A rocket off-pad data processing method and device

Abstract

The application relates to the technical field of data processing, in particular to a rocket off-pad data processing method, which comprises the following steps: obtaining a three-dimensional relationship model of a rocket and at least one off-pad attitude deviation term of a rocket body, wherein the rocket comprises a rocket body and a supporting leg; simulating a rocket body mass parameter change process of the three-dimensional relationship model in a first preset process, and simulating a rocket body force change process of the three-dimensional relationship model in a second preset process; and determining off-pad attitude parameters of the three-dimensional relationship model according to the rocket body mass parameter change process, the rocket body force change process and each off-pad attitude deviation term of the rocket body. The technical scheme provided by the application can accurately calculate off-pad attitude parameters to a certain extent.

Description

Technical Field

[0001] This application relates to the field of data processing technology, and more specifically, to a method and apparatus for processing rocket launch data. Background Technology

[0002] Traditional launch vehicles have their lower tail section fixed to the launch pad, resulting in relatively stable attitude during takeoff. Reusable technology demonstrators, however, use fixed recovery legs for direct ground support before takeoff. Due to factors such as uneven performance of the four legs, uneven ground, and unstable takeoff thrust, the rocket may have a significant initial tilt angle and angular velocity upon takeoff. Simultaneously, due to thrust instability, the rocket is not yet under control, potentially leading to tipping or attitude divergence after takeoff. Therefore, it is necessary to obtain the takeoff attitude parameters, including the time of leg departure and the corresponding attitude information, as input for flight control calculations to prevent accidents such as tipping or attitude divergence.

[0003] Therefore, those skilled in the art urgently need a method for processing rocket launch data to accurately calculate launch attitude parameters. Summary of the Invention

[0004] The embodiments of this application provide a rocket launch data processing method, which can at least to some extent accurately calculate launch attitude parameters.

[0005] Other features and advantages of this application will become apparent from the following detailed description, or may be learned in part from practice of this application.

[0006] According to one aspect of the embodiments of this application, a rocket departure data processing method is provided. The method includes: acquiring a three-dimensional relational model of the rocket and at least one rocket body departure attitude deviation term, wherein the rocket includes a rocket body and outriggers; simulating the change process of rocket body mass parameters in the three-dimensional relational model during a first preset process, and simulating the change process of rocket body force in the three-dimensional relational model during a second preset process; and determining the departure attitude parameters of the three-dimensional relational model based on the change process of rocket body mass parameters, the change process of rocket body force, and each rocket body departure attitude deviation term.

[0007] In some embodiments of this application, obtaining the three-dimensional relationship model of the rocket includes: establishing a three-dimensional relationship model of the rocket and constructing the connection relationship between the outriggers and the rocket body through coordinate transformation relationships.

[0008] In some embodiments of this application, obtaining at least one rocket body attitude deviation item after leaving the platform includes: obtaining mass parameter deviation, thrust-related deviation, ground friction coefficient deviation, buffer performance parameter deviation, rocket body axial tilt, ground wind deviation, and ground tilt deviation.

[0009] In some embodiments of this application, the simulation of the change process of the rocket body mass parameters of the three-dimensional relationship model in the first preset process includes: taking the process of propellant injection to rocket body leaving the platform as the first preset process, and simulating the change process of the rocket body mass parameters of the three-dimensional relationship model in the first preset process.

[0010] In some embodiments of this application, the simulation of the force change process of the rocket body in the second preset process of the three-dimensional relationship model includes: taking the process from engine ignition to rocket body leaving the platform as the second preset process, and the force change process of the rocket body in the second preset process of the three-dimensional relationship model.

[0011] In some embodiments of this application, determining the off-stage attitude parameters of the three-dimensional relational model based on the change process of the rocket body mass parameters, the change process of the rocket body force, and the off-stage attitude deviation terms of each rocket body includes: calculating the attitude influence data of each off-stage attitude deviation term on the rocket body based on each off-stage attitude deviation term; adding the attitude influence data during the change process of the rocket body mass parameters and the change process of the rocket body force to determine the off-stage attitude parameters of the three-dimensional relational model.

[0012] In some embodiments of this application, the step of adding various attitude influence data during the change of the rocket body mass parameters and the change of the rocket body force to determine the off-stage attitude parameters of the three-dimensional relationship model includes: adding various attitude influence data during the change of the rocket body mass parameters and the change of the rocket body force to determine the rocket body off-stage time; and determining the off-stage attitude parameters of the three-dimensional relationship model based on the rocket body off-stage time.

[0013] In some embodiments of this application, determining the departure attitude parameters of the three-dimensional relational model based on the departure time of the rocket body includes: measuring the corresponding rocket body attitude angle and attitude angular rate based on the departure time of the rocket body to determine the departure attitude parameters of the three-dimensional relational model.

[0014] According to one aspect of the embodiments of this application, a rocket launch data processing apparatus is provided. The apparatus includes: an acquisition unit, configured to acquire a three-dimensional relational model of the rocket and at least one rocket body launch attitude deviation term, the rocket including a rocket body and outriggers; a simulation unit, configured to simulate the change process of rocket body mass parameters in the three-dimensional relational model during a first preset process, and simulate the change process of rocket body force in the three-dimensional relational model during a second preset process; and a determination unit, configured to determine the launch attitude parameters of the three-dimensional relational model based on the change process of rocket body mass parameters, the change process of rocket body force, and each rocket body launch attitude deviation term.

[0015] Based on the above solution, this application has at least the following advantages or advancements:

[0016] In some embodiments of this application, the technical solutions provided involve acquiring a three-dimensional relational model of the rocket and at least one rocket body departure attitude deviation term, simulating the changes in rocket body mass parameters and forces, and then determining the departure attitude parameters of the three-dimensional relational model based on the changes in rocket body mass parameters, the changes in rocket body forces, and each rocket body departure attitude deviation term. This application can simulate the changes in rocket body mass parameters and forces, and then calculate the rocket body departure attitude deviation term to finally determine the attitude parameters of the rocket body at departure, which serve as actual flight reference data and provide important data support for the start-up time and initial state input of subsequent flight control calculations.

[0017] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0018] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0019] Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without any creative effort.

[0020] In the attached diagram:

[0021] Figure 1 A flowchart of a rocket launch data processing method according to an embodiment of this application is shown;

[0022] Figure 2 A modeling schematic diagram according to an embodiment of this application is shown;

[0023] Figure 3 A flowchart of a rocket launch data processing method according to an embodiment of this application is shown;

[0024] Figure 4 A simplified structural diagram of a rocket launch data processing device according to an embodiment of this application is shown. Detailed Implementation

[0025] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided to make this application more comprehensive and complete, and to fully convey the concept of the exemplary embodiments to those skilled in the art.

[0026] Furthermore, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to give a thorough understanding of embodiments of this application. However, those skilled in the art will recognize that the technical solutions of this application can be practiced without one or more of the specific details, or other methods, components, apparatuses, steps, etc., can be employed. In other instances, well-known methods, apparatuses, implementations, or operations are not shown or described in detail to avoid obscuring various aspects of this application.

[0027] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0028] The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily have to be performed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances.

[0029] It should be noted that "multiple" in this article refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0030] The implementation details of the technical solutions in the embodiments of this application are described in detail below:

[0031] Please see Figure 1 .

[0032] Figure 1 A flowchart of a rocket launch data processing method according to an embodiment of this application is shown, as follows: Figure 1 As shown, the method may include steps S101-S103:

[0033] Step S101: Obtain the three-dimensional relational model of the rocket and at least one rocket body attitude deviation term, wherein the rocket includes the rocket body and outriggers.

[0034] Step S102: Simulate the change process of the rocket body mass parameters of the three-dimensional relationship model in the first preset process, and simulate the change process of the rocket body force of the three-dimensional relationship model in the second preset process.

[0035] Step S103: Determine the off-stage attitude parameters of the three-dimensional relational model based on the changes in the mass parameters of the rocket body, the changes in the force on the rocket body, and the deviation terms of the off-stage attitude of each rocket body.

[0036] In this application, by acquiring a three-dimensional relational model of the rocket and at least one rocket body departure attitude deviation term, the change process of rocket body mass parameters and the change process of rocket body force are simulated. Then, based on the change process of rocket body mass parameters, the change process of rocket body force, and each rocket body departure attitude deviation term, the departure attitude parameters of the three-dimensional relational model are determined. This application can determine the attitude parameters of the rocket body at the time of departure by simulating the change process of rocket body mass parameters and the change process of rocket body force, and then introducing the calculation of rocket body departure attitude deviation term, as actual flight reference data, providing important data support for the start-up time and initial state input of subsequent flight control calculations.

[0037] In some embodiments of this application, obtaining the three-dimensional relationship model of the rocket includes: establishing a three-dimensional relationship model of the rocket and constructing the connection relationship between the outriggers and the rocket body through coordinate transformation relationships.

[0038] In this application, the model can be built using Simulink according to the components of the rocket. For example, please refer to... Figure 2 , Figure 2 A modeling schematic diagram according to an embodiment of this application is shown, such as Figure 2 As shown, the rocket components may include main outriggers 1-4, auxiliary outriggers 1-8, foot pads 1-4, and rocket body sections. The sections, main outriggers, auxiliary outriggers, and foot pads are connected by lugs. Before modeling, a 3D NX model needs to be imported, and a coordinate system needs to be established in Simulink based on this 3D model. By establishing the relationship between the coordinate systems, the components are connected together in the model. The connection relationship can include translational and rotational relationships.

[0039] In some embodiments of this application, obtaining at least one rocket body attitude deviation item may include: obtaining mass parameter deviation, thrust-related deviation, ground friction coefficient deviation, buffer performance parameter deviation, rocket body axial tilt, ground wind deviation, and ground tilt deviation.

[0040] In this application, mass parameter deviations may include lateral displacement of the rocket's center of mass, longitudinal position deviation of the center of mass, mass deviation, and moment of inertia deviation. Thrust-related deviations may include thrust deviation, thrust skew, and lateral displacement of the thrust line. Ground friction coefficient deviation is caused by uneven friction between the footpad and the ground; as the rocket sinks after propellant loading and rises under the action of takeoff thrust, the rocket gradually tilts; this can be designed at ±15% during modeling. Buffer performance parameter deviations may include deviations in the restoring force-displacement curve and damping force-velocity curve; these are designed at ±15% during modeling. Axial skew of the rocket body, i.e., the angle between the line connecting the center of the upper end face of the instrument compartment and the center of the lower end face of the tail section and the rocket's axis, is considered at ±10′. Ground wind deviation can be considered at a wind speed of 10 m / s. Ground tilt deviation is caused by gravity when the ground is uneven, resulting in rocket tilt; the greater the ground slope, the greater the tilt angle. Based on the test site design, the ground slope is considered at ±1°.

[0041] In some embodiments of this application, the method for simulating the change process of the rocket body mass parameters of the three-dimensional relationship model in a first preset process may include: taking the process of propellant injection to rocket body leaving the platform as the first preset process, and simulating the change process of the rocket body mass parameters of the three-dimensional relationship model in the first preset process.

[0042] For example, please continue reading Figure 2 Based on the overall raw data, the propellant loading rate, propellant consumption per second, and rocket body mass parameters were determined. Corresponding simulation data were established considering the time-varying process, where the propellant loading procedure included initial low-flow loading followed by high-flow loading. The above simulation data was added to... Figure 2 The Variable Mass module in the model shown is fixed to the arrow body model via the weldjoint module.

[0043] In some embodiments of this application, the method for simulating the force change process of the rocket body in the second preset process of the three-dimensional relationship model may include: taking the process from engine ignition to rocket body leaving the platform as the second preset process, and the force change process of the rocket body in the second preset process of the three-dimensional relationship model.

[0044] For example, please continue reading Figure 2 The forces acting on the rocket mainly include: gravity, ground support force, thrust, rocket-to-ground connector pull-out force, and ground friction force, which are added to the rocket body model according to the order of force application.

[0045] Gravity and Ground Support Force: Define gravitational acceleration using the Mechanism Configuration module. Create a ground entity and fix it to the geodetic coordinate system.

[0046] Thrust and arrow-to-ground connector pull-out force: Thrust and arrow-to-ground connector pull-out force are added through the 6-DOF joint module. The thrust acts on the arrow body's normal level seat position, and the pull-out force acts on the connector installation position. The force is set as a component that varies with time and is set according to the actual timing sequence.

[0047] Ground friction: During propellant loading, as loading progresses, the uneven friction between the four footpads of the recovery legs and the ground may cause the rocket to tilt. Based on external test data, considering the friction between the concrete ground and the steel footpads, the static friction coefficient is determined to be 0.4; the dynamic friction coefficient is determined to be 0.2. The frictional forces between the four footpads of the rocket and the ground are modeled using spatial contact force, and the static and dynamic friction coefficients are set accordingly.

[0048] Please see Figure 3 , Figure 3 A flowchart of a rocket launch data processing method according to an embodiment of this application is shown, as follows: Figure 3 As shown, the method for determining the off-stage attitude parameters of the three-dimensional relational model based on the changes in the rocket body mass parameters, the changes in the force on the rocket body, and the off-stage attitude deviations of each rocket body may include steps S301-S303.

[0049] Step S301: Calculate the impact data of each rocket body's attitude deviation on the rocket body's attitude based on the attitude deviation terms of each rocket body leaving the platform.

[0050] Step S302: Add various attitude influence data during the change of the rocket body mass parameters and the change of the rocket body force to determine the time when the rocket body leaves the platform.

[0051] Step S303: Based on the time the rocket leaves the platform, measure the corresponding rocket attitude angle and attitude angular rate to determine the departure attitude parameters of the three-dimensional relational model.

[0052] For example, please continue reading Figure 2 Based on the geodetic coordinate system, the Transform Sensor module in Simulink measures the ground clearance of the footpad, overload, velocity, ground clearance of the lower end face of the rocket tail section, rocket attitude angles, and attitude angular rates. Figure 2 As shown in out.Z1-4, the time of rocket body departure from the platform can be determined by judging the height of the foot pads off the ground. The time corresponding to the departure of the last foot pad is taken as the time of rocket body departure from the platform, and the corresponding rocket body attitude angle and attitude angular rate at this moment are determined, namely out.Angle and out.Angle-axs.

[0053] An embodiment of the apparatus of this application will now be described with reference to the accompanying drawings.

[0054] Figure 4 A simplified structural diagram of a rocket launch data processing apparatus according to an embodiment of this application is shown, as follows: Figure 4 As shown, the device 400 may include: an acquisition unit 401, a simulation unit 402, and a determination unit 403.

[0055] The acquisition unit 401 is used to acquire the three-dimensional relational model of the rocket and at least one rocket body departure attitude deviation term, wherein the rocket includes the rocket body and outriggers; the simulation unit 402 is used to simulate the change process of the rocket body mass parameters in the three-dimensional relational model in a first preset process, and to simulate the change process of the rocket body force in the three-dimensional relational model in a second preset process; the determination unit 403 is used to determine the departure attitude parameters of the three-dimensional relational model based on the change process of the rocket body mass parameters, the change process of the rocket body force, and each rocket body departure attitude deviation term.

[0056] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the embodiments disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein.

[0057] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A method for processing rocket launch data, characterized in that, The method includes: Obtain a three-dimensional relational model of the rocket and at least one rocket body attitude deviation term after leaving the platform. The rocket includes the rocket body and outriggers. The rocket body attitude deviation term after leaving the platform includes mass parameter deviation, thrust-related deviation, ground friction coefficient deviation, buffer performance parameter deviation, rocket body axial tilt, ground wind deviation, and ground tilt deviation. The process from propellant loading to rocket body leaving the platform is taken as the first preset process, and the change process of rocket body mass parameters in the three-dimensional relationship model during the first preset process is simulated. The process from engine ignition to rocket body leaving the platform is taken as the second preset process, and the change process of rocket body force in the three-dimensional relationship model during the second preset process is simulated. Based on the attitude deviation terms of each rocket body leaving the platform, calculate the impact data of each attitude deviation term on the attitude of the rocket body. By adding attitude influence data during the changes in the rocket's mass parameters and the changes in the rocket's force, the off-stage attitude parameters of the three-dimensional relationship model are determined.

2. The method according to claim 1, characterized in that, The acquisition of the rocket's three-dimensional relational model includes: Establish a three-dimensional relationship model of the rocket, and construct the connection relationship between the outriggers and the rocket body through coordinate transformation.

3. The method according to claim 1, characterized in that, The process of adding attitude influence data during the changes in the rocket's mass parameters and the changes in the rocket's forces, and determining the off-stage attitude parameters of the three-dimensional relationship model, includes: Add various attitude influence data during the changes in the rocket body mass parameters and the changes in the rocket body force to determine the rocket body departure time from the platform. Based on the time of departure of the rocket body from the platform, the departure attitude parameters of the three-dimensional relational model are determined.

4. The method according to claim 3, characterized in that, The step of determining the departure attitude parameters of the three-dimensional relational model based on the departure time of the rocket body includes: Based on the time the rocket leaves the platform, the corresponding rocket attitude angle and attitude angular rate are measured to determine the departure attitude parameters of the three-dimensional relational model.

5. A rocket launch data processing device, characterized in that, The device includes: The acquisition unit is used to acquire a three-dimensional relational model of the rocket and at least one rocket body attitude deviation term after leaving the platform. The rocket includes the rocket body and outriggers. The rocket body attitude deviation term after leaving the platform includes mass parameter deviation, thrust-related deviation, ground friction coefficient deviation, buffer performance parameter deviation, rocket body axial tilt, ground wind deviation, and ground tilt deviation. The simulation unit is used to simulate the change of rocket body mass parameters in the three-dimensional relationship model during the first preset process, with the process from propellant loading to rocket body leaving the platform as the first preset process, and the process from engine ignition to rocket body leaving the platform as the second preset process, to simulate the change of rocket body force in the three-dimensional relationship model during the second preset process. The determination unit is used to calculate the attitude influence data of each rocket body's departure attitude deviation term on the rocket body based on each departure attitude deviation term; and to add the attitude influence data during the change process of the rocket body mass parameters and the change process of the rocket body force to determine the departure attitude parameters of the three-dimensional relationship model.

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