A method and system for determining rolling disturbance torque during launch vehicle flight

Abstract

The present application discloses a method and system for determining the rolling disturbance torque during the flight of a carrier rocket, wherein the method includes the following steps: selecting n groups of data points and the coordinates corresponding to the n groups of data points based on the rolling channel angular velocity curve; finding the corresponding moment of inertia of the rolling channel of the rocket body at a specified time; determining the angular acceleration and the resultant torque in a specified time period; determining the absolute value of the rolling channel control torque corresponding to the specified time; determining the average thrust provided by a single rolling control device; determining the rolling channel interference torque corresponding to the specified time; determining the rolling channel interference torque sequence corresponding to all moments; and calculating the theoretical value of the rolling channel composite interference torque. The present application can determine the rolling channel control torque, the average thrust and the interference torque of the rolling control device during the actual flight of the carrier rocket based on the flight test data, can verify the accuracy of the ground test and numerical simulation calculation results, and provide more comprehensive data support for rocket design and testing.

Description

Technical Field

[0001] The present application relates to the field of rockets, and in particular, to a method and system for determining a rolling disturbance torque during the flight of a launch vehicle. Background Art

[0002] The external interference factors to which a launch vehicle is subjected when flying in the atmosphere mainly include wind interference and structural interference. In the design stage, it is usually necessary to estimate the relevant interference forces and torques to provide a basis for the selection of control system actuators, installation layout and control capability analysis. To estimate wind interference, it is necessary to determine the aerodynamic interference force and torque coefficients. The aerodynamic interference force and torque coefficients are closely related to the aerodynamic characteristics of the rocket, and these coefficients are usually obtained through wind tunnel tests, computational fluid dynamics (CFD) simulations or theoretical analysis. For example, a wind tunnel test can be used to measure the aerodynamic coefficients of a rocket model at different angles of attack and sideslip, including the drag coefficient, lift coefficient and torque coefficient. Structural interference is caused by process deviations in the production process, mainly including interference forces and torques caused by the displacement of the thrust line caused by the deviation of the center of mass from the theoretical axis and the lateral displacement of the thrust line caused by the engine installation error and the deflection of the thrust line. When using traditional methods for wind tunnel tests or field tests, the accuracy of the measuring equipment, the accuracy of the sensor and the reliability of the data acquisition system may introduce errors. In the process of theoretical model and numerical simulation calculation, the actual complex situation may be simplified, such as ignoring some minor factors or assuming some parameters to be constants, which makes the model unable to fully capture the actual situation, resulting in errors. The wind field itself is complex and unpredictable, especially the influence of turbulence will lead to inaccurate estimation of wind pressure. The interference force and torque estimation errors introduced by factors such as measurement and model simplification will make the control system design conservative.

[0003] Therefore, how to provide a more accurate method for determining the rolling disturbance torque, thereby providing more comprehensive data support for rocket design and testing, has become an urgent problem to be solved in this field. Summary of the invention

[0004] The present application proposes a method for determining a rolling disturbance torque during the flight of a carrier rocket, comprising the following steps: selecting n groups of data points and coordinates corresponding to the n groups of data points based on a rolling channel angular velocity curve; determining a specified time according to the coordinates corresponding to any data point, and searching for the moment of inertia of the rocket body rolling channel corresponding to the specified time; after completing the search for the moment of inertia of the rocket body rolling channel, determining the angular acceleration and the resultant torque in the specified time period; determining the absolute value of the rolling channel control torque corresponding to the specified time according to the angular acceleration and the resultant torque in the specified time period; determining the average thrust provided by a single rolling control device according to the absolute value of the rolling channel control torque corresponding to the specified time; after determining that the single rolling control device provides the average thrust, determining the rolling channel disturbance torque corresponding to the specified time; after determining the rolling channel disturbance torque corresponding to the specified time, determining the rolling channel disturbance torque sequence corresponding to all times; after determining the rolling channel disturbance torque sequence corresponding to all times, calculating the theoretical value of the rolling channel synthetic disturbance torque based on the rolling disturbance torque coefficient and structural deviation given by the design conditions.

[0005] As described above, the method for determining the rolling disturbance torque during the flight of a launch vehicle comprises selecting n groups of data points on the rolling angular velocity curve during the flight period, wherein the n groups of data points are (a1, b1, c1, d1), (a2, b2, c2, d2), ... (ai, bi, ci, di) ..., (an, bn, cn, dn); the horizontal axis t of the rolling angular velocity curve during the flight period is i represents time, the vertical axis ω i Represents the rolling angular velocity. The corresponding coordinates of each set of data points (ai, bi, ci, di) are {(t ai ,ω ai )、(t bi ,ω bi )、(t ci ,ω ci )、(t di ,ω di )}, i=1, 2,…, n.

[0006] In the above-mentioned method for determining the rolling disturbance torque during the flight of the launch vehicle, determining the angular acceleration and the resultant torque in the specified time period includes: determining t ai ~t bi Time period, angular acceleration dω 1i =(ω bi -ω ai ) / (t bi -t ai ), resultant moment M 1i =J xi ·dω 1i π / 180; determine t ci ~t di Time period, angular acceleration dω2i =(ω di -ω ci ) / (t di -t ci ), resultant moment M 2i =J xi ·dω 2i π / 180, J xi Indicates t i The moment corresponds to the rotational inertia of the arrow body rolling channel.

[0007] As described above, the method for determining the rolling disturbance torque during the flight of the launch vehicle, wherein the absolute value Mci of the rolling channel control torque corresponding to the specified time is expressed as: ci =(M 1i -M 2i ) / 2,M 1i Indicates t ai ~t bi The resultant moment of the time period, M 2i Indicates t ci ~t di The resultant moment of the time period.

[0008] In the above-mentioned method for determining the rolling disturbance torque during the flight of the launch vehicle, the average thrust P provided by a single rolling control device is rolli Expressed as: P rolli =M ci / L1 / N,M ci Indicates t i The moment corresponds to the absolute value of the rolling channel control torque, L1 represents the thrust line arm of the rolling control device, and N represents the total number of rolling control devices.

[0009] A system for determining rolling disturbance torque during the flight of a carrier rocket specifically comprises: a data point and coordinate determination unit, a rocket body rolling channel moment of inertia determination unit, an angular acceleration and resultant torque determination unit, a rolling channel control torque absolute value determination unit, an average thrust determination unit, a rolling channel disturbance torque determination unit, a rolling channel disturbance torque sequence determination unit and a rolling channel synthetic disturbance torque theoretical value determination unit; the data point and coordinate determination unit is used to select n groups of data points and coordinates corresponding to the n groups of data points based on a rolling channel angular velocity curve; the rocket body rolling channel moment of inertia determination unit is used to determine a specified time according to the coordinates corresponding to any data point and to find the rocket body rolling channel moment of inertia corresponding to the specified time; the angular acceleration and resultant torque determination unit is used to determine the specified time according to the coordinates corresponding to any data point and to find the rocket body rolling channel moment of inertia corresponding to the specified time; the angular acceleration and resultant torque determination unit is used to determine the specified time according to the coordinates corresponding to any data point and to find the rocket body rolling channel moment of inertia corresponding to the specified time. Used to determine the angular acceleration and resultant torque in a specified time period; a rolling channel control torque absolute value determination unit, used to determine the absolute value of the rolling channel control torque corresponding to a specified moment according to the angular acceleration and resultant torque in the specified time period; an average thrust determination unit, used to determine the average thrust provided by a single rolling control device according to the absolute value of the rolling channel control torque corresponding to a specified moment; a rolling channel interference torque determination unit, used to determine the rolling channel interference torque corresponding to a specified moment; a rolling channel interference torque sequence determination unit, used to determine the rolling channel interference torque sequence corresponding to all moments; a rolling channel composite interference torque theoretical value determination unit, used to calculate the theoretical value of the rolling channel composite interference torque based on the rolling interference torque coefficient and structural deviation given by design conditions.

[0010] As described above, in the system for determining the rolling disturbance torque during the flight of a launch vehicle, the data point and coordinate determination unit selects n groups of data points on the rolling angular velocity curve during the flight period, and the n groups of data points are (a1, b1, c1, d1), (a2, b2, c2, d2), ... (ai, bi, ci, di) ..., (an, bn, cn, dn); the horizontal axis t of the rolling angular velocity curve during the flight period i represents time, the vertical axis ω i Represents the rolling angular velocity. The corresponding coordinates of each set of data points (ai, bi, ci, di) are {(t ai ,ω ai )、(t bi ,ω bi )、(t ci ,ω ci )、(t di ,ω di )}, i=1, 2,…, n.

[0011] In the above-mentioned system for determining the rolling disturbance torque during the flight of the launch vehicle, the angular acceleration and resultant torque determining unit determines the angular acceleration and resultant torque in the specified time period, including: determining t ai ~t biTime period, angular acceleration dω 1i =(ω bi -ω ai ) / (t bi -t ai ), resultant moment M 1i =J xi ·dω 1i π / 180; determine t ci ~t di Time period, angular acceleration dω 2i =(ω di -ω ci ) / (t di -t ci ), resultant moment M 2i =J xi ·dω 2i π / 180, J xi Indicates t i The moment corresponds to the rotational inertia of the arrow body rolling channel.

[0012] In the rolling disturbance torque determination system during the flight of the launch vehicle as described above, the rolling channel control torque absolute value determination unit determines the rolling channel control torque absolute value M corresponding to the specified time. ci Expressed as: M ci =(M 1i -M 2i ) / 2,M 1i Indicates t ai ~t bi The resultant moment of the time period, M 2i Indicates t ci ~t di The resultant moment of the time period.

[0013] In the above-mentioned system for determining the rolling disturbance torque during the flight of a launch vehicle, the average thrust determination unit determines the average thrust P provided by a single rolling control device. rolli Expressed as: P rolli =M ci / L1 / M,M ci Indicates t i The moment corresponds to the absolute value of the rolling channel control torque, L1 represents the thrust line arm of the rolling control device, and N represents the total number of rolling control devices.

[0014] This application has the following beneficial effects:

[0015] Based on flight test data, this application can calculate the rolling channel control torque, average thrust and interference torque of the rolling control device during the actual flight of the launch vehicle, which is used to evaluate the actual execution capability of the rolling control device, verify the accuracy of ground test and numerical simulation calculation results, and provide more comprehensive data support for rocket design and testing. It can also further evaluate the control capability margin of the current actuator configuration, and provide important reference for optimizing the design of the rocket, such as the aerodynamic shape, mass distribution and layout and number of control system actuators. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present application. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0017] Figure 1 is a schematic diagram of a gas rolling control device provided according to an embodiment of the present application;

[0018] Figure 2 is a schematic diagram of control characteristics of a gas rolling control device provided according to an embodiment of the present application;

[0019] Figure 3 is a schematic diagram of a rolling angular velocity curve provided according to an embodiment of the present application;

[0020] Figure 4 is a flow chart of a method for determining a rolling disturbance torque during the flight of a launch vehicle provided in an embodiment of the present application;

[0021] Figure 5 It is a schematic diagram of the internal structure of a system for determining a rolling disturbance torque during the flight of a launch vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

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

[0023] This application is for use in launch vehicles with typical gas roll control devices. Based on flight test data, the roll channel control torque, average thrust and interference torque of the roll control device during the actual flight of the launch vehicle are estimated to evaluate the actual execution capability of the roll control device and verify the accuracy of ground test and numerical simulation calculation results, thereby providing more comprehensive data support for rocket design and testing. It can also provide important reference for optimizing the design of the rocket, such as the aerodynamic shape, mass distribution and layout and number of control system actuators.

[0024] Embodiment 1

[0025] like Figure 1 The figure shows the installation layout of the gas rolling control device, which includes four rolling control devices, namely rolling control 1, rolling control 2, rolling control 3 and rolling control 4.

[0026] As another embodiment, the gas rolling control device includes but is not limited to four rolling control devices.

[0027] In the installation layout of the gas rolling control device, the thrust line arm of the rolling control device is set to L1.

[0028] When the rolling control command is positive opening, the four rolling control devices are simultaneously opened in the positive direction, generating a positive control torque. When the rolling control command is negative opening, the four rolling control devices are simultaneously opened in the negative direction, generating a negative control torque.

[0029] Figure 2 Schematic diagram of control characteristics based on gas rolling control device. Specifically, when the control information u increases to a certain value u 开 When the rolling control instruction is positive opening, the rolling control device valve opens positively and generates positive rolling control torque.

[0030] When the control signal decreases to u 关 When t0 is 0, the rolling control command is 0, and the valve of the rolling control device opens alternately at positive and negative intervals, generating a rolling control torque with a mean value of 0.

[0031] When the control information u decreases to a certain value -u 开 When the rolling control instruction is negative opening, the rolling control device valve opens negatively and generates a negative rolling control torque.

[0032] When the control signal increases to -u 关 When t0 is 0, the rolling control command is 0, and the rolling control device valve is opened alternately at positive and negative intervals, generating a rolling control torque with a mean value of 0.

[0033] Based on the above, if Figure 4 As shown in FIG. 1 , a method for determining the rolling disturbance torque during the flight of a launch vehicle is provided, which specifically includes the following steps:

[0034] Step S410: Based on the rolling channel angular velocity curve, n groups of data points and coordinates corresponding to the n groups of data points are selected.

[0035] Based on the above control characteristics, the following is formed: Figure 3 The rolling channel angular velocity curve is shown, where the horizontal axis t i represents time, the vertical axis ω i In the rolling angular velocity curve during the flight period, this embodiment selects n groups of data points, which are (a1, b1, c1, d1), (a2, b2, c2, d2), ... (ai, bi, ci, di) ..., (an, bn, cn, dn).

[0036] The corresponding coordinates of each set of data points (ai, bi, ci, di) are {(t ai ,ω ai )、(t bi ,ω bi )、(t ci ,ω ci )、(t di ,ω di )}, i=1, 2,…, n.

[0037] Step S420: Determine the designated time according to the coordinates corresponding to any data point, and find the moment of inertia of the arrow body rolling channel corresponding to the designated time.

[0038] The specified time can be any time that needs to be calculated. i =(t bi +t ci ) / 2. Based on the mass characteristic data of the launch vehicle, find t i The moment of inertia J corresponding to the rolling channel of the rocket body xi .

[0039] Step S430: After completing the search for the moment of inertia of the arrow body rolling channel, determine the angular acceleration and the resultant torque in the specified time period.

[0040] Determining the angular acceleration and the resultant torque in a specified time period includes:

[0041] t ai ~t bi Time period, angular acceleration dω 1i =(ω bi -ω ai ) / (t bi -t ai ), resultant moment M 1i =J xi ·dω 1i π / 180.

[0042] t ci ~t di Time period, angular acceleration dω 2i =(ω di -ω ci ) / (t di -t ci ), resultant moment M 2i =J xi ·dω 2i π / 180.

[0043] Step S440: Determine the absolute value of the rolling channel control torque corresponding to the specified time according to the angular acceleration and the resultant torque in the specified time period.

[0044] Assume that t ai ~t di The interference torque of the rolling channel in the time period is a constant, then t i The absolute value of the rolling channel control torque corresponding to the moment is M ci =(M 1i -M 2i ) / 2.

[0045] Step S450: Determine the average thrust provided by a single rolling control device according to the absolute value of the rolling channel control torque corresponding to the specified time.

[0046] Assuming that the thrust line arm of the rolling control device is L1 and the total number of rolling control devices is N, we can infer t i At the same time, a single rolling control device provides an average thrust P rolli =M ci / L1 / N.

[0047] Step S460: After determining that a single rolling control device provides an average thrust, determine the rolling channel interference torque corresponding to a specified time.

[0048] where t i The rolling channel interference torque M at the moment di =(M 1i +M 2i ) / 2.

[0049] Step S470: After determining the rolling channel interference torque corresponding to the specified time, determine the rolling channel interference torque sequence corresponding to all time.

[0050] According to the above steps, the rolling channel interference torque corresponding to all moments can be determined, and all moments form a time series (t1, t2, t3, ... t i ,…,t n ), then the time series (t1, t2, t3, …t i ,…,t n) corresponds to the rolling channel disturbance torque sequence (M d1 ,M d2 ,M d3 ,...,M di ,...,M dn ).

[0051] Step S480: After determining the rolling channel disturbance torque sequence corresponding to all moments, the theoretical value of the rolling channel composite disturbance torque is calculated based on the rolling disturbance torque coefficient and structural deviation given by the design conditions.

[0052] Determining the synthetic disturbance torque includes the following sub-steps:

[0053] Step S4801: Determine the wind disturbance torque.

[0054] The wind disturbance moment at any time is determined based on the aerodynamic disturbance moment coefficient: Specifically expressed as:

[0055]

[0056] Among them, C mx1 represents the rolling channel interference moment coefficient, which is obtained by interpolation of the rolling channel interference moment coefficient obtained by wind tunnel test or CFD simulation. The interpolation independent variables include flight angle of attack, sideslip angle, Mach number, etc. q represents the dynamic pressure value calculated based on the actual flight trajectory, S M Represents the reference area of ​​the launch vehicle.

[0057] Step S4802: Determine the rolling channel structure interference torque.

[0058] The center of mass deviation from the theoretical axis distance (D lateral , unit m) and thrust line displacement caused by engine installation error ( Unit: m), thrust line deflection ( Unit rad), determine the rolling channel structure interference at any time (Take the launch vehicle that uses a single-engine swing nozzle for attitude control as an example), which is specifically expressed as:

[0059]

[0060] Where P is the rated working thrust of the engine, δ comp Synthesize the swing angle for the engine's swing nozzle.

[0061] Step S4803: Determine the theoretical value of the rolling channel composite interference torque according to the wind interference and the rolling channel structure interference torque.

[0062] The wind disturbance and structural disturbance calculated based on the design input conditions are added in absolute value or superimposed by mean square sum to obtain the theoretical value of the rolling channel synthetic disturbance moment.

[0063] Based on (t1, t2, t3, ..., t n ) and (M d1 , M d2 , M d3 , …, M dn ) to compare with the time curve drawn to confirm whether the deviation meets the design requirements, thereby realizing the review of the design input condition parameters.

[0064] Embodiment 2

[0065] like Figure 5 As shown, this embodiment provides a system for determining a rolling disturbance torque during the flight of a carrier rocket, specifically including: a data point and coordinate determination unit 510, a rocket body rolling channel moment of inertia determination unit 520, an angular acceleration and resultant torque determination unit 530, a rolling channel control torque absolute value determination unit 540, an average thrust determination unit 550, a rolling channel interference torque determination unit 560, a rolling channel interference torque sequence determination unit 570 and a rolling channel synthetic interference torque theoretical value determination unit 580.

[0066] The data point and coordinate determination unit 510 is used to select n groups of data points and the coordinates corresponding to the n groups of data points based on the rolling channel angular velocity curve.

[0067] Based on the above control characteristics, the following is formed: Figure 3 The rolling channel angular velocity curve is shown, where the horizontal axis t i represents time, the vertical axis ω i In the rolling angular velocity curve during the flight period, this embodiment selects n groups of data points, which are (a1, b1, c1, d1), (a2, b2, c2, d2), ... (ai, bi, ci, di) ..., (an, bn, cn, dn).

[0068] The corresponding coordinates of each set of data points (ai, bi, ci, di) are {(t ai ,ω ai )、(t bi ,ω bi )、(t ci ,ω ci )、(t di ,ω di )}, i=1, 2,…, n.

[0069] The arrow body rolling channel rotational inertia determination unit 520 is used to determine the specified time according to the coordinates corresponding to any data point, and to find the arrow body rolling channel rotational inertia corresponding to the specified time.

[0070] The specified time can be any time that needs to be calculated. i =(t bi +t ci ) / 2. Based on the mass characteristic data of the launch vehicle, find t i The moment of inertia J corresponding to the rolling channel of the rocket body xi .

[0071] The angular acceleration and resultant torque determining unit 530 is used to determine the angular acceleration and resultant torque in a specified time period.

[0072] Determining the angular acceleration and the resultant torque in a specified time period includes:

[0073] t ai ~t bi Time period, angular acceleration dω 1i =(ω bi -ω ai ) / (t bi -t ai ), resultant moment M 1i =J xi ·dω 1i π / 180.

[0074] t ci ~t di Time period, angular acceleration dω 2i =(ω di -ω ci ) / (t di -t ci ), resultant moment M 2i =J xi ·dω 2i π / 180.

[0075] The rolling channel control torque absolute value determining unit 540 is used to determine the rolling channel control torque absolute value corresponding to the specified time according to the angular acceleration and the resultant torque in the specified time period.

[0076] Assume that t ai ~t di The interference torque of the rolling channel in the time period is a constant, then t i The absolute value of the rolling channel control torque corresponding to the moment is M ci =(M 1i -M 2i ) / 2.

[0077] The average thrust determination unit 550 is used to determine the average thrust provided by a single rolling control device according to the absolute value of the rolling channel control torque corresponding to the specified time.

[0078] Assuming that the thrust line arm of the rolling control device is L1 and the number of rolling control devices is N, we can infer t i At the same time, a single rolling control device provides an average thrust P rolli =M ci / L1 / N.

[0079] The rolling channel interference torque determination unit 560 is used to determine the rolling channel interference torque corresponding to a specified time after determining the average thrust provided by a single rolling control device.

[0080] where t i The rolling channel interference torque M at the moment di =(M 1i +M 2i ) / 2.

[0081] The rolling channel interference torque sequence determining unit 570 is used to determine the rolling channel interference torque sequence corresponding to all moments.

[0082] According to the above steps, the rolling channel interference torque corresponding to all moments can be determined, and all moments form a time series (t1, t2, t3, ... t i ,…,t n ), then the time series (t1, t2, t3, …t i ,…,t n ) corresponds to the rolling channel disturbance torque sequence (M d1 ,M d2 ,M d3 ,...,M di ,...,M dn ).

[0083] The rolling channel composite disturbance torque theoretical value determination unit 580 is used to calculate the theoretical value of the rolling channel composite disturbance torque based on the rolling disturbance torque coefficient and the structural deviation given by the design conditions.

[0084] The rolling channel synthetic disturbance torque theoretical value determination unit 580 performs the following steps:

[0085] Step T1: Determine the wind disturbance torque.

[0086] The wind disturbance moment at any time is determined based on the aerodynamic disturbance moment coefficient: Specifically expressed as:

[0087]

[0088] Among them, C mx1represents the rolling channel interference moment coefficient, which is obtained by interpolation of the rolling channel interference moment coefficient obtained by wind tunnel test or CFD simulation. The interpolation independent variables include flight angle of attack, sideslip angle, Mach number, etc. q represents the dynamic pressure value calculated based on the actual flight trajectory, S M Represents the reference area of ​​the launch vehicle.

[0089] Step T2: Determine the rolling channel structure interference torque.

[0090] The center of mass deviation from the theoretical axis distance (D lateral , unit m) and thrust line displacement caused by engine installation error ( Unit: m), thrust line deflection ( Unit rad), determine the rolling channel structure interference at any time (Take the launch vehicle that uses a single-engine swing nozzle for attitude control as an example), which is specifically expressed as:

[0091]

[0092] Where P is the rated working thrust of the engine, δ comp Synthesize the swing angle for the engine's swing nozzle.

[0093] Step T3: Determine the synthetic disturbance torque based on the wind disturbance and the rolling channel structure disturbance torque.

[0094] The wind disturbance and structural disturbance calculated based on the design input conditions are added in absolute value or superimposed by mean square sum to obtain the theoretical value of the rolling channel synthetic disturbance moment.

[0095] Based on (t1, t2, t3, ..., t n ) and (M d1 , M d2 , M d3 , …, M dn ) to compare with the time curve drawn to confirm whether the deviation meets the design requirements, thereby realizing the review of the design input condition parameters.

[0096] This application has the following beneficial effects:

[0097] Based on flight test data, this application can calculate the rolling channel control torque, average thrust and interference torque of the rolling control device during the actual flight of the launch vehicle, which is used to evaluate the actual execution capability of the rolling control device, verify the accuracy of ground test and numerical simulation calculation results, and provide more comprehensive data support for rocket design and testing. It can also further evaluate the control capability margin of the current actuator configuration, and provide important reference for optimizing the design of the rocket, such as the aerodynamic shape, mass distribution and layout and quantity of the control system actuators.

[0098] Although the present application is described with reference to examples, this is for illustrative purposes only and is not intended to limit the present application, and changes, additions and / or deletions to the embodiments may be made without departing from the scope of the present application.

[0099] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for determining the rolling disturbance torque during the flight of a launch vehicle, characterized in that: The following steps are involved: Based on the rolling channel angular velocity curve, n groups of data points and the coordinates corresponding to the n groups of data points are selected; Determine the specified time according to the coordinates corresponding to any data point, and find the moment of inertia of the arrow body rolling channel corresponding to the specified time; After completing the search for the moment of inertia of the rolling channel of the rocket body, determine the angular acceleration and the resultant torque in the specified time period; Determine the absolute value of the rolling channel control torque corresponding to the specified time according to the angular acceleration and the resultant torque in the specified time period; Determine the average thrust provided by a single rolling control device according to the absolute value of the rolling channel control torque corresponding to the specified time; After determining the average thrust provided by a single rolling control device, determine the rolling channel disturbance torque corresponding to a specified time; After determining the rolling channel interference torque corresponding to the specified time, determine the rolling channel interference torque sequence corresponding to all time; The theoretical value of the rolling channel composite disturbance torque is calculated based on the rolling disturbance torque coefficient and structural deviation given by the design conditions.

2. The method for determining the rolling disturbance torque during the flight of a launch vehicle according to claim 1, characterized in that: Select n groups of data points on the rolling angular velocity curve during the flight period, the n groups of data points are (a1, b1, c1, d1), (a2, b2, c2, d2), ... (ai, bi, ci, di) ..., (an, bn, cn, dn); The horizontal axis t of the rolling angular velocity curve during the flight period i represents time, the vertical axis ω i Represents the rolling angular velocity. The corresponding coordinates of each set of data points (ai, bi, ci, di) are {(t ai ,ω ai )、(t bi ,ω bi )、(t ci ,ω ci )、(t di ,ω di )}, i=1, 2,…, n.

3. The method for determining the rolling disturbance torque during the flight of a launch vehicle according to claim 2, characterized in that: Determining the angular acceleration and resultant torque over a specified period of time involves: Determine t ai ~t bi Time period, angular acceleration dω 1i =(ω bi -ω ai ) / (t bi -t ai ), resultant moment M 1i =J xi ·dω 1i π / 180; Determine t ci ~t di Time period, angular acceleration dω 2i =(ω di -ω ci ) / (t di -t ci ), resultant moment M 2i =J xi ·dω 2i π / 180, J xi Indicates t i The moment corresponds to the rotational inertia of the arrow body rolling channel.

4. The method for determining the rolling disturbance torque during the flight of a launch vehicle according to claim 3, characterized in that: The absolute value of the rolling channel control torque M corresponding to the specified time ci It is expressed as: M ci =(M 1i -M 2i ) / 2 M 1i Indicates t ai ~t bi The resultant moment of the time period, M 2i Indicates t ci ~t di The resultant moment of the time period.

5. The method for determining the rolling disturbance torque during the flight of a launch vehicle according to claim 4, characterized in that: The average thrust P provided by a single roll control device rolli It is expressed as: P rolli =M ci / L1 / N M ci Indicates t i The moment corresponds to the absolute value of the rolling channel control torque, L1 represents the thrust line arm of the rolling control device, and N represents the total number of rolling control devices.

6. A system for determining rolling disturbance torque during the flight of a launch vehicle, characterized in that: Specifically include: A data point and coordinate determination unit, a rocket body rolling channel moment of inertia determination unit, an angular acceleration and resultant torque determination unit, a rolling channel control torque absolute value determination unit, an average thrust determination unit, a rolling channel interference torque determination unit, a rolling channel interference torque sequence determination unit, and a rolling channel synthetic interference torque theoretical value determination unit; A data point and coordinate determination unit, used to select n groups of data points and coordinates corresponding to the n groups of data points based on the rolling channel angular velocity curve; The unit for determining the rotational inertia of the arrow body rolling channel is used to determine the specified time according to the coordinates corresponding to any data point, and to find the rotational inertia of the arrow body rolling channel corresponding to the specified time; An angular acceleration and resultant torque determination unit, used to determine the angular acceleration and resultant torque in a specified time period; A rolling channel control torque absolute value determination unit, used to determine the rolling channel control torque absolute value corresponding to the specified time according to the angular acceleration and the resultant torque in the specified time period; an average thrust determination unit, for determining an average thrust provided by a single rolling control device according to an absolute value of a rolling channel control torque corresponding to a specified time; A rolling channel interference torque determination unit, used to determine the rolling channel interference torque corresponding to a specified time; A rolling channel interference torque sequence determination unit, used to determine the rolling channel interference torque sequence corresponding to all moments; The rolling channel composite disturbance torque theoretical value determination unit calculates the theoretical value of the rolling channel composite disturbance torque based on the rolling disturbance torque coefficient and the structural deviation given by the design conditions.

7. The system for determining the rolling disturbance torque during the flight of a launch vehicle according to claim 6, characterized in that: The data point and coordinate determination unit selects n groups of data points on the rolling angular velocity curve during the flight period, wherein the n groups of data points are (a1, b1, c1, d1), (a2, b2, c2, d2), ... (ai, bi, ci, di) ..., (an, bn, cn, dn); The horizontal axis t of the rolling angular velocity curve during the flight period i represents time, the vertical axis ω i Represents the rolling angular velocity. The corresponding coordinates of each set of data points (ai, bi, ci, di) are {(t ai ,ω ai )、(t bi ,ω bi )、(t ci ,ω ci )、(t di ,ω di )}, i=1, 2, ..., n.

8. The system for determining the rolling disturbance torque during the flight of a launch vehicle according to claim 7, characterized in that: The angular acceleration and resultant torque determination unit determines the angular acceleration and resultant torque in a specified time period, including: Determine t ai ~t bi Time period, angular acceleration dω 1i =(ω bi -ω ai ) / (t bi -t ai ), resultant moment M 1i =J xi ·dω 1i π / 180; Determine t ci ~t di Time period, angular acceleration dω 2i =(ω di -ω ci ) / (t di -t ci ), resultant moment M 2i =J xi ·dω 2i π / 180, J xi Indicates t i The moment corresponds to the rotational inertia of the arrow body rolling channel.

9. The system for determining the rolling disturbance torque during the flight of a launch vehicle according to claim 8, characterized in that: The rolling channel control torque absolute value determination unit determines the rolling channel control torque absolute value M corresponding to the specified time. ci It is expressed as: M ci =(M 1i -M 2i ) / 2 M 1i Indicates t ai ~t bi The resultant moment of the time period, M 2i Indicates t ci ~t di The resultant moment of the time period.

10. The system for determining the rolling disturbance torque during the flight of a launch vehicle according to claim 9, characterized in that: The average thrust determination unit determines the average thrust P provided by a single rolling control device. rolli It is expressed as: P roll =M ci / L1 / N M ci Indicates t i The moment corresponds to the absolute value of the rolling channel control torque, L1 represents the thrust line arm of the rolling control device, and N represents the total number of rolling control devices.

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