An energy prediction method and system for trim-free level attitude control

Abstract

The application discloses a prediction method of an energy prediction simulation system for terminal correction stage attitude control and belongs to the technical field of solid attitude and orbit control power. The method comprises the following steps: according to the self-selection of a gas production unit m and the number n of a gas production module, the mass flow of gas is calculated by a volume module to obtain a buffer volume V sum ; the temperature T1 of the gas is calculated by a thermodynamic module; the opening instruction of a nozzle is given in real time or according to a fixed trajectory by a simulation system, the cumulative output mass flow of the nozzle, that is, the cumulative gas mass ∑m1 is calculated by an exhaust and flow module, and the P1-t curve is calculated by a pressure module. The application further discloses a prediction system of the energy prediction simulation system for terminal correction stage attitude control. The application has the characteristics of simple and efficient simulation of flight working conditions, real-time correction of an attitude control system and terminal correction stage closed-loop guidance parameters, and is suitable for various midcourse control weapon systems.

Description

Technical Field

[0001] This invention relates to the field of solid-state attitude and orbit control technology, specifically to an energy prediction method and system for final stage attitude control. Background Technology

[0002] Solid propulsion systems for attitude control are characterized by being test-free, maintenance-free, safe, and non-toxic, and their application in weapon systems is gradually increasing. However, due to factors such as the time-sharing serial ignition of the gas generator and the combined opening and closing control of valves, gas delivery, filtration, and buffering, the thermal effects of pressure vessels, conduits, and structural components, the uncertainty of flight interference leading to differences in energy requirements, and the rationality of flight control and guidance strategy thresholds, it is difficult to determine the optimal configuration parameters for a solid propulsion system that can cover the energy requirements of different flight conditions while also possessing the characteristics of simple structure, light weight, low cost, and high reliability.

[0003] To address the aforementioned needs, the timeliness and sufficiency of the solid attitude control propulsion system's energy supply are typically verified by using the nozzle opening and closing sequence of multiple simulated ballistic trajectories and actual flight telemetry trajectories, and by conducting cold and hot gas tests. Only after multiple rounds of iterative testing can the overall parameters of the solid attitude control system and the technical specifications of its individual units be determined. Furthermore, these parameters cannot be directly correlated with the weapon system's guidance and control strategy, nor can they be modified.

[0004] Therefore, how to predict the energy supply and demand of the final stage attitude control system and introduce guidance and control strategies for joint simulation to overcome the above problems is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] The purpose of this invention is to provide an energy prediction method for attitude control of the final stage. This method uses the nozzle opening and closing sequence, either in real-time or according to a predetermined fixed trajectory, as the energy input. It uses parameters such as the time-sharing serial ignition of the gas production unit and the buffer gas volume as response parameters. By fusing multiple calculation modules and using incremental difference equations for numerical calculation, it obtains the pressure and temperature gradients for approximately constant-volume charging and discharging. This allows for the determination of the coordination between flight conditions, guidance strategies, and the attitude system. The method features simple and efficient simulation of flight conditions and real-time correction of the attitude control system and the closed-loop guidance parameters of the final stage.

[0006] To address the aforementioned technical problems, this invention provides an efficient energy prediction method and system for final stage attitude control, comprising the following steps:

[0007] Obtain parameters of the gas production unit, gas storage unit, thermodynamic parameters, and exhaust parameters;

[0008] The mass flow rate of the generated gas is calculated based on the parameters of the gas production unit, the gas storage unit, the thermodynamic parameters, and the exhaust parameters. The total volume Vsum of the connected containers i ;

[0009] Obtain the original gas mass Σm1 in the annular chamber i-1 and the mass of gas discharged from the nozzle

[0010] Based on the original gas mass Σm1 in the annular chamber i-1 Mass flow rate of generated gas and the mass of gas discharged from the nozzle The cumulative gas mass ∑m1 in the connected container was calculated. i ;

[0011] The heat carried in by the incoming gas, the heat carried away by the outgoing gas, and the convective heat transfer within the annular chamber and duct inner wall are obtained as Q1. i and the natural heat exchange between the annular chamber and the outer wall of the duct and the outside environment Q2 i ;

[0012] Based on the heat introduced by the filling gas, the heat carried away by the exhaust gas, and the convective heat transfer Q1 of the annular chamber and the inner wall of the duct. i and the natural heat exchange between the annular chamber and the outer wall of the duct and the outside environment Q2 i The flow coefficient q(λ) at the nozzle throat was calculated. i ) and nozzle throat velocity coefficient λ i ;

[0013] Based on the total volume Vsum of the connected containers i Flow coefficient q(λ) at the nozzle throat i ) and nozzle throat velocity coefficient λ i The discharge mass flow rate was calculated.

[0014] Determine whether P1 is satisfied. i ≤P m And Tol i If the condition ≤ n is met, the next gas production unit is ignited, resulting in an ignition sequence.

[0015] Gas pressure value P1 in the connected container i The gas temperature T1 in the connected container i The wall temperature Tb of the connected container i By fusing the ignition sequence with the solution, we obtain the connected volume pressure-time curve P1-t, the gas temperature-time curve T1-t, the wall temperature-time curve Tb-t, and the ignition sequence values.

[0016] Preferably, the mass flow rate of the generated gas is calculated based on the parameters of the gas production unit, the gas storage unit, the thermodynamic parameters, the exhaust parameters, and the flight operating period. The total volume Vsum of the connected containers i Specifically, it includes the following steps:

[0017] Based on the parameters of the gas production unit, gas storage unit, thermodynamic parameters, exhaust parameters, and flight operating period, the mass flow rate of the generated gas is calculated. and the number of gas-producing units consumed (Tol) i ;

[0018] Based on the mass flow rate of the generated gas and the number of gas-producing units consumed (Tol) i The volume change of the consumed gas-producing unit was calculated:

[0019] Based on the volume change of the consumed gas-producing unit and the initial volume V2 of the annular gas chamber, the total volume Vsum of the connected container is calculated. i .

[0020] Preferably, based on the original gas mass ∑m1 in the annular chamber i-1 Mass flow rate of generated gas and the mass of gas discharged from the nozzle The cumulative gas mass ∑m1 in the connected container was calculated. i Specifically, it includes the following steps:

[0021] Based on the original gas mass ∑m1 in the annular chamber i-1 Mass flow rate of generated gas and the mass of gas discharged from the nozzle The cumulative gas mass ∑m1 in the connected container was calculated. i ;

[0022] The heat carried in by the incoming gas, the heat carried away by the outgoing gas, and the convective heat transfer within the annular chamber and duct inner wall are obtained as Q1. i and the natural heat exchange between the annular chamber and the outer wall of the duct and the outside environment Q2 i ;

[0023] Based on the heat introduced by the filling gas, the heat carried away by the exhaust gas, and the convective heat transfer Q1 of the annular chamber and the inner wall of the duct. i and the natural heat exchange between the annular chamber and the outer wall of the duct and the outside environment Q2 i The gas temperature T1 in the connected container was calculated. i and wall temperature Tb i ;

[0024] According to the gas law and the gas temperature T1 in the connected container i and wall temperature Tb i The gas pressure value P1 of the connected container was calculated. i ;

[0025] Based on the gas pressure value P1 of the connected container i and back pressure P a The flow coefficient q(λ) at the nozzle throat was calculated. i ) and nozzle throat velocity coefficient λ i .

[0026] Preferably, the gas production unit parameters include gas production unit type m, total number of gas production units n, and combustion surface S. m Density ρ m Gas temperature T m Specific heat ratio of fuel gas, k;

[0027] The gas storage unit parameters include the initial gas production unit volume V. 10 The initial volume V2 of the annular gas chamber, the surface areas S1 and S2 of the inner and outer walls of the annular gas chamber, and the mass M of the annular gas chamber 2 and the conduit 7. b and specific heat capacity C b ;

[0028] The thermodynamic parameters include the heat transfer coefficients h1 and h2 of the inner wall surfaces of the filling and exhaust sections, and the natural heat transfer coefficient h0 of the outer wall surface.

[0029] The exhaust parameters include the nozzle opening and closing timing Pg, which is provided in real time by the simulation system or predetermined according to a fixed trajectory. in Nozzle type Pg, nozzle throat area At, number of nozzles NPg.

[0030] Preferably, the mass flow rate of the gas... and the number of gas-producing units consumed (Tol) i The calculation formula is as follows:

[0031]

[0032] Tol i =j+Tol i-1

[0033] The volume change of the consumed gas-producing unit is as follows:

[0034] The total volume Vsum of the connected container i The calculation formula is as follows:

[0035]

[0036] Where: u m is the volume of the gas-producing unit of type m; j is the number of gas-producing units of type m.

[0037] Preferably, the cumulative gas mass ∑m1 in the connected container i The calculation formula is as follows:

[0038]

[0039] Preferably, the formula for calculating the heat brought in by the injected gas is as follows:

[0040] The formula for calculating the heat carried away by the exhaust gas is as follows:

[0041] The formula for calculating the convective heat transfer of the annular chamber and the inner wall of the duct is Q1. i =S1×h1×(T1) i-1 -Tb i-1 )×Δt;

[0042] The annular air chamber and conduit accumulate heat QT i =QT i-1 +Q1 i -Q2 i ;

[0043] The annular air chamber and the outer wall of the duct exchange heat naturally with the outside environment (Q2). i =S2×h2×(Tb i-1 -Th)×Δt; The formulas for calculating the gas temperature and wall temperature of the connected container are as follows:

[0044]

[0045]

[0046] In the formula: T1 i-1 Tb is the gas temperature of the connected container at time i-th moment; i-1 C is the wall temperature of the connected container at time i-th; Th is the ambient temperature; C v It is the specific heat capacity of the gas at constant volume; Q1 i For convective heat exchange between the annular gas chamber and the inner wall of the duct; Q2 i For natural heat exchange between the outer wall surface and the outside environment; T1 i The gas temperature in the connected container; Tb i The temperature of the wall surface of the connected container.

[0047] Preferably, the formula for calculating the gas pressure value of the connected container is as follows:

[0048]

[0049] Preferably, the formula for calculating the flow coefficient of the nozzle throat is as follows:

[0050]

[0051] The formula for calculating the velocity coefficient at the nozzle throat is as follows:

[0052]

[0053] In the formula: λ i This refers to the velocity coefficient at the nozzle throat.

[0054] The formula for calculating the discharge mass flow rate is as follows:

[0055]

[0056] In the formula: K is the specific heat ratio of the fuel gas; R g It is a constant.

[0057] The present invention also provides a prediction system for an energy prediction simulation system for final stage attitude control, comprising:

[0058] The acquisition module is used to acquire parameters of the gas production unit, gas storage unit, thermodynamic parameters, and exhaust parameters; it is also used to acquire the original gas mass ∑m1 in the annular chamber. i-1 and the mass of gas discharged from the nozzle It is also used to obtain the heat brought in by the filling gas, the heat carried away by the exhaust gas, and the convective heat transfer Q1 of the annular chamber and the inner wall of the duct. i and the natural heat exchange between the annular chamber and the outer wall of the duct and the outside environment Q2 i ;

[0059] The gas production calculation module is used to calculate the mass flow rate of the produced gas based on the parameters of the gas production unit, the gas storage unit, the thermodynamic parameters, and the exhaust parameters. The total volume Vsum of the connected containers i ;

[0060] The cumulative gas mass calculation module is used to calculate the original gas mass ∑m1 in the annular gas chamber. i-1 Mass flow rate of generated gas and the mass of gas discharged from the nozzle The cumulative gas mass ∑m1 in the connected container was calculated. i ;

[0061] The flow rate and velocity coefficient calculation module is used to calculate the heat carried in by the incoming gas, the heat carried away by the outgoing gas, and the convective heat transfer Q1 of the annular chamber and the inner wall of the duct. i and the natural heat exchange between the annular chamber and the outer wall of the duct and the outside environment Q2 i The flow coefficient q(λ) at the nozzle throat was calculated. i ) and nozzle throat velocity coefficient λ i ;

[0062] The discharge mass flow rate calculation module is used to calculate the total volume Vsum of the connected containers.i Flow coefficient q(λ) at the nozzle throat i ) and nozzle throat velocity coefficient λ i The discharge mass flow rate was calculated.

[0063] The judgment module is used to determine whether P1 is satisfied. i ≤P m And Tol i If the condition ≤ n is met, the next gas production unit is ignited, resulting in an ignition sequence.

[0064] The fusion solver module is used to solve the gas pressure value P1 in the connected container. i The gas temperature T1 in the connected container i The wall temperature Tb of the connected container i By fusing the ignition sequence with the solution, we obtain the connected volume pressure-time curve P1-t, the gas temperature-time curve T1-t, the wall temperature-time curve Tb-t, and the ignition sequence values.

[0065] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0066] 1) For the first time, an energy prediction method and simulation system for solid attitude control dynamic systems are proposed, realizing the joint simulation of guidance system and attitude control system. It can quickly optimize and correct the configuration parameters of attitude control system and the closed-loop guidance and control strategy of final stage online, greatly reducing the experimental iteration.

[0067] 2) The pressure-time curves and temperature-time curves of approximately constant-volume charging and discharging are obtained through the energy prediction method. Based on the evaluation criteria, these curves can provide support for optimizing the design parameters of the gas generation unit, gas storage unit, and valve assembly of the attitude control system.

[0068] 3) It features simple and efficient simulation of flight conditions, making it suitable for weapon systems with various mid-course attitude control capabilities. Attached Figure Description

[0069] The specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0070] Figure 1 This is a block diagram illustrating the working principle of a typical solid-state attitude control propulsion system disclosed in one embodiment of the present invention.

[0071] Figure 2 This is a block diagram of an energy prediction simulation system module disclosed in one embodiment of the present invention.

[0072] Figure 3 This is a flowchart of an energy prediction method disclosed in one embodiment of the present invention.

[0073] Figure 4 This is an embodiment of the pitch, yaw, and roll attitude angle curves disclosed in this invention.

[0074] Figure 5 This is an energy prediction Pt and ignition sequence curve disclosed in one embodiment of the present invention.

[0075] Figure 6 The main interface of an application program for an energy prediction method disclosed in one embodiment of the present invention.

[0076] Figure 7 An application program for energy prediction method and an energy supply matching calculation interface are disclosed in one embodiment of the present invention.

[0077] Wherein: 0-Solid attitude control propulsion system; 1-Gas generation assembly; 101-Gas generation unit one; 102-Gas generation unit two; 103-Gas generation unit three; 104-One-way valve; 2-Annular gas chamber; 3-Valve assembly; 301a-Positive yaw; 301b-Negative yaw; 302a-Positive pitch; 302b-Negative pitch; 303-Common valve body; 4-Attitude control controller; 5-Pressure transmitter; 6-Double pressure reducing valve; 7-Conduit; 01-Waveform generator; 02-Digital three-axis turntable; 03-Inertial measurement unit; 04-Aircraft carrier. Detailed Implementation

[0078] Numerous specific details are set forth in the following description to provide a full understanding of the invention. However, the invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0079] The terminology used in one or more embodiments of this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the one or more embodiments of this specification. The singular forms “a,” “described,” and “the” as used in one or more embodiments of this specification and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used in one or more embodiments of this specification refers to and includes any or all possible combinations of one or more associated listed items.

[0080] It should be understood that although the terms first, second, etc., may be used to describe various information in one or more embodiments of this specification, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, first may also be referred to as second without departing from the scope of one or more embodiments of this specification, and similarly, second may also be referred to as first. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to a determination."

[0081] The present invention will now be described in further detail with reference to the accompanying drawings:

[0082] This invention discloses a solid attitude control dynamic system for final attitude control, comprising a solid attitude control dynamic system 0 and a simulation system;

[0083] like Figure 1 As shown, the solid attitude control power system 0 includes a gas generation component 1, an annular gas chamber 2, a valve component 3, an attitude control controller 4, a pressure transmitter 5, a double pressure reducing valve 6, and a conduit 7.

[0084] More specifically, the gas production assembly 1 consists of a gas production unit 101 with different combustion rates and combustion surfaces, a gas production unit 102, a gas production unit 103, and a one-way valve 104.

[0085] More specifically, the one-way valve 104 is independently placed at the outlet of the gas production unit. Its function is to physically isolate each gas production product so that they do not affect each other and are ignited in sequence according to the ignition control strategy.

[0086] More specifically, the annular air chamber 2 and the conduit 7 constitute a connected container.

[0087] More specifically, valve assembly 3 consists of pitch channel 302, yaw channel 301, roll channel, and common valve body 303. Yaw channel 301 includes positive yaw 301a and negative yaw 301b, and roll channel includes positive pitch 302a and negative pitch 302b. Pitch channel 302 and roll channel are used via time-sharing differential operation. Pitch channel 302 and yaw channel 301 can operate simultaneously.

[0088] More specifically, the roll channels 302a / 302b work diagonally in groups with the pitch channel 302 to achieve ± roll motion.

[0089] like Figure 2 As shown, the present invention provides a simulation system for the joint simulation of guidance system and attitude control system, which mainly consists of waveform generator 01, digital three-axis turntable 02, inertial measurement unit 03, missile-borne aircraft 04 and energy prediction model.

[0090] More specifically, the waveform generator 01 and the digital three-axis turntable 02 are used to simulate the actual flight attitude of the final stage. That is, the waveform generator 01 sends pitch, yaw and roll attitude angle commands to the digital three-axis turntable 02 in real time, thereby driving the digital three-axis turntable 02 to move, thus simulating the attitude changes (attitude angle and attitude angular rate) of the final stage.

[0091] like Figure 4 As shown, the waveform generator 01 uses the standard ballistic attitude angle curve as a template and can adjust the attitude angle by a small amplitude at different times to generate a variety of flight attitudes.

[0092] More specifically, the inertial measurement unit 03 uses an MTi sensor to collect the attitude angles of the digital three-axis turntable 02 in real time, sends the attitude angles to the missile-borne aircraft 04, and performs differentiation to obtain the attitude angular rate. It then performs closed-loop guidance calculations with the flight control program angle and angular rate threshold value to give the corresponding channel (pitch, yaw and roll) opening and closing commands.

[0093] More specifically, the energy prediction model includes a gas production calculation module, a flow rate calculation module, a volume calculation module, a thermal calculation module, a nozzle exhaust module, a flow rate calculation module, a pressure calculation module, and a data output module.

[0094] like Figure 3 As shown, this invention provides an energy prediction method and simulation system for final stage attitude control. The energy prediction method includes a gas production calculation module, a flow rate calculation module, a volume calculation module, a thermal calculation module, a nozzle exhaust module, an ignition control module, a pressure calculation module, and a data output module. Each module is represented by an incremental difference equation. The prediction method and steps are as follows:

[0095] Step 1: Set the parameters of the gas production unit, including the type m of gas production unit 1, the total number n of gas production units 1, and the combustion surface S. m Density ρ m Gas temperature T m 1. Gas specific heat ratio k; 2. Set gas storage unit parameters including initial gas production unit volume V. 10 The initial volume V2 of annular chamber 2, the surface areas S1 and S2 of the inner and outer walls of annular chamber 2, and the mass M of annular chamber 2 and conduit 7. b and specific heat capacity C b Thermodynamic parameters include the heat transfer coefficients h1 and h2 of the inner walls of the charging and exhaust sections, and the natural heat transfer coefficient h0 of the outer walls; exhaust parameters include the nozzle opening and closing sequence Pg, which is given in real time by the simulation system or predetermined according to a fixed trajectory. in Nozzle type Pg1, Pg2..., nozzle throat area At1, At2..., number of nozzles NPg1, NPg2..., etc.;

[0096] More specifically, due to the common characteristics of the flight process, the first gas generation unit 1 is configured with gas generation unit 101 during the takeoff and control phase. This phase involves frequent pitch and yaw channel movements and longer pulse widths due to low separation altitude, separation aftereffects, and the lack of control during separation. Its characteristics include a large combustion surface, fast charging rate, and short charging time, with two sets ignited simultaneously. During the endurance phase, due to the near-vacuum altitude and lack of aerodynamic interference, pitch, yaw, and roll movements are discrete and operate with short pulses, resulting in a smaller gas demand. This phase is configured with gas generation unit 102, characterized by a small combustion surface, slow charging rate, and long charging time, with four sets ignited sequentially. During the reentry phase, due to the high requirements for the attitude angle and attitude angular rate at the reentry point, attitude correction needs to be completed in a short time. This phase is configured with gas generation unit 103, characterized by a large combustion surface, relatively fast charging rate, and short charging time, with two sets ignited simultaneously.

[0097] More specifically, the propellant formulas of gas production unit 101, gas production unit 202, and gas production unit 303 are the same, with only differences in burning rate and propellant type, ensuring that their gas combustion efficiency is the same.

[0098] More specifically, there are 3 types of gas production unit 1 and a total of 8 gas production units 1.

[0099] Step 2: Based on the working characteristics of a typical solid attitude control propulsion system 0, the gas production calculation module autonomously selects different types of gas production units m and different numbers of j according to the flight working period (takeoff control → endurance → reentry) to calculate the mass flow rate of the generated gas. And the number of gas production units consumed (Tol) i =j+Tol i-1 In the formula: u m is the volume of the gas-producing unit of type m; j is the number of gas-producing units of type m.

[0100] More specifically, the number of gas production units 1 operating simultaneously, j, are 2, 1, 1, 1, 1, 2, for a total of 6 ignitions.

[0101] Step 3: Based on the volume change of consumed gas production unit 1 The initial volume V2 of the annular chamber 2 is used to calculate the total volume of the connected containers using the volume module.

[0102] More specifically, the initial volume V2 of the annular chamber 2 includes the volume of the annular chamber 2, the conduit 7, and the valve assembly 3.

[0103] Step 4: Based on the original gas mass ∑m1 in annular chamber 2 i-1 The mass of gas introduced into gas production unit 1 (i.e., the mass flow rate of the generated fuel gas). and the mass of gas discharged from the nozzle The cumulative gas mass of the connected containers is calculated by the flow module.

[0104] More specifically, the initial gas mass ∑m10 of the annular chamber 2 is calculated based on nitrogen (N2) under standard conditions.

[0105] Step 5: Based on the heat brought in by the incoming gas, the heat carried away by the outgoing gas, and the convective heat exchange Q1 between the inner walls of the annular chamber 2 and the conduit 7. i Q2 and natural heat exchange between the outer wall and the outside environment i The gas temperature in the connected container is calculated by the thermal module. Wall temperature In the formula: T1 i-1 Tb is the gas temperature of the connected container at time i-th moment; i-1 C is the wall temperature of the connected container at time i-th; Th is the ambient temperature; C v It is the specific heat capacity of the gas at constant volume.

[0106] More specifically, the heat brought in by the gas is

[0107] More specifically, the heat carried away by the expelled gas is

[0108] More specifically, the convective heat transfer Q1 of the inner wall of the annular chamber 2 and the duct 7 i =S1×h1×(T1) i-1 -Tb i-1 )×Δt;

[0109] More specifically, the natural heat exchange between the outer wall of the annular chamber 2 and the duct 7 and the outside environment is Q2. i =S2×h2×(Tb i-1 -Th)×Δt;

[0110] More specifically, the heat accumulation QT of the annular chamber 2 and the conduit 7 i =QT i-1 +Q1 i -Q2 i .

[0111] Step 6: Based on the gas state equation, the pressure calculation module can calculate the gas pressure value in the connected container.

[0112] Step 7: Based on the flow characteristics of the Laval nozzle, in the connecting container P1 i Back pressure P a Below, the nozzle throat flow coefficient q(λ) can be calculated from the nozzle exhaust module. i ), velocity coefficient λ i and discharge mass flow rate In the formula: K is the specific heat ratio of the fuel gas; R g It is a constant;

[0113] More specifically, the flow coefficient at the nozzle throat

[0114] More specifically, the nozzle throat velocity coefficient

[0115] More specifically, the critical pressure ratio

[0116] More specifically, the opening and closing commands for the pitch, yaw, and roll channels are represented by 0 for closing and ±1 for opening in the direction of movement, resulting in the cumulative opening area Spg of the valve assembly. i =|Pg 1i |×At1×NPg1+|Pg 2i |×At2×NPg2+….

[0117] Step 8: Determine the connection of container P1 in real time according to the ignition control strategy. i Ignition threshold pressure Pm, number of gas-producing units consumed Tol i 1. The total number of gas-producing units 1, n, does it satisfy P1? i ≤P m And Tol i If the condition is ≤n, the next gas production unit will be ignited according to the timing sequence (step 2).

[0118] More specifically, the connected container P1 i Ignition threshold pressure Pm and the number of gas-producing units consumed Tol i The total number of gas-producing units, n, is continuously compared according to the differential time step Δt.

[0119] Step 9: Obtain the connected volume pressure-time curve P1-t, gas temperature-time curve T1-t, wall temperature-time curve Tb-t, and ignition sequence values ​​through multi-module fusion solution. The differential time step Δt is set to 0.001.

[0120] like Figure 5 As shown, the theoretical value of the connected container P1 predicted by the energy prediction algorithm is compared with the pressure P (measured value) collected by the attitude control controller through the pressure transmitter to correct the initial setting parameters (step 1).

[0121] like Figure 6 , Figure 7As shown, the energy prediction method provided by this invention is installed on a workstation using an application program as a carrier. It communicates with the missile-borne aircraft at the output end of the simulation system via a bus, receives nozzle opening commands in real time, and calculates the overall configuration parameters and individual parameters of the solid attitude control propulsion system, as well as the supply and demand coordination with the flight control program angle, angular rate and threshold values. The critical value for energy supply and demand coordination is that the pressure P1 of the connecting container is not lower than 0.8 times the ignition pressure threshold Pm.

[0122] In the several embodiments provided by this invention, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. For instance, the division of modules, units, or units is merely a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units, modules, or components may be combined or integrated into another device, or some features may be ignored or not executed.

[0123] The units may or may not be physically separate. The components shown as units can be one or more physical units, meaning they can be located in one place or distributed in multiple different locations. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0124] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0125] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions within the technical scope disclosed in the present invention should be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A prediction method for an energy-predicting simulation system for post- correction attitude control, characterized in that, The method comprises the following steps: Obtaining gas production unit parameters, gas storage unit parameters, thermodynamic parameters and exhaust parameters; According to the gas production unit parameters, the gas storage unit parameters, the thermodynamic parameters, the exhaust gas parameters and the flight working period, the mass flow of the generated fuel gas is calculated and the number of consumed gas production units ; According to the quality flow of the generated fuel gas and the number of consumed gas generating units the consumed gas generating unit volume change is calculated: The total volume of the communicating vessels is calculated from the change in consumed gas unit volume and the initial volume of the annular gas chamber V2 ; acquiring the mass of the original gas in the annular chamber and the mass of the gas discharged from the nozzle ; According to the original gas mass of the annular gas chamber , the generated gas mass flow , and the gas mass discharged by the nozzle , the cumulative gas mass of the communication container is calculated ; Heat brought in by the filling gas, heat taken away by the exhaust gas, convective heat transfer of the inner wall of the annular gas chamber and the duct and the outer wall of the annular gas chamber and the duct with the outside environment ; According to the heat brought by the filling gas, the heat taken away by the exhaust gas, the convective heat transfer quantity of the inner wall of the annular air chamber and the conduit and the natural heat exchange quantity of the outer wall of the annular air chamber and the conduit with the outside world , the throat flow coefficient of the nozzle and the throat velocity coefficient of the nozzle are calculated. According to the total volume of the communicating vessels , the nozzle throat flow coefficient , and the nozzle throat velocity coefficient , the discharge mass flow is calculated Determining whether the ignition condition is met, and triggering the next gas production unit ignition if the ignition condition is met to obtain an ignition sequence; P1 i , the gas temperature of the communication vessel , the wall surface temperature of the communication vessel and the ignition sequence are fused to obtain the pressure-time curve P1-t of the communication volume, the gas temperature-time curve T1-t, the wall temperature-time curve Tb-t and the ignition sequence value ; represents the difference time step.

2. The prediction method for energy-predicting analog system of post-maintenance attitude control according to claim 1, characterized in that: According to the original gas mass of the annular gas chamber , the mass flow of the generated fuel gas , and the mass of the gas discharged by the nozzle , the cumulative gas mass of the communication container is calculated , specifically including the following steps: According to the original gas mass of the annular gas chamber , the generated gas mass flow , and the gas mass discharged by the nozzle , the cumulative gas mass of the communication container is calculated ; Heat brought in by the filling gas, heat taken away by the exhaust gas, convective heat transfer of the inner wall of the annular gas chamber and the duct and the outer wall of the annular gas chamber and the duct with the outside environment ; According to the heat brought by the filling gas, the heat taken away by the exhaust gas, the convective heat transfer quantity of the inner wall surface of the annular gas chamber and the conduit , and the natural heat exchange quantity of the outer wall surface of the annular gas chamber and the conduit with the outside , the gas temperature of the communicating container is calculated and the wall surface temperature is calculated ; According to the gas state equation, the gas temperature of the communicating vessel and the wall surface temperature , the gas pressure value P1 of the communicating vessel is calculated i ; According to the value of the gas pressure P1 in the communicating vessel i and the back pressure P a , the nozzle throat flow coefficient and the nozzle throat velocity coefficient are calculated.

3. The prediction method of the energy prediction simulation system for terminal correction stage attitude control according to claim 2, characterized in that: The gas production unit parameters include gas production unit type m, total number of gas production units n, combustion surface S m , density p m , gas temperature T m , gas specific heat ratio k; The gas storage unit parameters include the initial gas production unit volume V 10 , the initial volume of the annular gas chamber V2, the inner and outer wall surface areas S1 and S2 of the annular gas chamber, the mass M of the annular gas chamber 2 and the conduit 7 b , and the specific heat capacity C b ; The thermodynamic parameters include the heat transfer coefficients h1 and h2 of the inner wall surface and the natural heat transfer coefficient h0 of the outer wall surface in the charging section and the exhaust section; The exhaust parameters include the timing of opening and closing of the nozzle Pg given in real time by the simulation system or predetermined according to a fixed trajectory in , the type of nozzle Pg, the throat area of the nozzle At, the number of nozzles Npg.

4. The prediction method of the energy prediction simulation system for terminal correction stage attitude control according to claim 3, characterized in that: The mass flow rate of the fuel gas And the number of consumed gas production units The calculation formula is as follows: ； ； In the formula: S m represents the burning surface, p m represents the density; The consumed gas-producing unit volume change is ; the total volume of the communicating vessels The formula for calculating the above is as follows: ； wherein: Vm is the volume of gas producing units of type m; Nm is the number of gas producing units of type m.

5. The prediction method of the energy prediction simulation system for terminal correction stage attitude control according to claim 4, characterized in that: The communicating vessel accumulates gas mass The calculation formula is as follows: 。 6. The prediction method of the energy prediction simulation system for terminal correction stage attitude control according to claim 5, characterized in that: The formula for calculating the heat brought by the filling gas is ; The formula for calculating the heat taken away by the exhaust gas is ; The formula for calculating the convective heat exchange amount of the inner wall of the annular air chamber and the conduit is ; The annular plenum and conduit heat accumulation ; The annular air chamber and the outer wall of the conduit exchange heat with the outside world The formula for calculating the gas temperature and wall temperature of the communicating container is as follows: ； ； In the formula: is the gas temperature of the connecting vessel at the i-1th moment; is the wall surface temperature of the connecting vessel at the i-1th moment; is the ambient temperature; is the specific heat capacity of the gas at constant volume; is the convective heat transfer amount of the annular air chamber and the inner wall of the conduit; is the natural heat exchange amount of the outer wall surface with the outside world; is the gas temperature of the connecting vessel; is the wall surface temperature of the connecting vessel.

7. The prediction method of the energy prediction simulation system for terminal correction stage attitude control according to claim 6, characterized in that: The calculation formula of the communicating vessel gas pressure value is as follows: 。 8. The prediction method for energy-predicting analog system of post-Newtonian attitude control according to claim 7, characterized in that, The nozzle throat flow coefficient The formula for calculating the nozzle throat flow coefficient is as follows: ； The nozzle throat velocity coefficient The formula for calculating the nozzle throat velocity coefficient is as follows: ； wherein: is the nozzle throat velocity coefficient; The discharge mass flow The calculation formula is as follows: ； where: K is the specific heat ratio of the fuel gas; is a constant.

9. A prediction system for an energy prediction simulation system for post- correction level attitude control, for implementing the prediction method for an energy prediction simulation system for post-correction level attitude control according to any one of claims 1 to 8, characterized in that, The method comprises the following steps: The obtaining module is used for obtaining gas production unit parameters, gas storage unit parameters, thermodynamic parameters and exhaust parameters; Also used to obtain the original gas mass in the annular chamber and the gas mass discharged by the nozzle ; also used to obtain the heat brought in by the filling gas, the heat taken away by the discharged gas, the convective heat exchange between the inner wall of the annular chamber and the guide pipe and the natural heat exchange between the outer wall of the annular chamber and the guide pipe and the outside world ; A generated gas calculation module is configured to calculate a mass flow of the generated gas according to the gas generation unit parameters, the gas storage unit parameters, the thermodynamic parameters and the exhaust gas parameters and the total volume of the communicating vessels ; The cumulative gas mass calculation module is used to calculate the original gas mass in the annular chamber. Mass flow rate of generated gas and the mass of gas discharged from the nozzle The cumulative gas mass of the connected containers was calculated. ; A flow rate and velocity coefficient calculation module is configured to calculate the flow rate coefficient of the nozzle throat and the velocity coefficient of the nozzle throat according to the heat carried by the filling gas, the heat carried away by the exhaust gas, the convective heat transfer amount of the inner wall surface of the annular gas chamber and the conduit, and the natural heat exchange amount of the outer wall surface of the annular gas chamber and the conduit with the outside world. ;​​​ An exhaust mass flow rate calculation module is configured to calculate an exhaust mass flow rate based on a total volume of the communication vessel , a nozzle throat flow coefficient , and a nozzle throat velocity coefficient ;​ The judgment module is used to determine whether the condition is met. If the conditions are met, the next gas production unit is ignited, resulting in an ignition sequence. a fusion solving module for solving in fusion the gas pressure value P1 i , the gas temperature of the communication vessel , the wall temperature of the communication vessel and the ignition sequence, obtaining the pressure-time curve P1-t, the gas temperature-time curve T1-t, the wall temperature-time curve Tb-t and the ignition sequence value .

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