Carrier rocket control method and device based on triple-redundancy servo actuator and storage medium

Abstract

The invention belongs to the technical field of spaceflight launching, and particularly relates to a carrier rocket triple-redundancy servo actuator control method and device and a storage medium, and the method comprises the following steps: constructing a triple-redundancy servo actuator architecture; the expected output of each servo actuator is obtained, collaborative optimization of dynamic parameter adjustment of each servo actuator is realized through a dragonfly algorithm, and the output of each servo actuator is updated and output; judging whether the current state of each servo actuator is normal or not according to the expected output of each servo actuator and the updated output, and if the current state of each servo actuator is abnormal, marking the state of each servo actuator as a fault and isolating the fault servo actuator; collaborative optimization of dynamic parameter adjustment of the servo actuators in the normal states is achieved through a dragonfly algorithm, and the output of the normal servo actuators is updated and output again; and acquiring the expected output of each normal servo actuator, and repeating the steps. According to the invention, the overall reliability and safety can be greatly improved.

Description

Technical Field

[0001] The present invention belongs to the field of aerospace launch technology, and in particular relates to a launch vehicle control method, equipment and storage medium based on triple redundant servo actuators. Background Art

[0002] Traditional launch vehicle servo actuator systems usually use a single configuration, that is, a servo actuator independently completes the control task. It is relatively simple in technology and low in cost, but lacks sufficient fault tolerance in the face of complex and changing environments or when failures occur, and cannot guarantee stable control of the rocket's attitude. Therefore, this type of system has low reliability when performing tasks, especially in long-distance, high-precision space missions, where a single servo configuration can easily become a weak link in the system. Specifically, rocket servo actuators in the prior art have the following defects:

[0003] 1. Insufficient reliability: Single configuration or dual redundant servo actuator systems have significant limitations in fault tolerance, especially when performing long-term or high-risk missions. When a single actuator fails, the system lacks redundancy, resulting in a decrease in the reliability of the entire rocket attitude control. This problem can be solved to a certain extent through dual redundant configuration, allowing the system to maintain normal operation under a single failure, but once multiple servo actuators fail, the control function may be completely lost.

[0004] 2. Poor fault diagnosis and isolation capabilities: Traditional servo systems lack complete fault diagnosis and isolation functions, making it difficult to promptly detect and eliminate the impact of faulty actuators. After a fault occurs, the system may be disturbed due to the inability to quickly isolate the problematic actuator, resulting in reduced attitude control accuracy.

[0005] 3. Performance degradation in multiple fault scenarios: The dual redundant servo system can only guarantee the reliability of attitude control in a single fault scenario, and in multiple fault scenarios, the system control capability will be significantly reduced. As the complexity of the mission environment increases, the performance limitations of the dual redundant system make it unable to adapt to the needs of multiple faults or extreme conditions, which seriously limits the application scenarios of rockets. Summary of the invention

[0006] In order to solve at least one of the above-mentioned technical problems of the launch vehicle servo actuator system in the prior art, the present invention proposes a launch vehicle triple redundant servo actuator control method, equipment and storage medium. By applying the dragonfly algorithm to the triple redundant servo actuator control, the adaptability, fault tolerance and dynamic optimization capability of the servo system are improved. Even if problems occur in two actuators, the system still has partial or complete control capabilities, thereby greatly improving the success rate of the mission.

[0007] In order to solve the above technical problems, the technical solution adopted by the present invention is: a launch vehicle control method based on a triple redundant servo actuator, comprising the following steps:

[0008] Step 1: Build a triple redundant servo actuator architecture;

[0009] Step 2: Obtain the expected output of each servo actuator, realize the coordinated optimization of the dynamic parameter adjustment of each servo actuator through the dragonfly algorithm, and update the output of each servo actuator;

[0010] Step 3: According to the expected output and updated output of each servo actuator, determine whether the current status of each servo actuator is normal. If not, mark its status as faulty, isolate the faulty servo actuator and proceed to step 4. If normal, return to step 2.

[0011] Step 4: The dragonfly algorithm is used to realize the coordinated optimization of the dynamic parameter adjustment of each servo actuator in a normal state, and the output of each normal servo actuator is updated and outputted again;

[0012] Step 5: Obtain the expected output of each normal servo actuator and repeat steps 3 to 4.

[0013] In step 3, the method for determining whether the current status of each servo actuator is normal is to determine whether the deviation between the output of each servo actuator and the expected output exceeds a first threshold, and if so, determine that its status is abnormal.

[0014] The step 2 further comprises the following steps:

[0015] Determine whether the deviation between the outputs of each servo actuator exceeds a second threshold. If so, re-implement the collaborative optimization of the dynamic parameter adjustment of each servo actuator through the dragonfly algorithm, and update the output of each servo actuator until the deviation between the outputs of each servo actuator is less than the second threshold.

[0016] The step 2 also includes the following steps: determining whether the deviation between the output of each servo actuator and the expected output exceeds a third threshold; if so, re-optimizing the control signal of the servo actuator through the dragonfly algorithm, and adjusting the output of the servo actuator until the deviation between the output of each servo actuator and the expected output is less than the third threshold.

[0017] The third threshold is smaller than the second threshold.

[0018] In the triple redundant servo actuator architecture constructed in step 1, each servo actuator independently controls the attitude of the rocket to ensure that when a single actuator fails, the other actuators can continue to work.

[0019] In addition, the present invention also provides a launch vehicle control device based on a triple redundant servo actuator, comprising:

[0020] Three servo actuators, each of which independently controls the rocket's attitude to ensure that if a single actuator fails, the others can continue to operate;

[0021] Servo control module: The servo control module is used to implement a launch vehicle control method based on a triple redundant servo actuator as described above.

[0022] The servo control module includes a processor and a memory in communication with the processor;

[0023] The memory stores computer-executable instructions;

[0024] The processor executes the computer-executable instructions stored in the memory to implement the launch vehicle control method based on triple redundant servo actuators.

[0025] The computer-executable instructions stored in the memory include:

[0026] Parameter optimization module: used to obtain the expected output of each servo actuator, realize the coordinated optimization of the dynamic parameter adjustment of each servo actuator through the dragonfly algorithm, and update the output of each servo actuator;

[0027] Fault detection and isolation module: used to determine whether the current status of each servo actuator is normal based on the expected output and updated output of each servo actuator. If not, its status is marked as faulty and the faulty servo actuator is isolated. The method for determining whether the current status of each servo actuator is normal is to determine whether the deviation between the output of each servo actuator and the expected output exceeds a first threshold value. If so, its status is determined to be abnormal.

[0028] The computer-executable instructions stored in the memory also include:

[0029] Collaborative control module: used to determine whether the deviation between the outputs of each servo actuator exceeds the second threshold. If so, the dragonfly algorithm is used again to realize the collaborative optimization of the dynamic parameter adjustment of each servo actuator, and the output of each servo actuator is updated until the deviation between the outputs of each servo actuator is less than the second threshold.

[0030] Verification and adjustment module: used to determine whether the deviation between the output of each servo actuator and the expected output exceeds the third threshold. If so, the control signal of the servo actuator is optimized again through the dragonfly algorithm, and the output of the servo actuator is adjusted until the deviation between the output of each servo actuator and the expected output is less than the third threshold.

[0031] In addition, the present invention also provides a computer program product, including computer execution instructions, which, when executed by a processor, implement the launch vehicle control method based on a triple redundant servo actuator.

[0032] Compared with the prior art, the present invention has the following beneficial effects:

[0033] 1. The present invention provides a launch vehicle triple redundant servo actuator control method, device and storage medium. A triple redundant servo actuator system is used. Even if a single actuator fails, the other actuators can still maintain the stability and control capability of the system. This redundant design significantly improves the fault tolerance of the system, which is better than many traditional systems that rely on only a single actuator. Moreover, the present invention combines the dynamic optimization characteristics of the dragonfly algorithm and can intelligently adjust the control strategy in a complex and uncertain environment. The dragonfly algorithm simulates the group behavior of dragonflies in nature, allowing multiple actuators to work together and respond to various changes and failures in a timely manner, thereby improving the intelligence level of the system.

[0034] 2. Real-time fault detection and automatic isolation: The present invention uses a real-time fault detection module to quickly identify the state of the actuator and automatically isolate the faulty actuator. Compared with the prior art, the system can respond quickly when a fault occurs, avoiding the need for manual intervention, thereby reducing potential risks and human errors.

[0035] 3. The present invention ensures that the output of the actuator during flight always meets the design requirements through the expected output verification mechanism of the servo actuator. This dynamic verification improves control consistency and avoids flight instability caused by output deviation.

[0036] In summary, the present invention provides a launch vehicle triple-redundant servo actuator control method, equipment and storage medium, which integrates redundant design, intelligent optimization, real-time monitoring and fault isolation. This multi-redundant control method provides higher reliability and safety guarantees for rocket launches and flight missions, enabling it to flexibly respond to complex space mission requirements, especially when performing high-risk space missions, and lays the foundation for more complex space missions in the future. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 A schematic flow chart of a launch vehicle control method based on triple redundant servo actuators provided in Embodiment 1 of the present invention;

[0038] Figure 2 A schematic structural diagram of a launch vehicle control device based on a triple redundant servo actuator provided in Embodiment 2 of the present invention. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments; based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0040] Embodiment 1

[0041] like Figure 1 As shown, the first embodiment of the present invention provides a launch vehicle control method based on a triple redundant servo actuator, comprising the following steps:

[0042] Step 1: Build a triple redundant servo actuator architecture.

[0043] In the triple redundant servo actuator architecture constructed in the step 1, a triple redundant servo actuator configuration is adopted, and each servo actuator independently controls the attitude of the rocket, which significantly improves the fault tolerance and stability of the system to ensure that when a single actuator fails, the other actuators can continue to work and can effectively compensate to maintain the normal flight of the rocket.

[0044] In this embodiment, the layout of the three servo actuators meets the redundant configuration requirements and is distributed in different locations of the system to minimize the concentration of faults and the impact on the rocket's attitude, providing basic fault tolerance and redundancy protection for the overall system.

[0045] Step 2: Obtain the expected output of each servo actuator, realize the coordinated optimization of the dynamic parameter adjustment of each servo actuator through the dragonfly algorithm, and update the output of each servo actuator.

[0046] In this embodiment, the dragonfly algorithm is introduced to achieve collaborative optimization of servo actuators by simulating the aggregation and dispersion behavior of dragonfly groups. The dragonfly algorithm helps the system to quickly optimize the output parameters of other actuators when an actuator fails or deviates, thereby maintaining the balance and stability of the system. The group search capability of the dragonfly algorithm enables the system to dynamically adjust the attitude control signal when facing sudden failures, ensuring the continuity and adaptability of the overall control strategy.

[0047] Furthermore, in this embodiment, step 2 also includes the following steps: determining whether the deviation between the outputs of each servo actuator exceeds a first threshold value; if so, re-implementing the collaborative optimization of the dynamic parameter adjustment of each servo actuator through the dragonfly algorithm, and updating the output of each servo actuator until the deviation between the outputs of each servo actuator is less than the first threshold value.

[0048] In this embodiment, a multi-actuator dynamic cooperative control mechanism is adopted, and the dragonfly algorithm is used to dynamically distribute and adjust the output of normal actuators. This mechanism ensures that each actuator automatically adjusts the control output according to the real-time attitude deviation and the status of other actuators during the rocket flight, reduces the uneven load of each actuator, and improves the accuracy and coordination of system control.

[0049] Furthermore, in this embodiment, step 2 further includes the following steps: determining whether the deviation between the output of each servo actuator and the expected output exceeds a second threshold, and if so, re-optimizing the control signal of the servo actuator through the dragonfly algorithm, and adjusting the output of the servo actuator until the deviation between the output of each servo actuator and the expected output is less than a third threshold. Specifically, the second threshold is less than the first threshold.

[0050] In addition, in this embodiment, the expected working verification mechanism of the servo actuator is realized through the second threshold value to ensure that each actuator operates normally according to the design requirements in different flight phases. The dragonfly algorithm is used in this step to evaluate the real-time output of the actuator, compare the actual output with the expected working state, identify deviations and make dynamic adjustments. If the output of an actuator deviates greatly from the expected value, the system will automatically trigger the correction mechanism, adjust the actuator output by optimizing the control signal, and ensure the accuracy and consistency of the rocket attitude control. This design improves the overall reliability and fault tolerance of the system, so that the servo actuator always works as expected in a complex flight environment.

[0051] Step 3: Based on the expected output and updated output of each servo actuator, determine whether the current status of each servo actuator is normal. If not, mark its status as faulty, isolate the faulty servo actuator and proceed to step 4. If normal, return to step 2.

[0052] The control method of this embodiment is designed with fault detection and isolation logic to monitor the output status of each servo actuator in real time. The dragonfly algorithm can identify abnormal outputs and determine the possibility of faults through specific rules, automatically isolate and ignore the output of the faulty actuator, so that the healthy actuator can continue to work stably. Fault isolation and detection can ensure that the system still has sufficient attitude control capabilities in the event of single or multiple point faults.

[0053] Specifically, in step 3, the method for determining whether the current status of each servo actuator is normal is to determine whether the deviation between the output of each servo actuator and the expected output exceeds a third threshold, and if so, determine that its status is abnormal.

[0054] Step 4: The dragonfly algorithm is used to realize the coordinated optimization of the dynamic parameter adjustment of each servo actuator in a normal state, and the output of each normal servo actuator is re-updated and outputted.

[0055] Furthermore, similar to step 2, step 4 also includes a step of determining whether the deviation between the outputs of the servo actuators exceeds a first threshold.

[0056] Furthermore, similar to step 2, step 4 also includes a step of determining whether the deviation between the output of each servo actuator and the expected output exceeds a second threshold.

[0057] Step 5: Obtain the expected output of each normal servo actuator and repeat steps 3 to 4.

[0058] In this embodiment, by applying the dragonfly algorithm to the control method of the three redundant servo actuators of the launch vehicle, the adaptability, fault tolerance and dynamic optimization capability of the servo system are greatly improved, so that it can flexibly respond to complex space mission requirements. The intelligent optimization characteristics of the dragonfly algorithm not only improve the accuracy of rocket attitude control, but also significantly enhance the stability and fault isolation capability of the system in multiple fault scenarios. It has the following characteristics:

[0059] 1. Optimize the coordinated control of multiple actuators

[0060] In a three-redundant servo actuator system, different actuators need to work together to keep the rocket's attitude stable. The Dragonfly algorithm can adjust the dynamic parameters of the servo actuators through swarm intelligence optimization, so that the outputs of multiple actuators can automatically optimize and work together under different fault scenarios. For example, when the output of a certain actuator deviates from the expected output, the Dragonfly algorithm can use swarm optimization rules to enable healthy actuators to automatically adjust control signals, thereby compensating for the impact of the faulty actuator and improving the overall control accuracy and coordination of the system.

[0061] 2. Enhance fault tolerance and adaptive capabilities

[0062] The Dragonfly algorithm has strong adaptability. By simulating the dragonfly's behavior of maintaining distance and avoiding obstacles in complex environments, it can dynamically adapt to different control requirements. In the rocket's highly dynamic flight mission, the system may be affected by sudden failures or disturbances. The Dragonfly algorithm can adaptively adjust the parameters of the servo actuator in different flight phases to maintain the reliability and stability of the system under high fault tolerance conditions, thereby meeting the multi-fault requirements of complex space missions.

[0063] 3. Fault detection and intelligent isolation

[0064] The Dragonfly algorithm can detect abnormal values ​​in the output data of the servo actuator through its group search behavior, achieving early detection and intelligent isolation of faults. The "dispersion" and "attraction" characteristics of the Dragonfly algorithm can help the system distinguish between normal and abnormal actuator outputs. For example, when the output of a servo actuator deviates, the Dragonfly algorithm will automatically determine the state of the actuator and isolate it from the normal actuator, thereby preventing the faulty output from affecting the control accuracy of the overall system and improving the safety of the system.

[0065] 4. Adapt to control requirements in complex and dynamic environments

[0066] The Dragonfly algorithm is suitable for operating in a dynamic and uncertain environment, which is very suitable for disturbances such as complex airflow and gravity changes that may be encountered during the flight of a rocket. In this environment, the Dragonfly algorithm can flexibly find the optimal control path, and adjust the output of the servo actuator in time through dynamic aggregation and dispersion behavior to offset the impact of external disturbances on the rocket's attitude, thereby ensuring the rocket's flight accuracy and stability.

[0067] The feasibility of the embodiments of the present invention has been demonstrated through a series of simulations.

[0068] The following is part of the implementation source code:

[0069]

[0070]

[0071]

[0072] Code Description

[0073] ServoActuator class: represents a servo actuator. Each actuator has a unique ID, current output, expected output, and status attributes. The update_output method is used to update the output of the actuator. The check_status method checks the deviation between the current output and the expected output. If the deviation exceeds the set threshold, the status is marked as "faulty". DragonflyAlgorithm class: implements the optimization logic of the dragonfly algorithm. The optimize method traverses all servo actuators and checks their status. If an actuator is found to be in a "faulty" state, the reallocate_control method is called to reallocate the control signal to the healthy actuator.

[0074] ControlSystem class: The main implementation of the control system, creating three servo actuators and optimizing the control through DragonflyAlgorithm. The simulate method simulates the operation of the system, randomly generates the output of the actuators, and calls the optimization algorithm.

[0075] Embodiment 2

[0076] like Figure 2 As shown, the second embodiment of the present invention provides a launch vehicle control device based on a triple redundant servo actuator, including:

[0077] Three servo actuators, each of which independently controls the rocket's attitude to ensure that if a single actuator fails, the others can continue to operate;

[0078] Servo control module: The servo control module is used to implement a launch vehicle control method based on a triple redundant servo actuator as described in Example 1.

[0079] The servo control module includes a processor and a memory communicatively connected to the processor; the memory stores computer-executable instructions; the processor executes the computer-executable instructions stored in the memory to implement a launch vehicle control method based on a triple redundant servo actuator as described in Example 1.

[0080] Specifically, in this embodiment, the computer-executable instructions stored in the memory include:

[0081] Parameter optimization module: used to obtain the expected output of each servo actuator, realize the coordinated optimization of the dynamic parameter adjustment of each servo actuator through the dragonfly algorithm, and update the output of each servo actuator;

[0082] Fault detection and isolation module: used to determine whether the current status of each servo actuator is normal based on the expected output and updated output of each servo actuator. If not, its status is marked as faulty and the faulty servo actuator is isolated. The method for determining whether the current status of each servo actuator is normal is to determine whether the deviation between the output of each servo actuator and the expected output exceeds a first threshold value. If so, its status is determined to be abnormal.

[0083] Furthermore, in this embodiment, the computer-executable instructions stored in the memory further include:

[0084] Collaborative control module: used to determine whether the deviation between the outputs of each servo actuator exceeds the second threshold. If so, the dragonfly algorithm is used again to realize the collaborative optimization of the dynamic parameter adjustment of each servo actuator, and the output of each servo actuator is updated until the deviation between the outputs of each servo actuator is less than the second threshold.

[0085] Verification and adjustment module: used to determine whether the deviation between the output of each servo actuator and the expected output exceeds the third threshold. If so, the control signal of the servo actuator is optimized again through the dragonfly algorithm, and the output of the servo actuator is adjusted until the deviation between the output of each servo actuator and the expected output is less than the third threshold.

[0086] Embodiment 3

[0087] Embodiment 3 of the present invention provides a computer program product, including computer execution instructions, which, when executed by a processor, implement a launch vehicle control method based on triple redundant servo actuators as described in Embodiment 1.

[0088] In summary, the present invention provides a launch vehicle control method, device and storage medium based on a triple redundant servo actuator, adopts the configuration of triple redundant servo actuator, independently controls the rocket attitude through multiple actuators, significantly improves the fault tolerance and stability of the system, and ensures that when a single actuator fails, other actuators can effectively compensate and maintain the normal flight of the rocket. In addition, the present invention combines the dragonfly algorithm for dynamic optimization and control, and realizes the adaptive collaborative work of the servo actuator by simulating the behavior of the dragonfly group. The group intelligence characteristics of the dragonfly algorithm enable the system to automatically adjust the control strategy in a complex and dynamic environment to improve the overall control accuracy. Moreover, the present invention monitors the state of each servo actuator in real time and determines whether it is in a fault state according to the output deviation. By intelligently isolating the faulty actuator, it is ensured that the output of the healthy actuator is not affected, and the reliability of the system is guaranteed. Moreover, the present invention can realize the expected work verification of the servo actuator, dynamically compare the actual output with the expected output, and adjust the control signal in time to ensure that each actuator can work normally according to the design requirements in different flight stages, thereby improving the control consistency of the system. In short, the present invention can work stably in a highly dynamic and multi-fault environment and adapt to external changes and disturbances. Through adaptive algorithms, the system can flexibly adjust control strategies to meet the needs of complex flight missions.

[0089] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention 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 replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A launch vehicle control method based on triple redundant servo actuators, characterized in that: The following steps are involved: Step 1: Build a triple redundant servo actuator architecture; Step 2: Obtain the expected output of each servo actuator, realize the coordinated optimization of the dynamic parameter adjustment of each servo actuator through the dragonfly algorithm, and update the output of each servo actuator; Step 3: According to the expected output and updated output of each servo actuator, determine whether the current status of each servo actuator is normal. If not, mark its status as faulty, isolate the faulty servo actuator and proceed to step 4. If normal, return to step 2. Step 4: The dragonfly algorithm is used to realize the coordinated optimization of the dynamic parameter adjustment of each servo actuator in a normal state, and the output of each normal servo actuator is updated and outputted again; Step 5: Obtain the expected output of each normal servo actuator and repeat steps 3 to 4.

2. A launch vehicle control method based on triple redundant servo actuators according to claim 1, characterized in that: In step 3, the method for determining whether the current status of each servo actuator is normal is to determine whether the deviation between the output of each servo actuator and the expected output exceeds a first threshold, and if so, determine that its status is abnormal.

3. A launch vehicle control method based on triple redundant servo actuators according to claim 2, characterized in that: The step 2 further comprises the following steps: Determine whether the deviation between the outputs of each servo actuator exceeds a second threshold. If so, re-implement the collaborative optimization of the dynamic parameter adjustment of each servo actuator through the dragonfly algorithm, and update the output of each servo actuator until the deviation between the outputs of each servo actuator is less than the second threshold.

4. A launch vehicle control method based on triple redundant servo actuators according to claim 2, characterized in that: The step 2 also includes the following steps: determining whether the deviation between the output of each servo actuator and the expected output exceeds a third threshold; if so, re-optimizing the control signal of the servo actuator through the dragonfly algorithm, and adjusting the output of the servo actuator until the deviation between the output of each servo actuator and the expected output is less than the third threshold; the third threshold is less than the second threshold.

5. The launch vehicle control method based on triple redundant servo actuators according to claim 1, characterized in that: In the triple redundant servo actuator architecture constructed in step 1, each servo actuator independently controls the attitude of the rocket to ensure that when a single actuator fails, the other actuators can continue to work.

6. A launch vehicle control device based on a triple redundant servo actuator, characterized in that: include: Three servo actuators, each of which independently controls the rocket's attitude to ensure that if a single actuator fails, the others can continue to operate; Servo control module: The servo control module is used to implement a launch vehicle control method based on a triple redundant servo actuator as described in any one of claims 1 to 5.

7. A launch vehicle control device based on a triple redundant servo actuator according to claim 6, characterized in that: The servo control module includes a processor and a memory in communication with the processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory to implement a launch vehicle control method based on a triple redundant servo actuator as described in any one of claims 1 to 5.

8. A launch vehicle control device based on a triple redundant servo actuator according to claim 7, characterized in that: The computer-executable instructions stored in the memory include: Parameter optimization module: used to obtain the expected output of each servo actuator, realize the coordinated optimization of the dynamic parameter adjustment of each servo actuator through the dragonfly algorithm, and update the output of each servo actuator; Fault detection and isolation module: used to determine whether the current status of each servo actuator is normal based on the expected output and updated output of each servo actuator. If not, its status is marked as faulty and the faulty servo actuator is isolated. The method for determining whether the current status of each servo actuator is normal is to determine whether the deviation between the output of each servo actuator and the expected output exceeds a first threshold. If so, its status is determined to be abnormal.

9. A launch vehicle control device based on a triple redundant servo actuator according to claim 7, characterized in that: The computer-executable instructions stored in the memory also include: Collaborative control module: used to determine whether the deviation between the outputs of each servo actuator exceeds a second threshold value. If so, the collaborative optimization of the dynamic parameter adjustment of each servo actuator is realized again through the dragonfly algorithm, and the output of each servo actuator is updated and output until the deviation between the outputs of each servo actuator is less than the second threshold value. Verification and adjustment module: used to determine whether the deviation between the output of each servo actuator and the expected output exceeds the third threshold. If so, the control signal of the servo actuator is optimized again through the dragonfly algorithm, and the output of the servo actuator is adjusted until the deviation between the output of each servo actuator and the expected output is less than the third threshold.

10. A computer program product comprising computer executable instructions, characterized in that: When the computer execution instruction is executed by the processor, a launch vehicle control method based on a triple redundant servo actuator as described in any one of claims 1 to 5 is implemented.

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