A3 respectively.

[0039] Step S1202: Determine the rocket body angular velocity description expression based on the ship angular motion description expression.

[0040] The angular velocity of the rocket It is expressed as:

[0041]

[0042] where ω γ ,ω ψ , represents the angular velocity in the three attitude angle directions, ψ represents the yaw angle, γ represents the roll angle, and M represents the transformation matrix, where Φ1, Φ2, Φ3 represent the phase values ​​corresponding to A1, A2, A3 respectively. Represents γ q , q , The first-order differential of Represents γ, ψ

[0043] , The first-order differential of .

[0044] Step S1203: Determine the expression describing the angular acceleration of the rocket body according to the expression describing the angular motion of the ship.

[0045] The expression of the rocket body angular acceleration is It is expressed as:

[0046]

[0047]

[0048] in Represents the angular acceleration in the three attitude angle directions, Represents γ q , q , The second-order differential of represents γ, ψ, The second-order differential of .

[0049] Step S130: After completing the shake angle motion description expression, establish the line motion description expression to complete the model construction.

[0050] The linear motion description includes the arrow body position description, arrow body velocity and arrow body acceleration description, and the arrow body velocity and arrow body acceleration description are derived based on the arrow body position description.

[0051] Based on the above, step S130 includes the following sub-steps:

[0052] Step S1301: Determine the arrow body position description expression.

[0053] Assuming that the ship's sway center is located directly below the carrier, the position of the inertial group installation is the sum of the length from the tail of the carrier to the inertial group installation position and the length from below the deck to the sway center, then:

[0054]

[0055] Among them, r is the position vector length from the sway center to the inertial group. In the subsequent simulation, r is taken as 30m. Indicates the position of the inertial group installation, in the launch system Indicates the location of the inertial group installation. Represents the transformation matrix from the carrier coordinate system (b system) to the emission coordinate system (G system).

[0056] Step S1302: Determine the rocket body speed description expression according to the rocket body position description expression.

[0057] The rocket body speed is the speed at the installation point of the inertial group. is the length change of the position vector from the sway center to the inertial group installation point, then the rocket body speed It is expressed as:

[0058]

[0059] in, is the transformation matrix from system b to system G. According to the transformation matrix differential equation for The first-order differential of , we can get:

[0060]

[0061] in, represents the antisymmetric matrix of a vector, express The inverse of the first-order differential of is defined as follows:

[0062]

[0063] according to Definition of Further

[0064]

[0065] Substituting equations (10) and (12) into equation (13), we can obtain:

[0066]

[0067] Step S1303: Determine the rocket body acceleration description expression based on the rocket body position description expression to complete the model construction.

[0068] The rocket body acceleration is the acceleration at the inertial group installation point. It is expressed as:

[0069]

[0070] in, represents the differential of v, is the angular acceleration, represents the attitude angular velocity, Indicates the speed at the inertia group installation point.

[0071] Through the above method, this embodiment adopts mathematical derivation modeling, which is more direct differential modeling. When there is the same frequency shaking in different directions, direct differential module modeling is used to apply the same frequency shaking in different directions, which can avoid the non-commutative error caused by rotation.

[0072] Step S140: performing simulation analysis based on the constructed model.

[0073] By performing simulation analysis on the model constructed by this embodiment, the initial alignment field test can be reduced, the efficiency of the initial alignment verification simulation test can be improved, and it can be ensured that the simulation test can be carried out rigorously and orderly according to the test requirements.

[0074] Embodiment 2

[0075] like Figure 2 As shown, the present application provides a model building system under a shaking base, including: a coordinate system conversion matrix establishing unit 210, an angular motion description establishing unit 220, a linear motion description establishing unit 230 and a simulation analysis unit 240.

[0076] The coordinate system conversion matrix establishing unit 210 is used to establish the conversion matrix of the coordinate system.

[0077] The conversion matrix of the coordinate system is established, including the conversion matrix from the launch coordinate system (G system) to the carrier system (b0 system) at time t0. The transformation matrix from the carrier coordinate system (b system) to the carrier system (b0 system) at time t0 is Transformation matrix from the launch coordinate system (G system) to the carrier coordinate system (b system) And the transformation matrix from the carrier coordinate system (b system) to the launch coordinate system (G system)

[0078] The above matrix is ​​expressed as:

[0079]

[0080] is the initial attitude of the vehicle, where C Y , C X , C Z is the coordinate rotation elementary transformation matrix, ZY(t) represents the pitch motion expression of the ship, SY(t) represents the bow motion expression of the ship, HY(t) represents the roll motion expression of the ship, represents the initial pitch attitude angle, ψ0 represents the initial yaw attitude angle, γ0 represents the initial roll attitude angle, b0 is the vehicle system (b0 system) at the time t0, T represents the transposition, b0 is the vehicle system (b0 system) at the time t0, T represents the transposition.

[0081] The angular motion description establishing unit 220 is used to establish a shaking angular motion description expression.

[0082] The swaying of the ship is applied in all directions at a single frequency, and the description of the swaying angular motion includes: angle description, angular velocity description, and angular acceleration description. First, the expression for the description of the ship angular motion is determined, and the expressions for the angular velocity and angular acceleration of the rocket body are derived based on the description of the ship angular motion.

[0083] The angular motion description establishing unit 220 includes the following submodules: a module for determining a ship angular motion description expression, a module for determining a rocket body angular velocity description expression, and a module for determining a rocket body angular acceleration description expression.

[0084] The module for determining the expression for describing the angular motion of a ship is used to determine the expression for describing the angular motion of a ship.

[0085] The hull sway is applied to the three attitude angles γ(t), ψ(t), superior.

[0086]

[0087] in, is the angle generated during the vertical erection of the vehicle. represents the initial pitch attitude angle, ψ0 represents the initial yaw attitude angle, γ0 represents the initial roll attitude angle, t represents time, Acos(2π / T*t+φ) represents the law of shaking represented by a sine wave, A represents the shaking amplitude, subscript 123 represents sine waves of different amplitudes and phases, T1, T2, T3 represent the periods corresponding to A1, A2, A3 respectively, Φ 01 , Φ 02 , Φ 03 They represent the initial phases of shaking corresponding to A1, A2, and A3 respectively.

[0088] The module for determining the rocket body angular velocity description expression is used to determine the rocket body angular velocity description expression based on the ship angular motion description expression.

[0089] The angular velocity of the rocket It is expressed as:

[0090]

[0091]

[0092] where ω γ ,ω ψ , represents the angular velocity in the three attitude angle directions, ψ represents the yaw angle, γ represents the roll angle, and M represents the transformation matrix, where Φ1, Φ2, Φ3 represent the phase values ​​corresponding to A1, A2, A3 respectively. Represents γ q , q , The first-order differential of Represents γ, ψ

[0093] , The first-order differential of .

[0094] The module for determining the description expression of the rocket body angular acceleration is used to determine the description expression of the rocket body angular acceleration according to the description expression of the ship angular motion.

[0095] The expression of the rocket body angular acceleration is It is expressed as:

[0096]

[0097] in Represents the angular acceleration in the three attitude angle directions, Represents γ q , q , The second-order differential of represents γ, ψ, The second-order differential of .

[0098] The line motion description establishing unit 230 is used to establish a line motion description expression to complete model construction.

[0099] The linear motion description includes the arrow body position description, arrow body velocity and arrow body acceleration description, and the arrow body velocity and arrow body acceleration description are derived based on the arrow body position description.

[0100] The line motion description establishing unit 230 includes the following submodules: a rocket body position description expression determining module, a rocket body velocity description expression determining module, and a rocket body acceleration description expression determining module.

[0101] The module for determining the rocket body position description expression is used to determine the rocket body position description expression. Assuming that the ship's sway center is located directly below the carrier, the position of the inertial group installation is the sum of the length from the tail of the carrier to the inertial group installation position and the length from the deck below to the sway center, then:

[0102]

[0103] Among them, r is the position vector length from the sway center to the inertial group. In the subsequent simulation, r is taken as 30m. Indicates the position of the inertial group installation, in the launch system Indicates the location of the inertial group installation. Represents the transformation matrix from the carrier coordinate system (b system) to the emission coordinate system (G system).

[0104] The module for determining the rocket body velocity description expression is used to determine the rocket body velocity description expression based on the rocket body position description expression to complete the model building. The rocket body velocity description is the velocity at the installation point of the inertial group. is the length change of the position vector from the sway center to the inertial group installation point, then the rocket body speed It is expressed as:

[0105]

[0106] in, is the transformation matrix from system b to system G. According to the transformation matrix differential equation for The first-order differential of , we can get:

[0107]

[0108] in, represents the antisymmetric matrix of a vector, express The inverse of the first-order differential of is defined as follows:

[0109]

[0110] according to Definition of Further

[0111]

[0112] Substituting equations (10) and (12) into equation (13), we can obtain:

[0113]

[0114] The module for determining the rocket body acceleration description expression is used to determine the rocket body acceleration description expression according to the rocket body position description expression.

[0115] The rocket body acceleration is the acceleration at the inertial group installation point. It is expressed as:

[0116]

[0117] in, represents the differential of v, is the angular acceleration, is the attitude angular velocity change rate, represents the attitude angular velocity, Indicates the speed at the inertia group installation point.

[0118] Through the above method, this embodiment adopts mathematical derivation modeling, which is more direct differential modeling. When there is the same frequency shaking in different directions, direct differential module modeling is used to apply the same frequency shaking in different directions, which can avoid the non-commutative error caused by rotation.

[0119] The simulation analysis unit 240 is used to perform simulation analysis based on the constructed model.

[0120] By performing simulation analysis on the model constructed by this embodiment, the initial alignment field test can be reduced, the efficiency of the initial alignment verification simulation test can be improved, and it can be ensured that the simulation test can be carried out rigorously and orderly according to the test requirements.

[0121] The present invention also provides a computer storage medium, wherein the computer storage medium stores computer instructions, and when the computer instructions are called, they are used to execute the model building method under the shaking base.

[0122] The embodiment disclosed in the present invention provides a computer-readable storage medium, in which computer program instructions are stored. When the computer program instructions are executed on a computer, the computer executes the above-mentioned model construction method under a shaking base.

[0123] An embodiment of the present invention provides a processor for processing the above-mentioned model building method under a shaking base.

[0124] In the embodiment of the present invention, the processor may be an integrated circuit chip having the ability to process signals. The processor may be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0125] The methods, steps and logic block diagrams disclosed in the embodiments of the present invention can be implemented or executed. The general processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in the embodiments of the present invention can be directly embodied as a hardware decoding processor for execution, or can be executed by a combination of hardware and software modules in the decoding processor. The software module can be located in a mature storage medium in the field such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, etc. The processor reads the information in the storage medium and completes the steps of the above method in combination with its hardware.

[0126] The storage medium may be a memory, which may be, for example, a volatile memory or a nonvolatile memory, or may include both volatile and nonvolatile memory.

[0127] Among them, the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory can be a random access memory (RAM), which is used as an external cache. By way of example but not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM) and direct RAM bus random access memory (DRRAM).

[0128] Beneficial effects of this application:

[0129] (1) This application uses mathematical derivation modeling to construct an accurate shaking model, which can reduce the non-commutative error of the rotation process compared with direct differential modeling.

[0130] (2) The sway model constructed in this application facilitates the completion of simulation analysis under mathematical conditions, provides reliable design input for verifying the initial alignment design, and improves the correctness of the initial alignment scheme design. At the same time, it can reduce the implementation of initial alignment field tests, improve the efficiency of initial alignment verification simulation tests, and ensure that simulation tests can be carried out rigorously and orderly in accordance with test requirements.

[0131] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0132] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A method for constructing a model under a shaking base, characterized in that: The following steps are involved: Establish the transformation matrix of the coordinate system; After completing the establishment of the transformation matrix of the coordinate system, establish the expression describing the sway angle motion; After completing the sway angle motion description expression, establish the linear motion description expression to complete the model construction; Perform simulation analysis based on the constructed model.

2. The model construction method under the shaking base according to claim 1, characterized in that: The transformation matrix of the coordinate system is established, including the transformation matrix from the launch coordinate system to the carrier system at time t0. The transformation matrix from the carrier coordinate system to the carrier system at time t0 Transformation matrix from the launch coordinate system to the carrier coordinate system And the transformation matrix from the carrier coordinate system to the launch coordinate system 3. The model construction method under the shaking base according to claim 2, characterized in that: Transformation matrix from the launch coordinate system to the carrier system at time t0 The transformation matrix from the carrier coordinate system to the carrier system at time t0 Transformation matrix from the launch coordinate system to the carrier coordinate system And the transformation matrix from the carrier coordinate system to the launch coordinate system It is expressed as: is the initial attitude of the vehicle, where C Y , C X , C Z is the coordinate rotation elementary transformation matrix, ZY(t) represents the pitch motion expression of the ship, SY(t) represents the bow motion expression of the ship, HY(t) represents the roll motion expression of the ship, represents the initial pitch attitude angle, ψ0 represents the initial yaw attitude angle, γ0 represents the initial roll attitude angle, b0 is the vehicle system at time t0 (b0 system), and T represents transposition.

4. The model construction method under the shaking base according to claim 1, characterized in that: The sway angular motion description for establishing the sway angular motion description expression includes: angle description, angular velocity description, and angular acceleration description.

5. The model construction method under the shaking base according to claim 4, characterized in that: The establishment of the sway angle motion description expression includes the following sub-steps: Determine the expression describing the angular motion of the ship; Determine the expression describing the angular velocity of the rocket body according to the expression describing the angular motion of the ship; The expression describing the angular acceleration of the rocket body is determined based on the expression describing the angular motion of the ship.

6. A model building system under a shaking base, characterized in that: include: Coordinate system conversion matrix establishing unit, angular motion description establishing unit, linear motion description establishing unit and simulation analysis unit; A coordinate system conversion matrix establishing unit, used for establishing a coordinate system conversion matrix; An angular motion description establishing unit, used for establishing a description expression of the shaking angular motion; Linear motion description establishment unit, used to establish linear motion description expressions and complete model construction; The simulation analysis unit is used to perform simulation analysis based on the constructed model.

7. The model building system under the shaking base according to claim 6, characterized in that: The coordinate system conversion matrix establishment unit establishes the coordinate system conversion matrix, including establishing the launch coordinate system to the carrier system conversion matrix at time t0 The transformation matrix from the carrier coordinate system to the carrier system at time t0 Transformation matrix from the launch coordinate system to the carrier coordinate system And the transformation matrix from the carrier coordinate system to the launch coordinate system 8. The model building system under the shaking base according to claim 7, characterized in that: Transformation matrix from the launch coordinate system to the carrier system at time t0 The transformation matrix from the carrier coordinate system to the carrier system at time t0 Transformation matrix from the launch coordinate system to the carrier coordinate system And the transformation matrix from the carrier coordinate system to the launch coordinate system It is expressed as: is the initial attitude of the vehicle, where C Y , C X , C Z is the coordinate rotation elementary transformation matrix, ZY(t) represents the pitch motion expression of the ship, SY(t) represents the bow motion expression of the ship, HY(t) represents the roll motion expression of the ship, represents the initial pitch attitude angle, ψ0 represents the initial yaw attitude angle, γ0 represents the initial roll attitude angle, b0 is the vehicle system (b0 system) at the time t0, T represents the transposition, b0 is the vehicle system (b0 system) at the time t0, T represents the transposition.

9. The model building system under the rocking base according to claim 6, characterized in that: The angular motion description establishing unit establishes the sway angular motion description expression, and the sway angular motion description includes: angle description, angular velocity description, and angular acceleration description.

10. The model building system under the rocking base according to claim 9, characterized in that: The angular motion description establishing unit establishes the shaking angular motion description expression including the following sub-steps: Determine the expression describing the angular motion of the ship; Determine the expression describing the angular velocity of the rocket body according to the expression describing the angular motion of the ship; The expression describing the angular acceleration of the rocket body is determined based on the expression describing the angular motion of the ship.

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