Modeling method for attitude control power system of carrier rocket

Abstract

The invention discloses a carrier rocket attitude control power system modeling method, which comprises the steps of calculating a gain coefficient of each attitude control nozzle of a carrier rocket in each control period, establishing a nozzle attitude control model corresponding to each attitude control nozzle based on the gain coefficient, and then establishing a nozzle attitude control model corresponding to each attitude control nozzle based on the attitude control nozzle attitude model and space information corresponding to the attitude control nozzle. And establishing an attitude control power system model of the carrier rocket. By calculating the gain coefficient of each attitude control nozzle in each control period, discretization processing of control time parameters in the model of the attitude control nozzles is realized, the problems of overlarge errors in a linear model and error accumulation in the control process are avoided, and meanwhile, the control precision of the attitude control nozzles is improved. The models of all attitude control nozzles are set based on the space information of the attitude control nozzles, so that more accurate construction of the automatic power system model of the carrier rocket can be realized, and the constructed attitude control power system model of the carrier rocket is ensured to be more suitable for practice.

Description

Technical Field

[0001] The present application relates to the field of launch vehicle system modeling, and in particular to a launch vehicle attitude control power system modeling method. Background Art

[0002] In addition to providing lift, a launch vehicle's propulsion system often also handles attitude control. To maximize the accuracy of a launch vehicle's attitude control, it's necessary to model the system using a linear transfer function. However, this approach often fails to align with the system's output characteristics. In particular, models based on the launch vehicle's flight time are prone to error accumulation. To address this issue, it's necessary to develop a nonlinear model for the launch vehicle's attitude control system. Summary of the Invention

[0003] The Summary of the Invention introduces a series of simplified concepts that will be further described in the Detailed Description of the Invention. The Summary of the Invention of this application is not intended to limit the key features and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0004] In a first aspect, an embodiment of the present application provides a method for modeling a launch vehicle attitude control power system, comprising:

[0005] Calculate the gain coefficient of each attitude control nozzle of the launch vehicle in each control cycle;

[0006] Based on the gain coefficient corresponding to each attitude control nozzle, a nozzle attitude control model corresponding to each attitude control nozzle is established;

[0007] Based on all the nozzle attitude models and the spatial information corresponding to each attitude nozzle, a launch vehicle attitude control power system model is established.

[0008] In one embodiment of the present application, calculating the gain coefficient of each attitude control nozzle of the launch vehicle in each control cycle includes:

[0009] Obtain the measured impulse and theoretical impulse of each attitude control nozzle of the launch vehicle;

[0010] Calculating the ratio of the measured impulse to the theoretical impulse in each control cycle to obtain a normalization coefficient;

[0011] Based on the normalized processing coefficient of the current cycle and the normalized processing coefficient of the previous cycle, the gain coefficient of each attitude control nozzle in each control cycle is calculated.

[0012] In one embodiment of the present application, obtaining the measured impulse and theoretical impulse of each attitude control nozzle of the launch vehicle includes:

[0013] measuring the measured output impulse of each attitude control nozzle during the attitude control nozzle startup time in each control cycle;

[0014] Normalizing the measured output impulse to obtain a measured impulse;

[0015] Calculating the theoretical output impulse of the same attitude control nozzle during startup time;

[0016] The theoretical output impulse is normalized to obtain a theoretical impulse.

[0017] In one embodiment of the present application, the current cycle and the previous cycle are determined based on changes in the working state of the attitude control nozzle.

[0018] In one embodiment of the present application, establishing a nozzle attitude control model corresponding to each attitude control nozzle based on the gain coefficient corresponding to each attitude control nozzle includes:

[0019] A nozzle attitude control model corresponding to each attitude nozzle is established based on the gain coefficient, the attitude control power system switching function, the theoretical thrust, the delay link transfer function and the fitting transfer function of the attitude control power system.

[0020] In one embodiment of the present application, it further includes:

[0021] determining an error in the gain coefficient, and adding the gain coefficient and the error in the gain coefficient to obtain a corrected gain coefficient;

[0022] A nozzle attitude control model corresponding to each attitude nozzle is established based on the correction gain coefficient, the attitude control power system switching function, the theoretical thrust, the delay link transfer function and the fitting transfer function of the attitude control power system.

[0023] In one embodiment of the present application, the spatial information includes installation location and direction information.

[0024] The method of establishing a launch vehicle attitude control power system model based on all the nozzle attitude models and the spatial information corresponding to each attitude nozzle includes:

[0025] An attitude control model of all the attitude control nozzles in the launch vehicle is established, and the attitude control nozzles are distributed to a control coordinate system according to the thrust direction of the attitude control nozzles to obtain the attitude control power system model.

[0026] In a second aspect, the present application proposes a launch vehicle attitude control power system modeling system, the system comprising: a gain coefficient calculation module, a nozzle attitude control model construction module, and a launch vehicle attitude control power model construction module;

[0027] The gain coefficient calculation module is configured to: obtain the measured impulse and theoretical impulse of each attitude control nozzle of the launch vehicle; calculate the ratio of the measured impulse to the theoretical impulse in each control cycle to obtain a normalized processing coefficient; and calculate the gain coefficient of each attitude control nozzle in each control cycle based on the normalized processing coefficient of the current cycle and the normalized processing coefficient of the previous cycle;

[0028] The nozzle attitude control model building module is configured to: establish a nozzle attitude control model corresponding to each attitude nozzle based on the gain coefficient, the attitude control power system switching function, the theoretical thrust, the delay link transfer function, and the fitted transfer function of the attitude control power system; and / or determine an error in the gain coefficient, and add the gain coefficient and the error in the gain coefficient to obtain a corrected gain coefficient; establish a nozzle attitude control model corresponding to each attitude nozzle based on the corrected gain coefficient, the attitude control power system switching function, the theoretical thrust, the delay link transfer function, and the fitted transfer function of the attitude control power system;

[0029] The launch vehicle attitude control power model construction module is configured to: determine the spatial information of the launch vehicle, the spatial information including the nozzle installation position and direction information; establish the attitude control model of all the attitude control nozzles in the launch vehicle, and distribute them to the control coordinate system according to the thrust direction of the attitude control nozzle to obtain the attitude control power system model.

[0030] In a third aspect, the present application proposes an electronic device comprising: a memory and a processor, wherein the processor is configured to implement the steps of a method for modeling a launch vehicle attitude control power system as described in any one of the first aspects above when executing a computer program stored in the memory.

[0031] In a fourth aspect, the present application proposes a computer-readable storage medium having a computer program stored thereon, characterized in that when the computer program is executed by a processor, the steps of a method for modeling a launch vehicle attitude control power system as described in any one of the first aspects above are implemented.

[0032] In summary, a method for modeling a carrier rocket attitude control power system in an embodiment of the present application includes: calculating a gain coefficient of each attitude control nozzle of the carrier rocket in each control cycle; establishing a nozzle attitude control model corresponding to each attitude nozzle based on the gain coefficient corresponding to each attitude control nozzle; and establishing a carrier rocket attitude control power system model based on all the nozzle attitude models and the spatial information corresponding to each attitude nozzle. The gain coefficient of the nozzle in each attitude control cycle is calculated, and power system modeling is performed for each attitude control nozzle in the carrier rocket attitude control power system, thereby confirming the attitude control power system model of the attitude control nozzle during operation of each attitude control nozzle. After determining the power system model of each attitude control nozzle, the carrier rocket attitude control power system model is established based on the spatial position of each attitude control nozzle on the carrier rocket and the attitude control power model corresponding to the attitude control nozzle. Among them, when calculating the gain coefficient of each attitude control nozzle in different periods, the gain coefficient of the attitude control nozzle in different attitude control periods can be determined, and modeling can be carried out based on this parameter. From the results obtained, the discrete modeling of the attitude control power system of the attitude control nozzle is realized, thereby minimizing the error in each attitude control period, reducing the attitude control error, and avoiding the error accumulation problem under the linear model.

[0033] The launch vehicle attitude control power system modeling method proposed in this application, and other advantages, objectives and features of this application will be reflected in part through the following description, and in part will also be understood by technical personnel in this field through research and practice of this application. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present description. In addition, the same reference numerals are used throughout the accompanying drawings to represent the same components.

[0035] Figure 1 A flow chart of a method for modeling a launch vehicle attitude control power system provided in an embodiment of the present application.

[0036] Figure 2 A schematic diagram of the structure of a launch vehicle attitude control power system modeling system provided in an embodiment of the present application;

[0037] Figure 3 A schematic diagram of the electronic equipment structure for modeling a launch vehicle attitude control power system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0038] In order to better understand the technical solutions provided by the embodiments of this specification, the technical solutions of the embodiments of this specification are described in detail below through the accompanying drawings and specific embodiments. It should be understood that the embodiments of this specification and the specific features in the embodiments are detailed descriptions of the technical solutions of the embodiments of this specification, rather than limitations on the technical solutions of this specification. In the absence of conflict, the embodiments of this specification and the technical features in the embodiments can be combined with each other.

[0039] In this article, relational terms such as first and second are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also include elements inherent to such process, method, article or equipment. In the absence of further restrictions, the elements defined by the statement "comprising a ..." do not exclude the presence of other identical elements in the process, method, article or equipment comprising the elements. The term "two or more" includes two or more than two cases.

[0040] See also Figure 1 , which is a flow chart of a launch vehicle attitude control power system modeling method provided in an embodiment of the present application, which may specifically include:

[0041] S110, calculating the gain coefficient of each attitude control nozzle of the launch vehicle in each control cycle;

[0042] For example, the measured impulse and theoretical impulse of each attitude control nozzle in the launch vehicle within the control cycle are calculated, and the ratio of the measured impulse to the theoretical impulse is calculated to obtain a normalized processing coefficient. Then, the difference between the normalized processing coefficient in the current control cycle and the normalized processing coefficient in the previous control cycle is used to obtain the gain coefficient of the attitude control nozzle in the current control cycle.

[0043] S120, establishing a nozzle attitude control model corresponding to each attitude control nozzle based on the gain coefficient corresponding to each attitude control nozzle;

[0044] Exemplarily, an attitude control model is obtained for each attitude control nozzle, wherein the entire attitude control model includes a calculated gain coefficient, a switching function of the automatic power system, a theoretical thrust value, a transfer function of the delay link, and a fitting transfer function of the attitude control power system, and these are multiplied together to obtain the power model of each attitude control nozzle.

[0045] S130, establishing a launch vehicle attitude control power system model based on all the nozzle attitude models and the spatial information corresponding to each attitude nozzle;

[0046] For example, a launch vehicle contains multiple attitude control nozzles. The positions of the attitude control nozzles are determined based on their assembly locations on the launch vehicle and their relative positions to the launch vehicle. Furthermore, the attitude control scheme for the attitude control nozzles, along with parameters such as thrust during different control cycles, are incorporated into the established attitude control dynamics model for the launch vehicle, thereby obtaining a model for the entire launch vehicle's attitude control dynamics system.

[0047] In summary, a method for modeling a carrier rocket attitude control power system in an embodiment of the present application includes: calculating a gain coefficient of each attitude control nozzle of the carrier rocket in each control cycle; establishing a nozzle attitude control model corresponding to each attitude nozzle based on the gain coefficient corresponding to each attitude control nozzle; and establishing a carrier rocket attitude control power system model based on all the nozzle attitude models and the spatial information corresponding to each attitude nozzle. The gain coefficient of the nozzle in each attitude control cycle is calculated, and power system modeling is performed for each attitude control nozzle in the carrier rocket attitude control power system, thereby confirming the attitude control power system model of the attitude control nozzle during operation of each attitude control nozzle. After determining the power system model of each attitude control nozzle, the carrier rocket attitude control power system model is established based on the spatial position of each attitude control nozzle on the carrier rocket and the attitude control power model corresponding to the attitude control nozzle. Among them, when calculating the gain coefficient of each attitude control nozzle in different periods, the gain coefficient of the attitude control nozzle in different attitude control periods can be determined, and modeling can be carried out based on this parameter. From the results obtained, the discrete modeling of the attitude control power system of the attitude control nozzle is realized, thereby minimizing the error in each attitude control period, reducing the attitude control error, and avoiding the error accumulation problem under the linear model.

[0048] In some examples, the step of calculating a gain coefficient of each attitude control nozzle of a launch vehicle in each control cycle includes:

[0049] Obtain the measured impulse and theoretical impulse of each attitude control nozzle of the launch vehicle;

[0050] Calculating the ratio of the measured impulse to the theoretical impulse in each control cycle to obtain a normalization coefficient;

[0051] Calculate the gain coefficient of each attitude control nozzle in each control cycle based on the normalized processing coefficient of the current cycle and the normalized processing coefficient of the previous cycle;

[0052] In addition, the measured and theoretical impulses of each attitude control nozzle of the launch vehicle are obtained, including:

[0053] measuring the measured output impulse of each attitude control nozzle during the attitude control nozzle startup time in each control cycle;

[0054] Normalizing the measured output impulse to obtain a measured impulse;

[0055] Calculating the theoretical output impulse of the same attitude control nozzle during startup time;

[0056] Normalizing the theoretical output impulse to obtain a theoretical impulse;

[0057] The current cycle and the previous cycle are determined based on a change in the working state of the attitude control nozzle.

[0058] For example, regarding the normalization coefficient, the calculation equation is:

[0059]

[0060] Here, ΔT represents the startup time, FS1(ΔT) represents the measured impulse during the current startup time, FS0(ΔT) represents the theoretical impulse during the current startup time, and k(i) represents the normalization coefficient within the current control cycle. It should be noted that ΔT is used as the startup time of the attitude control nozzle rather than the overall control cycle because the attitude control nozzle only generates impulse when it is powered on, thereby adjusting the launch vehicle's attitude.

[0061] For example, the measured impulse can be calculated by obtaining the ratio of the thrust impulse and the startup time during the entire startup process of the attitude control nozzle. Specifically, the selection is made based on the calculation method of the theoretical impulse.

[0062] For example, the method for determining the start-up time and stop-control time within each control cycle can be based on the length of the control cycle and the order of the current control cycle. Although the length of each control cycle is the same during the operation of the attitude power system of the launch vehicle, the start-up time and stop-control time may be different. Therefore, determining the normalized data within the control cycle gate of the launch vehicle is essentially to determine the start-up time and stop-control time, and then determine the normalized data of the measured impulse within the corresponding start-up time. The start-up time can be expressed as:

[0063] T i =i×T f

[0064] Among them, T i Indicates the power-on time, i indicates the number of power-on cycles, T f Indicates the control period;

[0065] Regarding the downtime, it is expressed as:

[0066] T j =j×T f

[0067] Among them, T j Indicates the stop control time, j indicates the number of stop control cycles before starting, T f Indicates the control period.

[0068] It should be noted that the reason why the number of startup cycles and the number of shutdown cycles before startup are processed separately is that in the control of the carrier rocket's attitude control power system, there will be a whole cycle in which the attitude control nozzle is either on or off, and it is not necessary to ensure that each control cycle includes both the startup and shutdown states of the attitude control nozzle. Therefore, the number of startup cycles and the number of shutdown cycles before startup are likely to be different. Therefore, in order to ensure the discretization processing effect of the control cycle, these two data need to be processed separately.

[0069] For example, when performing normalization processing on the nozzle, the measured impulse and the theoretical impulse are processed based on the output mode in each control cycle, and a normalized data table is obtained, which is:

[0070]

[0071] Table 1 Normalized data of launch vehicle control cycle

[0072] Among them, based on the start-up time and shutdown time, the normalized data in different control cycles of the launch vehicle are obtained. It should be noted that the k i , j The parameter settings are uniformly based on the existence of on-time and off-time within the same control cycle, but this approach does not conflict with the discretization effect mentioned above. Furthermore, this processing method can also use the on-time or off-time as the basis, corresponding to different off-times or on-times. In this case, for different control cycles during the launch vehicle flight, if the on-time and off-time are the same, the generated normalization coefficients are the same. Using this data table creation method, the same time parameters do not need to be repeatedly calculated. In practice, it has also been found that this method can significantly save the storage space for the time information contained in the cycle in the control software.

[0073] In some examples, establishing a nozzle attitude control model corresponding to each attitude control nozzle based on the gain coefficient corresponding to each attitude control nozzle includes:

[0074] Establishing a nozzle attitude control model corresponding to each attitude nozzle based on the gain coefficient, the attitude control power system switching function, the theoretical thrust, the delay link transfer function, and the fitted transfer function of the attitude control power system;

[0075] Also includes:

[0076] determining an error in the gain coefficient, and adding the gain coefficient and the error in the gain coefficient to obtain a corrected gain coefficient;

[0077] A nozzle attitude control model corresponding to each attitude nozzle is established based on the correction gain coefficient, the attitude control power system switching function, the theoretical thrust, the delay link transfer function and the fitting transfer function of the attitude control power system.

[0078] For example, the pulse gain coefficient of each control cycle is calculated using the following equation:

[0079] m i , j =k i , j -k i-1 , j ,

[0080] Among them, m i , j Indicates the pulse gain coefficient in the current cycle, k i , j Indicates the normalization coefficient in the current period, k i-1 , j Represents the normalized coefficient in the previous cycle. After calculating the pulse gain coefficient of each control cycle, the pulse gain coefficient is included in the same table, and the following results are obtained:

[0081]

[0082]

[0083] Table 2 Pulse gain data of launch vehicle control cycle

[0084] After adopting this method, the pulse gain coefficients in all control cycles can be included in the same table. At this time, the pulse gain coefficients in the control cycles with the same start-up time and stop-control time can be combined and processed, thereby simplifying the entire algorithm.

[0085] For example, after determining the pulse gain coefficient of each control cycle, the thrust model of the attitude control nozzle is performed, and the equation is as follows:

[0086]

[0087] Where, I represents the attitude control nozzle thrust when the number of startup cycles is i and the number of shutdown cycles before startup is j. kg represents the attitude control power system switch function, with a value of 0 or 1. This parameter is given by the control command of the attitude control system. F0 represents the theoretical thrust of the attitude control power system nozzle, e -Δts represents the delay link transfer function, represents the first-order fitting transfer function of the attitude control dynamic system, T s It represents the time constant of the first-order fitting transfer function of the nozzle thrust startup rise curve of the attitude control power system, and s represents the frequency response.

[0088] It should be noted that in this example, only the case where the fitting transfer function of the attitude control power system nozzle thrust startup rise curve is a first-order transfer function is given. In fact, this function is not only limited to the first-order transfer function, but also includes the second-order transfer function. The established model form is the same, and only the fitting transfer function is modified.

[0089] For example, regarding the pulse gain coefficient within the control period, an operating error will actually occur. In order to further improve the control accuracy, the pulse gain coefficient is compensated and the pulse gain coefficient error is set. The new model obtained is:

[0090]

[0091] Where Δm(t) represents the error function of the pulse gain coefficient. The generated error function and the pulse gain coefficient are superimposed to obtain the corrected error gain coefficient. It should be noted that this model is the same as the model above, and the fitted transfer function can also be a second-order transfer function.

[0092] In some examples, a launch vehicle attitude control power system model is established based on all of the nozzle attitude models and spatial information corresponding to each attitude nozzle;

[0093] The spatial information includes installation location and direction information,

[0094] The method of establishing a launch vehicle attitude control power system model based on all the nozzle attitude models and the spatial information corresponding to each attitude nozzle includes:

[0095] An attitude control model of all the attitude control nozzles in the launch vehicle is established, and the attitude control nozzles are distributed to a control coordinate system according to the thrust direction of the attitude control nozzles to obtain the attitude control power system model.

[0096] For example, after the model of each attitude control nozzle is established, the spatial position of each attitude control nozzle on the launch vehicle and the direction of the attitude control nozzle are determined, and then the attitude control power system model of the entire launch vehicle is constructed.

[0097] In some examples, regarding the definition of the attitude control nozzle control cycle in this application, the start-up time of each attitude control nozzle is counted with the attitude control nozzle's start-up time node as time zero and its shutdown time node as time end. The time is then reset after the attitude control nozzle is shut down. For the attitude control nozzle's shutdown time, the shutdown time is counted with the attitude control nozzle's shutdown time node as time zero and its start-up time node as time end. The time is then reset after the attitude control nozzle is turned on. The purpose of this step is to achieve discrete processing of the attitude control nozzle control cycle and discrete control of the attitude control nozzle's start-up time by separately limiting the start-up time and the stop-control time, rather than using a traditional linear control mode.

[0098] In some examples, in the modeling of the attitude control power system of a launch vehicle, by setting the rocket body coordinate system, determining the direction information of the attitude control nozzle, and integrating the models of all attitude control nozzles into the entire rocket body coordinate system, a launch vehicle attitude control power system model based on the rocket body coordinate system and the thrust model of each attitude control nozzle is established.

[0099] like Figure 2 FIG. 1 is a schematic diagram of a structure of a launch vehicle attitude control power system modeling system provided by an embodiment of the present application. The entire system includes: a gain coefficient calculation module, a nozzle attitude control model construction module, and a launch vehicle attitude control power model construction module.

[0100] Among them, the gain coefficient calculation module is configured to: obtain the measured impulse and theoretical impulse of each attitude control nozzle of the launch vehicle; calculate the ratio of the measured impulse to the theoretical impulse in each control cycle to obtain the normalized processing coefficient; based on the normalized processing coefficient of the current cycle and the normalized processing coefficient of the previous cycle, calculate the gain coefficient of each attitude control nozzle in each control cycle.

[0101] Among them, the nozzle attitude control model construction module is configured to: establish a nozzle attitude control model corresponding to each attitude nozzle based on the gain coefficient, the attitude control power system switching function, the theoretical thrust, the delay link transfer function and the fitting transfer function of the attitude control power system, and / or determine the error of the gain coefficient, add the gain coefficient and the error of the gain coefficient to obtain a corrected gain coefficient; establish a nozzle attitude control model corresponding to each attitude nozzle based on the corrected gain coefficient, the attitude control power system switching function, the theoretical thrust, the delay link transfer function and the fitting transfer function of the attitude control power system.

[0102] Among them, the launch vehicle attitude control power model construction module is configured to: determine the spatial information of the launch vehicle, which includes the nozzle installation position and direction information; establish the attitude control model of all attitude control nozzles in the launch vehicle, and distribute them to the control coordinate system according to the thrust direction of the attitude control nozzle to obtain the attitude control power system model.

[0103] like Figure 3 As shown, an embodiment of the present application also provides an electronic device, including a memory and a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements any of the above-mentioned method steps for modeling the attitude control power system of a launch vehicle.

[0104] Since the electronic device introduced in this embodiment is a device used to implement a method for modeling a launch vehicle attitude control power system in an embodiment of the present application, based on the method introduced in the embodiment of the present application, technical personnel in this field can understand the specific implementation method of the electronic device of this embodiment and its various variations. Therefore, how the electronic device implements the method in the embodiment of the present application will not be introduced in detail here. As long as the equipment used by technical personnel in this field to implement the method in the embodiment of the present application falls within the scope of protection to be protected by this application.

[0105] In the specific implementation process, when the computer program is executed by the processor, it can achieve Figure 1 Any implementation manner in the corresponding embodiments.

[0106] It should be noted that, in the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0107] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-readable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) that contain computer-readable program code.

[0108] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded computer, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0109] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0110] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0111] An embodiment of the present application further provides a computer program product, which includes computer software instructions. When the computer software instructions are executed on a processing device, the processing device executes the process of the LDPC decoding method of the solid-state drive controller.

[0112] A computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function according to the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium can be any available medium that a computer can store or a data storage device such as a server or data center that includes one or more available media integrated. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid state drive (SSD)).

[0113] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0114] In the several embodiments provided in this application, it should be understood that the disclosed devices, apparatuses and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interface, device or unit, which can be electrical, mechanical or other forms.

[0115] Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0116] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0117] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0118] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. 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.

[0119] Although preferred embodiments have been described herein, those skilled in the art, once informed of the underlying inventive concepts, may make additional changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as encompassing the preferred embodiments and all such changes and modifications that fall within the scope of this specification. Clearly, those skilled in the art may make various changes and modifications to this specification without departing from the spirit and scope of this specification. Thus, this specification is intended to encompass such changes and modifications as fall within the scope of the claims herein and their equivalents.

Claims

1. A launch vehicle attitude control power system modeling method, characterized in that: include: Calculate the gain coefficient of each attitude control nozzle of the launch vehicle in each control cycle; Based on the gain coefficient corresponding to each attitude control nozzle, a nozzle attitude control model corresponding to each attitude nozzle is established; Based on all the nozzle attitude models and the spatial information corresponding to each attitude nozzle, a launch vehicle attitude control power system model is established.

2. The launch vehicle attitude control power system modeling method according to claim 1, characterized in that: The calculation of the gain coefficient of each attitude control nozzle of the launch vehicle in each control cycle includes: Obtain the measured impulse and theoretical impulse of each attitude control nozzle of the launch vehicle; Calculating the ratio of the measured impulse to the theoretical impulse in each control cycle to obtain a normalized processing coefficient; Based on the normalized processing coefficient of the current cycle and the normalized processing coefficient of the previous cycle, the gain coefficient of each attitude control nozzle in each control cycle is calculated.

3. The launch vehicle attitude control power system modeling method according to claim 2, characterized in that: The step of obtaining the measured impulse and theoretical impulse of each attitude control nozzle of the launch vehicle includes: measuring the measured output impulse of each attitude control nozzle during the attitude control nozzle startup time in each control cycle; Normalizing the measured output impulse to obtain the measured impulse; Calculating the theoretical output impulse of the same attitude control nozzle startup time; The theoretical output impulse is normalized to obtain a theoretical impulse.

4. The launch vehicle attitude control dynamic system modeling method according to claim 2, characterized in that: The current cycle and the previous cycle are determined based on changes in the working state of the attitude control nozzle.

5. The launch vehicle attitude control power system modeling method according to claim 1, characterized in that: The step of establishing a nozzle attitude control model corresponding to each attitude control nozzle based on the gain coefficient corresponding to each attitude control nozzle comprises: A nozzle attitude control model corresponding to each attitude nozzle is established based on the gain coefficient, the attitude control power system switch function, the theoretical thrust, the delay link transfer function and the fitting transfer function of the attitude control power system.

6. The launch vehicle attitude control dynamic system modeling method according to claim 5 is characterized in that: Also includes: Determining an error of the gain coefficient, adding the gain coefficient and the error of the gain coefficient to obtain a corrected gain coefficient; A nozzle attitude control model corresponding to each attitude nozzle is established based on the correction gain coefficient, the attitude control power system switch function, the theoretical thrust, the delay link transfer function and the fitting transfer function of the attitude control power system.

7. The launch vehicle attitude control dynamic system modeling method according to claim 1, characterized in that: The spatial information includes installation location and direction information, The method of establishing a launch vehicle attitude control power system model based on all the nozzle attitude models and the spatial information corresponding to each attitude nozzle comprises: An attitude control model of all the attitude control nozzles in the launch vehicle is established, and the thrust directions of the attitude control nozzles are distributed to a control coordinate system to obtain the attitude control power system model.

8. A launch vehicle attitude control power system modeling system, characterized in that: The system comprises: a gain coefficient calculation module, a nozzle attitude control model construction module and a launch vehicle attitude control dynamic model construction module; The gain coefficient calculation module is configured to: obtain the measured impulse and theoretical impulse of each attitude control nozzle of the launch vehicle; calculate the ratio of the measured impulse to the theoretical impulse in each control cycle to obtain a normalized processing coefficient; calculate the gain coefficient of each attitude control nozzle in each control cycle based on the normalized processing coefficient of the current cycle and the normalized processing coefficient of the previous cycle; The nozzle attitude control model building module is configured to: establish a nozzle attitude control model corresponding to each attitude nozzle based on the gain coefficient, the attitude control power system switch function, the theoretical thrust, the delay link transfer function and the fitting transfer function of the attitude control power system, and / or determine the error of the gain coefficient, add the gain coefficient and the error of the gain coefficient to obtain a corrected gain coefficient; establish a nozzle attitude control model corresponding to each attitude nozzle based on the corrected gain coefficient, the attitude control power system switch function, the theoretical thrust, the delay link transfer function and the fitting transfer function of the attitude control power system; The launch vehicle attitude control power model construction module is configured to: determine the spatial information of the launch vehicle, the spatial information including the nozzle installation position and direction information; establish the attitude control model of all the attitude control nozzles in the launch vehicle, and distribute them to the control coordinate system according to the thrust direction of the attitude control nozzle to obtain the attitude control power system model.

9. An electronic device, comprising: A memory and a processor, characterized in that the processor is used to implement the steps of a method for modeling a launch vehicle attitude control power system as described in any one of claims 1 to 7 when executing a computer program stored in the memory.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of a method for modeling a launch vehicle attitude control power system as described in any one of claims 1 to 7 are implemented.

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