Rocket upper stage ignition control method, device, electronic equipment and storage medium

Abstract

This application provides a method, apparatus, electronic device, and storage medium for controlling the ignition of a rocket upper stage, relating to the field of launch vehicle technology. The method includes: acquiring the rocket's flight status parameters at the current moment; iteratively calculating the ignition waiting time of the upper stage engine based on the flight status parameters and the set operating time of the upper stage engine, and correcting the set operating time based on the flight status parameters during the iterative calculation process; and determining the ignition time of the upper stage engine based on the iteratively calculated ignition waiting time and the current moment. The method and apparatus provided in this application improve the adaptability of the upper stage to the actual flight state of the rocket and enhance the accuracy of the rocket upper stage ignition.

Description

Technical Field

[0001] The present application relates to the field of launch vehicle technology, and in particular to a rocket upper stage ignition control method, device, electronic equipment and storage medium. Background Art

[0002] The design and development of launch vehicles is a systematic project, in which the design of flight sequence is a key technology that can affect success or failure. During the flight of a launch vehicle, the flight parameters will deviate from the design values ​​at the corresponding time to a certain extent due to the influence of the actual flight environment and various product deviations, which may cause deviations in the actual flight sequence and ultimately affect the results of the flight test.

[0003] In the related art, the design of the ignition sequence of the rocket upper stage generally adopts a fixed time delay or other offline determination method. The outstanding advantages of this method are simple design and easy implementation, but it cannot judge and select the actual flight situation of the rocket. The subsequent flight and orbit entry of the rocket upper stage require the guidance and control system to adapt to the initial state of the ignition moment. In this way, the propellant consumption of the rocket upper stage may increase, and even cause the rocket upper stage to fail to enter orbit and the flight test to fail.

[0004] Therefore, how to improve the accuracy of rocket upper stage ignition and achieve high-precision orbital insertion of the rocket upper stage has become a technical problem that needs to be urgently solved in the industry. Summary of the invention

[0005] The present application provides a rocket upper stage ignition control method, device, electronic device and storage medium, which are used to solve the technical problem of how to improve the accuracy of rocket upper stage ignition and achieve high-precision orbit entry of the rocket upper stage.

[0006] The present application provides a rocket upper stage ignition control method, comprising:

[0007] Get the flight status parameters of the rocket at the current moment;

[0008] Iteratively calculate the ignition waiting time of the upper stage engine based on the flight state parameter and the set working time of the upper stage engine of the rocket, and correct the set working time based on the flight state parameter during the iterative calculation process;

[0009] Based on the iteratively calculated ignition waiting time and the current moment, the ignition moment of the upper stage engine of the rocket is determined.

[0010] In some embodiments, the iterative calculation of the ignition waiting time of the upper stage engine based on the flight state parameter and the set working time of the upper stage engine of the rocket, and the correction of the set working time based on the flight state parameter during the iterative calculation process, includes:

[0011] In the current iterative calculation process, based on the set working time of the upper stage engine of the rocket, the total mass of the upper stage of the rocket and the propellant consumption flow rate of the upper stage engine, the reference time of the upper stage engine is determined;

[0012] Determining the equivalent pulse point duration of the upper stage engine based on the flight state parameter and the target flight state parameter;

[0013] Determining the ignition waiting time of the upper stage engine based on the equivalent pulse point time and the reference time;

[0014] Based on the flight state parameters and the equivalent pulse point duration, the set operating duration of the upper stage engine is corrected, and the next iterative calculation process is entered based on the corrected set operating duration.

[0015] In some embodiments, determining the reference duration of the upper stage engine based on the set working duration of the upper stage engine of the rocket, the total mass of the upper stage of the rocket, and the propellant consumption flow of the upper stage engine includes:

[0016] Determine the rocket body mass corresponding to the end time of the set working time based on the set working time, the total mass of the upper stage of the rocket and the propellant consumption flow rate of the upper stage engine;

[0017] Determining the apparent velocity increment and apparent displacement increment of the rocket based on the mass of the rocket body corresponding to the end time of the set working time;

[0018] Based on the set operating time, the apparent velocity increment and the apparent displacement increment, a reference time of the upper stage engine is determined.

[0019] In some embodiments, determining the equivalent pulse point duration of the upper stage engine based on the flight state parameter and the target flight state parameter includes:

[0020] Based on the flight state parameters, determining the position vector and velocity vector of the rocket in a launch inertial coordinate system;

[0021] Based on the position vector and the velocity vector, determining the position velocity parameters and orbit parameters of the rocket in the geocentric coordinate system;

[0022] Based on the position speed parameter, the orbit parameter, and the target flight state parameter, the equivalent pulse point duration of the upper stage engine is determined.

[0023] In some embodiments, determining the ignition waiting time of the upper stage engine based on the equivalent pulse point time and the reference time includes:

[0024] Determining the ignition waiting time of the upper stage engine based on the difference between the equivalent pulse point time and the reference time;

[0025] Based on the preset value of the ignition waiting time, the ignition waiting time is limited.

[0026] In some embodiments, the correcting the set working duration of the upper stage engine based on the flight state parameter and the equivalent pulse point duration includes:

[0027] Based on the flight state parameters, determining the position vector and velocity vector of the rocket in a launch inertial coordinate system;

[0028] Based on the position vector and velocity vector of the rocket in the launch inertial coordinate system and the duration of the equivalent pulse point, determine the position vector and velocity vector of the equivalent pulse point of the upper stage of the rocket in the geocentric coordinate system;

[0029] Determine the ballistic inclination angle of the equivalent pulse point based on the position vector and velocity vector of the equivalent pulse point of the rocket upper stage in the geocentric coordinate system;

[0030] Determine the velocity amplitude to be increased at the equivalent pulse point based on the ballistic inclination angle of the equivalent pulse point, the velocity vector of the equivalent pulse point of the rocket upper stage in the geocentric coordinate system, and the orbital entry velocity of the rocket;

[0031] Determine the equivalent pulse point apparent velocity correction value based on the velocity amplitude to be increased at the equivalent pulse point and the apparent velocity increment of the rocket upper stage;

[0032] Determining a working time correction amount of the upper stage engine based on the equivalent pulse point apparent velocity correction amount;

[0033] The set operation time of the upper stage engine is corrected based on the operation time correction amount.

[0034] In some embodiments, after the set operating time of the upper stage engine is corrected based on the operating time correction amount, the method further includes:

[0035] When the working time correction amount is less than or equal to the preset convergence threshold or the number of iterations corresponding to the current iterative calculation is greater than the maximum number of iterations, the iterative calculation is stopped.

[0036] The present application provides a rocket upper stage ignition control device, comprising:

[0037] An acquisition unit is used to obtain the flight status parameters of the rocket at the current moment;

[0038] a calculation unit, configured to iteratively calculate the ignition waiting time of the upper stage engine based on the flight state parameter and the set working time of the upper stage engine of the rocket, and to correct the set working time based on the flight state parameter during the iterative calculation process;

[0039] A determination unit is used to determine the ignition time of the upper stage engine of the rocket based on the iteratively calculated ignition waiting time and the current time.

[0040] The present application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the rocket upper stage ignition control method when executing the computer program.

[0041] The present application provides a non-transitory computer-readable storage medium having a computer program stored thereon, and the computer program, when executed by a processor, implements the rocket upper stage ignition control method.

[0042] The rocket upper stage ignition control method, device, electronic device and storage medium provided in the present application obtain the flight state parameters of the rocket at the current moment; iteratively calculate the ignition waiting time of the upper stage engine based on the flight state parameters and the set working time of the rocket's upper stage engine, and correct the set working time based on the flight state parameters during the iterative calculation process; determine the ignition time of the rocket's upper stage engine based on the iteratively calculated ignition waiting time and the current moment; because the ignition waiting time of the upper stage engine can be iteratively calculated according to the flight state parameters of the rocket at the current moment and the set working time, the accuracy of the ignition time of the rocket's upper stage engine is improved, and because the iterative calculation process is carried out during the rocket's flight, the adaptability of the upper stage to the actual flight state of the rocket in achieving orbital flight is improved, the accuracy of the rocket's upper stage ignition is improved, and the high-precision orbital entry of the rocket upper stage is achieved, thereby increasing the probability of success of the flight test. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0044] In order to more clearly illustrate the technical solutions in the present application or 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 some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0045] Figure 1 It is one of the flow charts of the rocket upper stage ignition control method provided in this application.

[0046] Figure 2 This is the second flow chart of the rocket upper stage ignition control method provided in this application.

[0047] Figure 3 It is a structural schematic diagram of the rocket upper stage ignition control device provided in this application.

[0048] Figure 4 It is a structural schematic diagram of the electronic device provided by this application. DETAILED DESCRIPTION

[0049] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only 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 ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0050] It should be noted that the terms "first", "second" etc. in the present application are used to distinguish similar objects, and need not be used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchangeable in appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, the process, method, system, product or equipment comprising a series of steps or units or modules need not be limited to those steps or units or modules clearly listed, but may include other steps or units or modules that are not clearly listed or inherent to these processes, methods, products or equipment.

[0051] Most launch vehicles adopt the configuration of "multi-stage rockets in series + upper stage". Multi-stage rockets use the "relay" method of each stage of rockets to finally send the payload (satellite, etc.) into the predetermined orbit. The actual flight status of the previous stages of rockets is disturbed and deviated during the flight, which will cause a certain uncertainty in the initial flight conditions of the upper stage, and ultimately affect the actual flight of the upper stage or the orbital entry of the payload. The flight and orbital entry of the upper stage require the guidance and control system to adapt to the interference, which may increase the propellant consumption of the upper stage, and even worse, it may cause the upper stage to fail to enter orbit and the flight test to fail.

[0052] In the related technology, the rocket upper stage ignition control, that is, the rocket upper stage ignition timing design, generally adopts an offline design method, which cannot adapt to the actual flight conditions of the rocket and cannot meet the requirements of high-precision orbit entry of the rocket upper stage.

[0053] In order to solve the shortcomings of related technologies, Figure 1 This is one of the flow charts of the rocket upper stage ignition control method provided by this application, such as Figure 1 As shown, the method includes step 110 , step 120 and step 130 .

[0054] Step 110: Obtain the flight status parameters of the rocket at the current moment.

[0055] Specifically, the execution subject of the rocket upper stage ignition control method provided in the embodiment of the present application is a rocket upper stage ignition control device. The device can be implemented by software, such as a rocket upper stage ignition control program running in a rocket control system; it can also be implemented by hardware, such as a computer or server that executes the rocket upper stage ignition control method.

[0056] A rocket can be a launch vehicle, used to transport various manufactured spacecraft into space. The upper stage refers to the part above the first stage of a multi-stage rocket, usually the second or third stage. The role of the upper stage is between the launch vehicle and the spacecraft. It has both autonomous orbital maneuverability and a long on-orbit flight time. It can generally be started and ignited multiple times to meet the needs of different launch missions, and can send one or more payloads into a specified orbit. The engine refers to a device that can provide power for changing orbits, including attitude control engines and orbit control engines.

[0057] The application scenario of the rocket upper stage ignition control method provided in the embodiment of the present application is the real-time flight scenario of the launch vehicle. The onboard computer of the launch vehicle uses an iterative calculation method to finally determine the ignition waiting time of the upper stage and the final ignition time according to the flight state parameters and target flight state parameters of the rocket at the current moment.

[0058] Flight state parameters refer to the parameters that describe the various important physical characteristics and states of the rocket during flight, such as position, speed, and orbit information, etc. They can be obtained through sensors on the rocket or ground measurement and control stations.

[0059] Step 120, based on the flight state parameters and the set working time of the upper stage engine of the rocket, iteratively calculate the ignition waiting time of the upper stage engine, and correct the set working time based on the flight state parameters during the iterative calculation process.

[0060] Specifically, in order to facilitate understanding of the technical solution of the present application, the embodiments of the present application explain the current moment, ignition moment, orbit entry moment, ignition waiting time and working time of the rocket. The current moment is the moment when the rocket is flying, and it is also the moment when the technical solution of the present application performs iterative calculations. The ignition moment refers to the moment when the engine of the upper stage of the rocket starts to ignite and work. The orbit entry moment refers to the moment when the engine ignition of the upper stage of the rocket ends and enters the target orbit. The ignition waiting time refers to the length of time from the current moment to the ignition moment. The working time refers to the length of time from the ignition moment to the orbit entry moment.

[0061] Setting the working time refers to the setting value of the working time. Since the working time is the length of time the engine works relative to the ignition time, this time determines the working cycle of the engine. It is usually determined based on experience during design or directly determined by the results of trajectory design.

[0062] By iterative calculation, in the current iterative calculation, the ignition waiting time of the upper stage engine is calculated according to the flight state parameters at the current moment and the set working time of the upper stage engine of the rocket, and the set working time is corrected, and the next iterative calculation is continued according to the corrected set working time.

[0063] Through iterative calculation, relatively accurate ignition waiting time and set working time can be obtained.

[0064] Step 130: Determine the ignition time of the upper stage engine of the rocket based on the iteratively calculated ignition waiting time and the current time.

[0065] Specifically, according to the current moment, the ignition waiting time after iterative calculation is superimposed to obtain the ignition time of the rocket's upper stage engine. The upper stage engine is started at this ignition time, and the total ignition time is the set working time after iterative calculation, which can enable the rocket to accurately enter the target orbit.

[0066] The rocket upper stage ignition control method provided in the embodiment of the present application obtains the flight state parameters of the rocket at the current moment; iteratively calculates the ignition waiting time of the upper stage engine based on the flight state parameters and the set working time of the rocket's upper stage engine, and corrects the set working time based on the flight state parameters during the iterative calculation process; determines the ignition time of the rocket's upper stage engine based on the iteratively calculated ignition waiting time and the current moment; because the ignition waiting time of the upper stage engine can be iteratively calculated according to the flight state parameters of the rocket at the current moment and the set working time, the accuracy of the ignition time of the rocket's upper stage engine is improved, and because the iterative calculation process is carried out during the rocket's flight, the adaptability of the upper stage to the actual flight state of the rocket in achieving orbital flight is improved, the accuracy of the rocket's upper stage ignition is improved, the high-precision orbital entry of the rocket upper stage is achieved, and the success probability of the flight test is increased.

[0067] It should be noted that, although the rocket upper stage ignition control method provided in this application takes the upper stage of a multi-stage rocket as the research object and the upper stage orbiting as the goal for explanation and description, the method also has certain applicability and reference value for other orbiting / non-orbiting spacecraft that can achieve active shutdown.

[0068] It should be noted that each implementation method of the present application can be freely combined, the order can be changed, or it can be executed separately, and does not need to rely on or depend on a fixed execution order.

[0069] In some embodiments, based on the flight state parameters and the set working time of the upper stage engine of the rocket, the ignition waiting time of the upper stage engine is iteratively calculated, and the set working time is corrected based on the flight state parameters during the iterative calculation process, including:

[0070] In the current iterative calculation process, the reference duration of the upper stage engine is determined based on the set working duration of the rocket's upper stage engine, the total mass of the rocket's upper stage, and the propellant consumption flow of the upper stage engine;

[0071] Determine the equivalent pulse point duration of the upper stage engine based on the flight state parameters and the target flight state parameters;

[0072] Based on the equivalent pulse point duration and the reference duration, determine the ignition waiting time of the upper stage engine;

[0073] Based on the flight state parameters and the equivalent pulse point duration, the set working duration of the upper stage engine is corrected, and the next iterative calculation process is entered based on the corrected set working duration.

[0074] Specifically, the iterative calculation may include multiple calculation processes. The following takes any of the iterative calculation processes (the current iterative calculation process) as an example for explanation. In particular, in the first iterative calculation process, the initial value of the working time is set based on experience or directly determined by the result of trajectory design.

[0075] The total mass of the upper stage refers to the sum of all masses related to the upper stage when the rocket is launched, which is mainly used to calculate the rocket's payload capacity and energy to orbit. The propellant consumption flow of the upper stage engine refers to the mass of propellant consumed by the engine per unit time.

[0076] The reference duration refers to the time after the set working duration is adjusted based on the total mass of the rocket's upper stage and the propellant consumption flow of the rocket's upper stage engine. This time can be used as an intermediate variable for subsequent parameter iteration calculations. Its physical meaning can be understood as the correction amount of the ignition waiting time.

[0077] The target flight state parameters refer to the flight state parameters when the rocket upper stage enters the target orbit. The target orbit refers to the orbit that the rocket upper stage needs to enter and perform the flight test mission.

[0078] The equivalent pulse point refers to the theoretical position of the rocket's upper stage engine ignition. It can be considered that ignition at this position can enter the target orbit. The equivalent pulse point duration refers to the length of time the rocket will fly from the current moment to the equivalent pulse point.

[0079] The ignition waiting time can be obtained by subtracting the equivalent pulse point time from the reference time.

[0080] According to the flight state parameters and the equivalent pulse point duration, the position vector and velocity vector of the rocket at the equivalent pulse point can be determined, and the ballistic inclination angle of the equivalent pulse point, the amplitude of the velocity to be increased at the equivalent pulse point, and the apparent velocity correction amount of the equivalent pulse point can be calculated. The working time correction amount can be calculated based on the apparent velocity correction amount of the equivalent pulse point. The set working time can be corrected according to the working time correction amount, so as to obtain a more accurate set working time.

[0081] Thereafter, the next iterative calculation is performed according to the corrected set working time obtained by the current iterative calculation.

[0082] The rocket upper stage ignition control method provided in the embodiment of the present application improves the adaptability of the upper stage to the actual flight state of the rocket in achieving orbital flight and improves the accuracy of the rocket upper stage ignition, because the iterative calculation process is performed during the rocket flight.

[0083] In some embodiments, determining a reference duration of the upper stage engine based on a set operating duration of the upper stage engine of the rocket, the total mass of the upper stage of the rocket, and the propellant consumption flow of the upper stage engine includes:

[0084] Based on the set working time, the total mass of the upper stage of the rocket and the propellant consumption flow rate of the upper stage engine, the mass of the rocket body corresponding to the end time of the set working time is determined;

[0085] Based on the mass of the rocket body at the end of the set working time, determine the apparent velocity increment and apparent displacement increment of the rocket;

[0086] Based on the set working time, apparent velocity increment and apparent displacement increment, the reference time of the upper stage engine is determined.

[0087] Specifically, the total mass of the rocket's upper stage can be and the propellant consumption flow of the rocket's upper stage engine , determine the theoretical burnout time , which can be expressed as:

[0088] .

[0089] The set working time can be expressed as ,in is the number of iterative calculations, then the arrow mass corresponding to the working time is set It can be calculated by setting the working time, the total mass of the rocket's upper stage and the propellant consumption flow of the rocket's upper stage engine, and can be expressed as:

[0090] 。

[0091] According to the mass of the rocket body at the end of the set working time, the apparent velocity increment of the rocket upper stage can be calculated using the Tsiolkovsky formula: and apparent displacement increment .

[0092] Apparent velocity refers to the velocity observed by an observer of a rocket in a specific reference frame. Apparent displacement refers to the displacement observed by an observer of a rocket in a specific reference frame. Apparent velocity increment refers to the increment of the apparent velocity of the rocket's upper stage. Apparent displacement increment refers to the increment of the apparent displacement of the rocket's upper stage.

[0093] Determine the reference duration of the rocket upper stage engine based on the set working duration, apparent velocity increment and apparent displacement increment , which can be expressed as:

[0094] .

[0095] The rocket upper stage ignition control method provided in the embodiment of the present application determines the reference duration of the rocket upper stage engine according to the set working duration of the rocket upper stage engine, the total mass of the rocket's upper stage and the propellant consumption flow of the rocket upper stage engine, which helps to realize online planning of the upper stage flight sequence, improves the accuracy of the rocket upper stage ignition, and realizes high-precision orbit insertion of the rocket upper stage.

[0096] In some embodiments, determining the equivalent pulse point duration of the upper stage engine based on the flight state parameter and the target flight state parameter includes:

[0097] Based on the flight state parameters, determine the position vector and velocity vector of the rocket in the launch inertial coordinate system;

[0098] Based on the position vector and velocity vector, determine the position velocity parameters and orbit parameters of the rocket in the geocentric coordinate system;

[0099] Based on the position velocity parameters, orbit parameters, and target flight state parameters, the equivalent pulse point duration of the upper stage engine is determined.

[0100] Specifically, the launch inertial coordinate system refers to the inertial reference system with the rocket launch point as the origin. The geocentric coordinate system is a coordinate system that describes a moving body (such as a rocket) around the earth with the center of the earth as the origin. During the rocket launch and flight process, the two coordinate systems can be converted and compared to each other. The launch inertial coordinate system mainly focuses on the initial state of the rocket at the launch point, while the geocentric coordinate system provides the relative position and motion state between the rocket and the earth. The geocentric coordinate system can choose the IE2 coordinate system.

[0101] Flight status parameters may include position parameters, speed parameters, attitude parameters, dynamic parameters, mass parameters, orbit parameters, fuel parameters, time parameters, etc.

[0102] According to the flight status parameters at the current moment, determine the rocket at the current moment. Position vector in the launch inertial coordinate system and the velocity vector According to the position vector and velocity vector, the position velocity parameters and orbital parameters of the rocket in the geocentric coordinate system can be obtained through coordinate transformation and calculation of the six elements of the orbit.

[0103] The position and speed parameters may specifically include the position vector , velocity vector 、Time required to glide from current position to apogee and the average angular velocity .

[0104] Orbital parameters may include the distance from the apogee to the geocenter , near point angle , semi-major axis and eccentricity .

[0105] The equivalent pulse point duration of the rocket's upper stage engine is determined based on the position velocity parameters, orbit parameters, and target flight state parameters.

[0106] The calculated apogee distance can be The distance from the target orbit apogee in the target flight state parameters For comparison:

[0107] if , indicating that the current position of the rocket has not yet reached the target position, then you can choose to ignite at the apogee. The equivalent pulse point duration is equal to the time required for the current position to glide to the apogee. ; Equivalent pulse point trajectory inclination .

[0108] if , indicating that the current position of the rocket has reached the target position. The equivalent pulse point duration can be calculated based on the average angular velocity , the eccentric anomaly angle of the equivalent pulse point , near point angle and eccentricity The calculation can be expressed as:

[0109] .

[0110] In order to avoid calculation errors in the equivalent pulse point duration, In the case of .

[0111] The rocket upper stage ignition control method provided in the embodiment of the present application determines the equivalent pulse point duration of the rocket upper stage engine according to the flight state parameters of the rocket at the current moment and the target flight state parameters, thereby improving the adaptability of the upper stage to the actual flight state of the rocket in achieving orbital flight and improving the accuracy of the rocket upper stage ignition.

[0112] In some embodiments, determining the ignition waiting time of the rocket upper stage engine based on the equivalent pulse point time and the reference time includes:

[0113] Based on the difference between the equivalent pulse point duration and the reference duration, the ignition waiting time of the rocket upper stage engine is determined;

[0114] Based on the preset value of the ignition waiting time, the ignition waiting time is limited.

[0115] Specifically, the ignition waiting time of the rocket upper stage engine is determined according to the difference between the equivalent pulse point duration and the reference duration. , expressed as:

[0116] .

[0117] The initial value of the ignition waiting time can be a preset value. In order to avoid abnormal situations in iterative calculations, the calculation results can be limited. The minimum value of the ignition waiting time can be set. and the maximum ignition waiting time The minimum value of the ignition waiting time may be half of the preset value of the ignition waiting time, and the maximum value of the ignition waiting time may be twice of the preset value of the ignition waiting time.

[0118] According to the preset value of the ignition waiting time, the ignition waiting time is limited, which can be expressed by the formula:

[0119] .

[0120] in, is the limiting processing function.

[0121] The rocket upper stage ignition control method provided in the embodiment of the present application determines the ignition waiting time of the rocket upper stage engine according to the difference between the equivalent pulse point duration and the reference duration, thereby improving the accuracy of the rocket upper stage ignition.

[0122] In some embodiments, based on the flight state parameters and the equivalent pulse point duration, the set working duration of the upper stage engine is corrected, including:

[0123] Based on the flight state parameters, determine the position vector and velocity vector of the rocket in the launch inertial coordinate system;

[0124] Based on the position vector and velocity vector of the rocket in the launch inertial coordinate system and the duration of the equivalent pulse point, determine the position vector and velocity vector of the equivalent pulse point of the rocket upper stage in the geocentric coordinate system;

[0125] Based on the position vector and velocity vector of the equivalent pulse point of the rocket upper stage in the geocentric coordinate system, the ballistic inclination angle of the equivalent pulse point is determined;

[0126] Based on the ballistic inclination angle of the equivalent pulse point, the velocity vector of the equivalent pulse point of the rocket upper stage in the geocentric coordinate system and the orbital velocity of the rocket, the velocity amplitude to be increased at the equivalent pulse point is determined;

[0127] Based on the amplitude of the velocity to be increased at the equivalent pulse point and the apparent velocity increment of the rocket upper stage, the apparent velocity correction amount of the equivalent pulse point is determined;

[0128] Based on the apparent velocity correction at the equivalent pulse point, determine the working time correction of the upper stage engine;

[0129] The set operating time of the upper stage engine is corrected based on the operating time correction amount.

[0130] Specifically, according to the flight state parameters at the current moment, determine the rocket's Position vector in the launch inertial coordinate system and the velocity vector .

[0131] According to the position vector of the rocket in the launch inertial coordinate system and the velocity vector , and the equivalent pulse point duration , determine the position vector of the equivalent pulse point of the rocket upper stage in the geocentric coordinate system and the velocity vector .

[0132] The ballistic inclination angle refers to the launch angle of the rocket relative to the horizontal plane (or the ground) during ballistic flight. The ballistic inclination angle of the equivalent pulse point is determined based on the position vector and velocity vector of the equivalent pulse point of the rocket upper stage in the geocentric coordinate system. , which can be expressed as:

[0133] .

[0134] The velocity amplitude to be increased is the velocity amplitude that needs to be increased. The velocity amplitude to be increased at the equivalent pulse point is determined based on the ballistic inclination angle of the equivalent pulse point, the velocity vector of the equivalent pulse point of the rocket upper stage in the geocentric coordinate system, and the orbital velocity of the rocket. , which can be expressed as:

[0135] .

[0136] In the formula, It indicates the speed value that the rocket upper stage needs to reach to meet the orbital entry conditions.

[0137] According to the amplitude of the velocity to be increased at the equivalent pulse point and the apparent velocity increment of the rocket upper stage, the apparent velocity correction value of the equivalent pulse point is determined. , which can be expressed as:

[0138] .

[0139] Determine the working time correction of the rocket upper stage engine according to the correction of the equivalent pulse point apparent velocity , expressed as:

[0140] .

[0141] In the formula, is the specific impulse of the upper stage engine, Is the natural base.

[0142] Finally, the set working time of the rocket upper stage engine is corrected according to the working time correction value. and working hours correction , determine the iteration value of the set working time in the next iteration calculation process , expressed as:

[0143] .

[0144] Through the above formula, the set working time can be corrected.

[0145] The rocket upper stage ignition control method provided in the embodiment of the present application corrects the set working duration of the rocket upper stage engine according to the flight state parameters and the equivalent pulse point duration, thereby improving the accuracy of the rocket upper stage ignition.

[0146] In some embodiments, after correcting the set operating time of the upper stage engine based on the operating time correction amount, the method further includes:

[0147] When the working time correction amount is less than or equal to the preset convergence threshold or the number of iterations corresponding to the current iterative calculation is greater than the maximum number of iterations, the iterative calculation is stopped.

[0148] Specifically, in the current iterative calculation process, if the working time correction value Less than or equal to the preset convergence threshold Or iterate the number of times Greater than the maximum number of iterations , which can be expressed as or , it can be considered that the iteration has converged, stop the iteration, and set the working time to the iteration value in the current iterative calculation process Determine the correction value for the set working time.

[0149] The rocket upper stage ignition control method provided in the embodiment of the present application determines the convergence condition of the iterative calculation by presetting a convergence threshold or a maximum number of iterations. The iterative process is simple, the algorithm is stable and does not occupy too many on-rocket computing resources.

[0150] Figure 2 This is the second flow chart of the rocket upper stage ignition control method provided by this application, such as Figure 2As shown, taking a certain rocket as an example, the process of the rocket upper stage ignition control method may include the following steps.

[0151] Step 1: Determine the set working time of the rocket upper stage engine based on experience or directly using the results of trajectory design;

[0152] Step 2: Calculate the reference duration;

[0153] Step 3, calculating the equivalent pulse point duration;

[0154] Step 4: Calculate the ignition waiting time;

[0155] Step 5: Correct the set working time of the engine;

[0156] Step 6: Determine whether the iteration end condition is met. If so, the calculation ends; if not, return to step 2 to continue the calculation.

[0157] The device provided in the embodiment of the present application is described below. The device described below and the method described above can refer to each other.

[0158] Figure 3 It is a schematic diagram of the structure of the rocket upper stage ignition control device provided by this application, such as Figure 3 As shown, the device comprises:

[0159] An acquisition unit 310 is used to acquire the flight state parameters of the rocket at the current moment;

[0160] The calculation unit 320 is used to iteratively calculate the ignition waiting time of the upper stage engine based on the flight state parameter and the set working time of the upper stage engine of the rocket, and to correct the set working time based on the flight state parameter during the iterative calculation process;

[0161] The determination unit 330 is used to determine the ignition time of the upper stage engine of the rocket based on the iteratively calculated ignition waiting time and the current time.

[0162] The rocket upper stage ignition control device provided in the embodiment of the present application obtains the flight state parameters of the rocket at the current moment; iteratively calculates the ignition waiting time of the upper stage engine based on the flight state parameters and the set working time of the rocket's upper stage engine, and corrects the set working time based on the flight state parameters during the iterative calculation process; determines the ignition time of the rocket's upper stage engine based on the iteratively calculated ignition waiting time and the current moment; since the ignition waiting time of the upper stage engine can be iteratively calculated based on the flight state parameters of the rocket at the current moment and the set working time, the accuracy of the ignition time of the rocket's upper stage engine is improved, and since the iterative calculation process is carried out during the rocket's flight, the adaptability of the upper stage to the actual flight state of the rocket in achieving orbital flight is improved, the accuracy of the rocket's upper stage ignition is improved, and the high-precision orbit entry of the rocket upper stage is achieved, thereby increasing the probability of success of the flight test.

[0163] In some embodiments, the computing unit is configured to:

[0164] In the current iterative calculation process, the reference duration of the upper stage engine is determined based on the set working duration of the rocket's upper stage engine, the total mass of the rocket's upper stage, and the propellant consumption flow of the upper stage engine;

[0165] Determine the equivalent pulse point duration of the upper stage engine based on the flight state parameters and the target flight state parameters;

[0166] Based on the equivalent pulse point duration and the reference duration, determine the ignition waiting time of the upper stage engine;

[0167] Based on the flight state parameters and the equivalent pulse point duration, the set working duration of the upper stage engine is corrected, and the next iterative calculation process is entered based on the corrected set working duration.

[0168] In some embodiments, the computing unit is configured to:

[0169] Based on the set working time, the total mass of the upper stage of the rocket and the propellant consumption flow rate of the upper stage engine, the mass of the rocket body corresponding to the end time of the set working time is determined;

[0170] Based on the mass of the rocket body at the end of the set working time, determine the apparent velocity increment and apparent displacement increment of the rocket;

[0171] Based on the set working time, apparent velocity increment and apparent displacement increment, the reference time of the upper stage engine is determined.

[0172] In some embodiments, the computing unit is configured to:

[0173] Based on the flight state parameters, determine the position vector and velocity vector of the rocket in the launch inertial coordinate system;

[0174] Based on the position vector and velocity vector, determine the position velocity parameters and orbit parameters of the rocket in the geocentric coordinate system;

[0175] Based on the position velocity parameters, orbit parameters, and target flight state parameters, the equivalent pulse point duration of the upper stage engine is determined.

[0176] In some embodiments, the computing unit is configured to:

[0177] Based on the difference between the equivalent pulse point duration and the reference duration, the ignition waiting time of the upper stage engine is determined;

[0178] Based on the preset value of the ignition waiting time, the ignition waiting time is limited.

[0179] In some embodiments, the computing unit is configured to:

[0180] Based on the flight state parameters, determine the position vector and velocity vector of the rocket in the launch inertial coordinate system;

[0181] Based on the position vector and velocity vector of the rocket in the launch inertial coordinate system and the duration of the equivalent pulse point, determine the position vector and velocity vector of the equivalent pulse point of the rocket upper stage in the geocentric coordinate system;

[0182] Based on the position vector and velocity vector of the equivalent pulse point of the rocket upper stage in the geocentric coordinate system, the ballistic inclination angle of the equivalent pulse point is determined;

[0183] Based on the ballistic inclination angle of the equivalent pulse point, the velocity vector of the equivalent pulse point of the rocket upper stage in the geocentric coordinate system and the orbital velocity of the rocket, the velocity amplitude to be increased at the equivalent pulse point is determined;

[0184] Based on the amplitude of the velocity to be increased at the equivalent pulse point and the apparent velocity increment of the rocket upper stage, the apparent velocity correction amount of the equivalent pulse point is determined;

[0185] Based on the apparent velocity correction at the equivalent pulse point, determine the working time correction of the upper stage engine;

[0186] The set operating time of the upper stage engine is corrected based on the operating time correction amount.

[0187] In some embodiments, the computing unit is configured to:

[0188] When the working time correction amount is less than or equal to the preset convergence threshold or the number of iterations corresponding to the current iterative calculation is greater than the maximum number of iterations, the iterative calculation is stopped.

[0189] Figure 4 is a schematic diagram of the structure of the electronic device provided by this application, such as Figure 4As shown, the electronic device may include: a processor (Processor) 410, a communication interface (Communications Interface) 420, a memory (Memory) 430 and a communication bus (Communications Bus) 440, wherein the processor 410, the communication interface 420, and the memory 430 communicate with each other through the communication bus 440. The processor 410 may call the logic command in the memory 430 to execute the method described in the above embodiment, for example:

[0190] Obtain the flight state parameters of the rocket at the current moment; iteratively calculate the ignition waiting time of the upper stage engine based on the flight state parameters and the set working time of the upper stage engine of the rocket, and correct the set working time based on the flight state parameters during the iterative calculation process; determine the ignition time of the upper stage engine of the rocket based on the iteratively calculated ignition waiting time and the current moment.

[0191] In addition, the logical commands in the above-mentioned memory can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several commands to enable a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc., which can store program code.

[0192] The processor in the electronic device provided in the embodiment of the present application can call the logic instructions in the memory to implement the above method. Its specific implementation method is consistent with the implementation method of the aforementioned method and can achieve the same beneficial effects, which will not be repeated here.

[0193] An embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the methods provided in the above embodiments are implemented.

[0194] Its specific implementation is consistent with the aforementioned method implementation and can achieve the same beneficial effects, so it will not be repeated here.

[0195] An embodiment of the present application provides a computer program product, including a computer program, which implements the above method when executed by a processor.

[0196] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Those of ordinary skill in the art may understand and implement it without creative work.

[0197] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0198] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A rocket upper stage ignition control method, characterized in that: include: Get the flight status parameters of the rocket at the current moment; Iteratively calculate the ignition waiting time of the upper stage engine based on the flight state parameter and the set working time of the upper stage engine of the rocket, and correct the set working time based on the flight state parameter during the iterative calculation process; Determine the ignition time of the upper stage engine of the rocket based on the iteratively calculated ignition waiting time and the current time; The iterative calculation of the ignition waiting time of the upper stage engine based on the flight state parameter and the set working time of the upper stage engine of the rocket, and the correction of the set working time based on the flight state parameter during the iterative calculation process, comprises: In the current iterative calculation process, based on the set working time of the upper stage engine of the rocket, the total mass of the upper stage of the rocket and the propellant consumption flow rate of the upper stage engine, the reference time of the upper stage engine is determined; Determining the equivalent pulse point duration of the upper stage engine based on the flight state parameter and the target flight state parameter; Determining the ignition waiting time of the upper stage engine based on the equivalent pulse point time and the reference time; Based on the flight state parameters and the equivalent pulse point duration, the set operating duration of the upper stage engine is corrected, and the next iterative calculation process is entered based on the corrected set operating duration.

2. The rocket upper stage ignition control method according to claim 1, characterized in that: The step of determining the reference duration of the upper stage engine based on the set working duration of the upper stage engine of the rocket, the total mass of the upper stage of the rocket, and the propellant consumption flow of the upper stage engine comprises: Determine the rocket body mass corresponding to the end time of the set working time based on the set working time, the total mass of the upper stage of the rocket and the propellant consumption flow rate of the upper stage engine; Determining the apparent velocity increment and apparent displacement increment of the rocket based on the mass of the rocket body corresponding to the end time of the set working time; Based on the set operating time, the apparent velocity increment and the apparent displacement increment, a reference time of the upper stage engine is determined.

3. The rocket upper stage ignition control method according to claim 1, characterized in that: The determining, based on the flight state parameter and the target flight state parameter, the equivalent pulse point duration of the upper stage engine comprises: Based on the flight state parameters, determining the position vector and velocity vector of the rocket in a launch inertial coordinate system; Based on the position vector and the velocity vector, determining the position velocity parameters and orbit parameters of the rocket in the geocentric coordinate system; Based on the position speed parameter, the orbit parameter, and the target flight state parameter, the equivalent pulse point duration of the upper stage engine is determined.

4. The rocket upper stage ignition control method according to claim 1, characterized in that: The determining the ignition waiting time of the upper stage engine based on the equivalent pulse point time and the reference time comprises: Determining the ignition waiting time of the upper stage engine based on the difference between the equivalent pulse point time and the reference time; Based on the preset value of the ignition waiting time, the ignition waiting time is limited.

5. The rocket upper stage ignition control method according to claim 1, characterized in that: The step of correcting the set working duration of the upper stage engine based on the flight state parameter and the equivalent pulse point duration includes: Based on the flight state parameters, determining the position vector and velocity vector of the rocket in a launch inertial coordinate system; Based on the position vector and velocity vector of the rocket in the launch inertial coordinate system and the duration of the equivalent pulse point, determine the position vector and velocity vector of the equivalent pulse point of the upper stage of the rocket in the geocentric coordinate system; Determine the ballistic inclination angle of the equivalent pulse point based on the position vector and velocity vector of the equivalent pulse point of the rocket upper stage in the geocentric coordinate system; Determine the velocity amplitude to be increased at the equivalent pulse point based on the ballistic inclination angle of the equivalent pulse point, the velocity vector of the equivalent pulse point of the rocket upper stage in the geocentric coordinate system, and the orbital entry velocity of the rocket; Determine the equivalent pulse point apparent velocity correction value based on the velocity amplitude to be increased at the equivalent pulse point and the apparent velocity increment of the rocket upper stage; Determining a working time correction amount of the upper stage engine based on the equivalent pulse point apparent velocity correction amount; The set operation time of the upper stage engine is corrected based on the operation time correction amount.

6. The rocket upper stage ignition control method according to claim 5, characterized in that: After the set operating time of the upper stage engine is corrected based on the operating time correction amount, the method further includes: When the working time correction amount is less than or equal to the preset convergence threshold or the number of iterations corresponding to the current iterative calculation is greater than the maximum number of iterations, the iterative calculation is stopped.

7. A rocket upper stage ignition control device, characterized in that: include: An acquisition unit is used to obtain the flight status parameters of the rocket at the current moment; a calculation unit, configured to iteratively calculate the ignition waiting time of the upper stage engine based on the flight state parameter and the set working time of the upper stage engine of the rocket, and to correct the set working time based on the flight state parameter during the iterative calculation process; A determination unit, used to determine the ignition time of the upper stage engine of the rocket based on the iteratively calculated ignition waiting time and the current time; The computing unit is used for: In the current iterative calculation process, based on the set working time of the upper stage engine of the rocket, the total mass of the upper stage of the rocket and the propellant consumption flow rate of the upper stage engine, the reference time of the upper stage engine is determined; Determining the equivalent pulse point duration of the upper stage engine based on the flight state parameter and the target flight state parameter; Determining the ignition waiting time of the upper stage engine based on the equivalent pulse point time and the reference time; Based on the flight state parameters and the equivalent pulse point duration, the set operating duration of the upper stage engine is corrected, and the next iterative calculation process is entered based on the corrected set operating duration.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the rocket upper stage ignition control method described in any one of claims 1 to 6 is implemented.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the rocket upper stage ignition control method described in any one of claims 1 to 6 is implemented.

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