Dynamic modeling method and system for deployment process of aventurine exploration aerostat

Abstract

The invention discloses a dynamic modeling method and system for the deployment process of a golden star detection aerostat. The method comprises the steps of detecting aerostat parachute deceleration process dynamic modeling, detecting aerostat floating balloon parachute inflation process dynamic modeling and detecting aerostat floating detection process dynamic modeling. The dynamic simulation processes are carried out in sequence, after the previous simulation process meets the calculation ending condition, the calculation result is used as an input parameter of the next simulation process, and meanwhile, the next simulation process is automatically started until all the simulation processes are finished. Environmental parameters in dynamic modeling comprise atmospheric densities and wind speeds at different heights of the golden star. The invention provides a quick and efficient dynamic modeling method, which can provide reference for the design of a golden star exploration aerostat scheme.

Description

Technical Field

[0001] The invention relates to a method and system for dynamics modeling of a Venus exploration aerostat deployment process, belonging to the technical field of spacecraft reentry and return. Background Art

[0002] The surface temperature of Venus is above 460 degrees Celsius, and the pressure is 95 standard Earth atmospheres, which makes it difficult to implement the Venus landing exploration mission. At the same time, the atmospheric density of Venus is relatively high, and the underlying atmospheric environment is similar to the atmospheric environment of the Earth's stratosphere. Therefore, it is suitable for floating balloons as carriers to carry out floating exploration of Venus. The deployment process of the Venus exploration aerostat requires the use of parachute deceleration to complete the inflation of the floating balloon in the air, which can be divided into three stages: parachute deceleration, parachute inflation of the floating balloon, and floating exploration. In the dynamic simulation calculation, the calculation process of each stage of the deployment process of the Venus exploration aerostat needs to be carried out in sequence, and the calculation results of the previous stage are used as the calculation input conditions of the next stage. In order to achieve efficient and accurate dynamic simulation, it is necessary to establish a corresponding dynamic simulation model for the deployment process of the Venus exploration aerostat.

[0003] The shortcomings of the current dynamic modeling methods for the deployment process of detection aerostats are as follows: the existing dynamic modeling methods only focus on the parachute deceleration process and floating detection process of the detection aerostat, lack of dynamic modeling methods for the parachute inflation process of the floating balloon, and cannot achieve integrated dynamic modeling of the deployment process of the detection aerostat. Summary of the invention

[0004] The technical problem solved by the present invention is: to overcome the shortcomings of the prior art, to provide a method and system for dynamic modeling of the deployment process of a Venus exploration aerostat, to establish corresponding dynamic simulation models according to different stages of the deployment process of the Venus exploration aerostat, and to automatically start the next stage of calculation after the current stage of calculation is completed until the calculation is completed. The dynamic simulation method of the present invention is fast and efficient, and can provide a reference for the design of Venus exploration aerostat solutions.

[0005] The technical solution of the present invention is: in the first aspect, a method for dynamic modeling of the deployment process of a Venus exploration aerostat is provided, wherein the Venus exploration aerostat comprises: a parachute, a floating balloon, a reentry capsule and a detection payload; the deployment process is sequentially divided into: a parachute deceleration process, a floating balloon parachute descending and inflating process and a floating detection process;

[0006] The dynamic modeling method of the detection aerostat deployment process includes:

[0007] The dynamic equation of the parachute deceleration process of the detection aerostat is established. The speed v0 of the detection aerostat at the moment of parachute opening and the initial position S0 of the detection aerostat are used as initial values. The dynamic equation of the parachute deceleration process of the detection aerostat is solved by explicit time advancement until the moment when the floating balloon begins to inflate. The calculation of the parachute deceleration process of the detection aerostat ends. The speed of the detection aerostat at the end of the parachute deceleration process calculation is recorded as v1 and the position is S1.

[0008] The dynamic equations for the parachute inflation process of the detection aerostat are established. The velocity v1 and position S1 of the detection aerostat at the end of the calculation of the parachute deceleration process of the detection aerostat are used as initial values. The dynamic equations for the parachute inflation process of the detection aerostat are solved by explicit time advancement until the parachute release time. The calculation of the parachute inflation process of the detection aerostat is completed. The velocity v2 and position S2 of the detection aerostat at the parachute release time are recorded.

[0009] The dynamic equations for the floating detection process of the detection aerostat are established. The speed v2 and position S2 of the detection aerostat at the time of parachute release are taken as initial values. The dynamic equations of the floating detection process of the detection aerostat are solved by explicit time advancement until the deployment process of the detection aerostat is completed. The dynamic calculation is completed and the speed and position of the detection aerostat at the end of the calculation are output.

[0010] Preferably, the dynamic equation of the deceleration process of the detection aerostat parachute is:

[0011] dS / dt=v

[0012]

[0013] Where t is the flight time of the detection aerostat, ρ is the atmospheric density of Venus at the current altitude, and v wind is the wind speed of Venus at the current altitude, A D is the reentry module resistance area, A P is the parachute drag area, m1 is the system mass of the detection aerostat during the parachute deceleration process, g is the gravity acceleration of Venus; v is the real-time speed of the detection aerostat, and S is the real-time position of the detection aerostat.

[0014] Preferably, the dynamic equation of the inflation process of the floating balloon parachute of the detection aerostat is:

[0015] dS / dt=v

[0016]

[0017] Among them, t is the flight time of the detection aerostat, A B (n) are the drag area of ​​the floating balloon, expressed as a continuous function or piecewise interpolation function of the inflation volume n of the floating balloon; A D is the reentry module resistance area, AP is the parachute drag area, V is the volume of the floating balloon, V f is the design volume of the floating balloon, μ is the mass of the floating balloon per unit time, m2 is the mass of the detection aerostat during the parachute inflation process, ρ B is the gas density in the floating balloon, ρ is the atmospheric density of Venus at the current altitude, M B is the molecular weight of the gas in the floating balloon, M is the molecular weight of the atmosphere of Venus, v is the real-time speed of the detection aerostat, S is the real-time position of the detection aerostat, and v wind is the wind speed of Venus at the current altitude, and g is the gravitational acceleration of Venus.

[0018] Preferably, the dynamic equation of the detection aerostat during the floating detection process is:

[0019] dS / dt=v

[0020]

[0021] Among them A L is the detection load resistance area, m3 is the system mass of the detection aerostat during the floating detection process, m B is the mass of gas in the floating balloon;

[0022] t is the flight time of the detection aerostat, A B (n) are the drag area of ​​the floating balloon, expressed as a continuous function or piecewise interpolation function of the inflation volume n of the floating balloon; V is the volume of the floating balloon, V f is the design volume of the floating balloon, μ is the inflation mass of the floating balloon per unit time, ρ B is the gas density in the floating balloon, ρ is the atmospheric density of Venus at the current altitude, M B is the molecular weight of the gas in the floating balloon, M is the molecular weight of the atmosphere of Venus, v is the real-time speed of the detection aerostat, S is the real-time position of the detection aerostat, and v wind is the wind speed of Venus at the current altitude, and g is the gravitational acceleration of Venus.

[0023] In the second aspect, a dynamic modeling system for the deployment process of a Venus exploration aerostat is provided, including: a dynamic modeling module for the deceleration process of the exploration aerostat parachute, a dynamic modeling module for the floating balloon parachute inflation process of the exploration aerostat, and a dynamic modeling module for the floating exploration process of the exploration aerostat; specifically:

[0024] The dynamics modeling module of the parachute deceleration process of the detection aerostat establishes a dynamics equation for the parachute deceleration process of the detection aerostat, takes the speed v0 of the detection aerostat at the time of parachute opening and the initial position S0 of the detection aerostat as initial values, and solves the dynamics equation of the parachute deceleration process of the detection aerostat by explicit time advancement until the moment when the floating balloon begins to inflate, and the calculation of the parachute deceleration process of the detection aerostat is completed, and the speed v1 and position S1 of the detection aerostat at the end of the calculation of the parachute deceleration process are sent to the dynamics modeling module of the parachute landing and inflation process of the floating balloon of the detection aerostat;

[0025] The dynamics modeling module of the parachute inflation process of the detection aerostat establishes a dynamics equation for the parachute inflation process of the detection aerostat, takes the speed v1 and position S1 of the detection aerostat at the end of the calculation of the parachute deceleration process of the detection aerostat as initial values, and solves the dynamics equation of the parachute inflation process of the detection aerostat by explicit time advancement until the parachute release time, the calculation of the parachute inflation process of the detection aerostat is completed, and sends the speed v2 and position S2 of the detection aerostat at the parachute release time to the dynamics modeling module of the floating detection process of the detection aerostat;

[0026] The dynamics modeling module of the detection aerostat floating detection process establishes the dynamics equation for the detection aerostat floating detection process, takes the detection aerostat speed v2 and position S2 at the time of parachute release as the initial values, and solves the dynamics equation of the detection aerostat floating detection process by explicit time advancement until the detection aerostat deployment process is completed, the dynamics calculation is completed and the detection aerostat speed and position at the calculation end time are output.

[0027] Preferably, in the dynamics modeling module of the deceleration process of the parachute of the detection aerostat, the dynamics equation of the deceleration process of the parachute of the detection aerostat is:

[0028] dS / dt=v

[0029]

[0030] Where t is the flight time of the detection aerostat, ρ is the atmospheric density of Venus at the current altitude, and v wind is the wind speed of Venus at the current altitude, A D is the reentry module resistance area, A P is the parachute drag area, m1 is the system mass of the detection aerostat during the parachute deceleration process, g is the gravity acceleration of Venus; v is the real-time speed of the detection aerostat, and S is the real-time position of the detection aerostat.

[0031] Preferably, in the dynamics modeling module of the detection aerostat floating balloon parachute inflation process, the dynamics equation of the detection aerostat floating balloon parachute inflation process is:

[0032] dS / dt=v

[0033]

[0034] Among them, t is the flight time of the detection aerostat, A B (n) are the drag area of ​​the floating balloon, expressed as a continuous function or piecewise interpolation function of the inflation volume n of the floating balloon; A D is the reentry module resistance area, A P is the parachute drag area, V is the volume of the floating balloon, V f is the design volume of the floating balloon, μ is the mass of the floating balloon per unit time, m2 is the mass of the detection aerostat during the parachute inflation process, ρ B is the gas density in the floating balloon, ρ is the atmospheric density of Venus at the current altitude, M B is the molecular weight of the gas in the floating balloon, M is the molecular weight of the atmosphere of Venus, v is the real-time speed of the detection aerostat, S is the real-time position of the detection aerostat, and v wind is the wind speed of Venus at the current altitude, and g is the gravitational acceleration of Venus.

[0035] Preferably, in the dynamics modeling module of the detection aerostat floating detection process, the dynamics equation of the detection aerostat floating detection process is:

[0036] dS / dt=v

[0037]

[0038] Among them A L is the detection load resistance area, m3 is the system mass of the detection aerostat during the floating detection process, m B is the mass of gas in the floating balloon;

[0039] t is the flight time of the detection aerostat, A B (n) are the drag area of ​​the floating balloon, expressed as a continuous function or piecewise interpolation function of the inflation volume n of the floating balloon; V is the volume of the floating balloon, V f is the design volume of the floating balloon, μ is the inflation mass of the floating balloon per unit time, ρ B is the gas density in the floating balloon, ρ is the atmospheric density of Venus at the current altitude, M B is the molecular weight of the gas in the floating balloon, M is the molecular weight of the atmosphere of Venus, v is the real-time speed of the detection aerostat, S is the real-time position of the detection aerostat, and v wind is the wind speed of Venus at the current altitude, and g is the gravitational acceleration of Venus.

[0040] Compared with the prior art, the present invention has the following advantages:

[0041] (1) The present invention realizes the integrated dynamic modeling of the deployment process of the detection aerostat, and at the same time, the inflation process of the floating balloon parachute is taken into account in the dynamic modeling method, so the model is more realistic;

[0042] (2) The dynamic modeling method of the present invention improves the calculation efficiency of the dynamic simulation of the Venus exploration aerostat deployment process. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 This is a schematic diagram of the deployment process of the Venus exploration aerostat in the present invention;

[0044] Figure 2 It is a flow chart of the dynamic modeling method of the Venus exploration aerostat deployment process in the present invention;

[0045] Figure 3 Schematic diagram of a velocity coordinate system for detecting an aerostat in an embodiment of the present invention;

[0046] Figure 4 It is a calculation result of detecting the change of the height of the aerostat over time in an embodiment of the present invention;

[0047] Figure 5 2 is a schematic diagram of the calculation results of the horizontal displacement of the detection aerostat changing with time in an embodiment of the present invention;

[0048] Figure 6 2 is a schematic diagram of the calculation result of the vertical velocity variation of the detection aerostat over time in an embodiment of the present invention;

[0049] Figure 7 It is a schematic diagram of the calculation result of the horizontal velocity variation of the detection aerostat over time in an embodiment of the present invention. DETAILED DESCRIPTION

[0050] The present invention will be described in further detail below in conjunction with the accompanying drawings:

[0051] Figure 1 The present invention is a schematic diagram of the deployment process of the Venus exploration aerostat, which includes a parachute, a floating balloon, a reentry capsule and a detection payload. The parachute is used to decelerate the aerostat in the atmosphere of Venus, the floating balloon is used to provide buoyancy for the aerostat, the reentry capsule is used to place the parachute, the floating balloon and the detection payload and provide protection, and the detection payload is used to realize the detection function of the aerostat.

[0052] The present invention provides a method for dynamic modeling of the deployment process of a Venus exploration aerostat, wherein the deployment process of a Venus exploration aerostat can be divided into the following three stages: parachute deceleration stage, floating balloon parachute inflation stage and floating exploration stage. The states of each stage are:

[0053] During the parachute deceleration phase, the parachute is in a working state, and the floating balloon and the detection payload are placed in the re-entry capsule; during the parachute descent and inflation phase of the floating balloon, the parachute is in a working state, the floating balloon is gradually filled from a folded state, and the detection payload is placed in the re-entry capsule; during the floating detection phase, the parachute and the re-entry capsule are separated from the detection aerostat, and the floating balloon and the detection payload are in a working state.

[0054] The corresponding dynamic modeling method for the deployment process of the Venus exploration aerostat includes: dynamic modeling of the parachute deceleration process of the exploration aerostat; dynamic modeling of the parachute inflation process of the exploration aerostat; dynamic modeling of the floating exploration process of the exploration aerostat. In the dynamic modeling method for the deployment process of the Venus exploration aerostat proposed in the present invention, dynamic models for the above stages are established respectively, and calculations are carried out in sequence.

[0055] In the above-mentioned dynamic modeling method of the Venus exploration aerostat deployment process, the dynamic modeling is based on ordinary differential equations, and an explicit time-marching solution is performed on the three-degree-of-freedom motion model.

[0056] In the above-mentioned dynamic modeling method of the Venus exploration aerostat deployment process, each dynamic simulation process is carried out in sequence. When the current simulation process meets the calculation end condition, the calculation result is used as the input parameter of the next simulation process, and the next simulation process is automatically started at the same time until all simulation processes are completed.

[0057] Figure 2 The figure is a flow chart of the dynamic modeling method for the deployment process of the Venus exploration aerostat proposed in the present invention. As shown in the figure, the method includes the following calculation process:

[0058] (1) Given the speed and altitude of the detection aerostat at the time of parachute opening, the dynamic simulation of the parachute deceleration process of the detection aerostat is performed until the calculation of the process is completed;

[0059] (2) taking the calculation result of step (1) as the initial condition, a dynamic simulation of the inflation process of the floating balloon parachute of the detection aerostat is performed until the calculation of the process is completed;

[0060] (3) Using the calculation result of step (2) as the initial condition, perform dynamic simulation of the detection aerostat's floating detection process until all calculations are completed and the results are output.

[0061] Specifically, (1) given the speed and altitude of the detection aerostat at the time of parachute opening, Figure 3 This is a schematic diagram of the velocity coordinate system of the detection aerostat. The x-axis is in the north of Venus, the y-axis is in the east of Venus, and the z-axis is vertically downward. The velocity of the detection aerostat at the moment of parachute opening is v0 (v x0 ,v y0 ,v z0), the initial position of the detection aerostat is S0(0,0,-h0), where h0 is the height of the detection aerostat when the parachute is opened.

[0062] The dynamic equation of the parachute deceleration process of the detection aerostat is:

[0063] dS / dt=v

[0064]

[0065] Where t is the flight time of the detection aerostat, ρ is the atmospheric density of Venus at the current altitude, and v wind is the wind speed of Venus at the current altitude, A D is the reentry module resistance area, A P is the parachute drag area, m1 is the mass of the parachute deceleration process of the detection aerostat, and g is the gravity acceleration of Venus. With v0 and S0 as the initial values, the dynamic equation of the parachute deceleration process of the detection aerostat is solved by explicit time advancement. Let t1 be the time when the floating balloon starts to inflate. When the condition t>t1 is met, the calculation of the parachute deceleration process of the detection aerostat ends. At this time, the speed and position of the detection aerostat are v1 and S1.

[0066] (2) The dynamic equation of the parachute inflation process of the detection aerostat is:

[0067] dS / dt=v

[0068]

[0069] Among them A B (n) are the drag area of ​​the floating balloon, which can be expressed as a continuous function or piecewise interpolation function of the inflation volume n of the floating balloon. V is the volume of the floating balloon, V f is the design volume of the floating balloon, μ is the inflation mass of the floating balloon per unit time, ρ B is the gas density in the floating balloon, m2 is the mass of the detection system during the floating balloon parachute inflation process, M B is the molecular weight of the gas in the floating balloon, and M is the molecular weight of the atmosphere of Venus. Taking v1 and S1 as the initial values, the dynamic equation of the parachute inflation process of the detection aerostat is solved by explicit time advancement. Let t2 be the parachute release time. When the condition t>t2 is met, the calculation of the parachute inflation process of the detection aerostat is completed. At this time, the speed and position of the detection aerostat are v2 and S2.

[0070] (3) The dynamic equation of the detection aerostat during the floating detection process is:

[0071] dS / dt=v

[0072]

[0073] Among them AL is the detection load resistance area, m3 is the system mass of the detection aerostat during the floating detection process, m B is the mass of gas in the floating balloon. With v2 and S2 as initial values, the dynamic equation of the detection aerostat in the floating detection process is solved by explicit time advancement. Let t3 be the end time of the dynamic simulation calculation of the detection aerostat deployment process. When the condition t>t3 is met, the dynamic calculation ends and the calculation results are output. The calculation results include the changes of the detection aerostat velocity v and the detection aerostat position S with time in steps (1) to (3).

[0074] In the above-mentioned dynamic modeling method of the Venus exploration aerostat deployment process, the dynamic simulation calculation results include the changes in the speed and position of the exploration aerostat over time.

[0075] In the above-mentioned dynamic modeling method of the Venus exploration aerostat deployment process, the aerodynamic drag of the aerostat is calculated by means of the drag area of ​​the aerostat, and the drag area of ​​the aerostat is expressed as a continuous function or a piecewise interpolation function of the inflation amount of the aerostat.

[0076] In the second aspect, a dynamic modeling system for the deployment process of a Venus exploration aerostat is provided, including: a dynamic modeling module for the deceleration process of the exploration aerostat parachute, a dynamic modeling module for the floating balloon parachute inflation process of the exploration aerostat, and a dynamic modeling module for the floating exploration process of the exploration aerostat; specifically:

[0077] The dynamics modeling module of the parachute deceleration process of the detection aerostat establishes a dynamics equation for the parachute deceleration process of the detection aerostat, takes the speed v0 of the detection aerostat at the time of parachute opening and the initial position S0 of the detection aerostat as initial values, and solves the dynamics equation of the parachute deceleration process of the detection aerostat by explicit time advancement until the moment when the floating balloon begins to inflate, and the calculation of the parachute deceleration process of the detection aerostat is completed, and the speed v1 and position S1 of the detection aerostat at the end of the calculation of the parachute deceleration process are sent to the dynamics modeling module of the parachute landing and inflation process of the floating balloon of the detection aerostat;

[0078] The dynamics modeling module of the parachute inflation process of the detection aerostat establishes a dynamics equation for the parachute inflation process of the detection aerostat, takes the speed v1 and position S1 of the detection aerostat at the end of the calculation of the parachute deceleration process of the detection aerostat as initial values, and solves the dynamics equation of the parachute inflation process of the detection aerostat by explicit time advancement until the parachute release time, the calculation of the parachute inflation process of the detection aerostat is completed, and sends the speed v2 and position S2 of the detection aerostat at the parachute release time to the dynamics modeling module of the floating detection process of the detection aerostat;

[0079] The dynamics modeling module of the detection aerostat floating detection process establishes the dynamics equation for the detection aerostat floating detection process, takes the detection aerostat speed v2 and position S2 at the time of parachute release as the initial values, and solves the dynamics equation of the detection aerostat floating detection process by explicit time advancement until the detection aerostat deployment process is completed, the dynamics calculation is completed and the detection aerostat speed and position at the calculation end time are output.

[0080] In the dynamics modeling module of the detection aerostat parachute deceleration process, the dynamics equation of the detection aerostat parachute deceleration process is:

[0081] dS / dt=v

[0082]

[0083] Where t is the flight time of the detection aerostat, ρ is the atmospheric density of Venus at the current altitude, and v wind is the wind speed of Venus at the current altitude, A D is the reentry module resistance area, A P is the parachute drag area, m1 is the system mass of the detection aerostat during the parachute deceleration process, g is the gravity acceleration of Venus; v is the real-time speed of the detection aerostat, and S is the real-time position of the detection aerostat.

[0084] In the dynamic modeling module of the parachute inflation process of the detection aerostat, the dynamic equation of the parachute inflation process of the detection aerostat is:

[0085] dS / dt=v

[0086]

[0087] Among them, t is the flight time of the detection aerostat, A B (n) are the drag area of ​​the floating balloon, expressed as a continuous function or piecewise interpolation function of the inflation volume n of the floating balloon; A D is the reentry module resistance area, A P is the parachute drag area, V is the volume of the floating balloon, V f is the design volume of the floating balloon, μ is the mass of the floating balloon per unit time, m2 is the mass of the detection aerostat during the parachute inflation process, ρ B is the gas density in the floating balloon, ρ is the atmospheric density of Venus at the current altitude, M B is the molecular weight of the gas in the floating balloon, M is the molecular weight of the atmosphere of Venus, v is the real-time speed of the detection aerostat, S is the real-time position of the detection aerostat, and v wind is the wind speed of Venus at the current altitude, and g is the gravitational acceleration of Venus.

[0088] In the dynamics modeling module of the detection aerostat floating detection process, the dynamics equation of the detection aerostat floating detection process is:

[0089] dS / dt=v

[0090]

[0091] Among them A L is the detection load resistance area, m3 is the system mass of the detection aerostat during the floating detection process, m B is the mass of gas in the floating balloon;

[0092] t is the flight time of the detection aerostat, A B (n) are the drag area of ​​the floating balloon, expressed as a continuous function or piecewise interpolation function of the inflation volume n of the floating balloon; V is the volume of the floating balloon, V f is the design volume of the floating balloon, μ is the inflation mass of the floating balloon per unit time, ρ B is the gas density in the floating balloon, ρ is the atmospheric density of Venus at the current altitude, M B is the molecular weight of the gas in the floating balloon, M is the molecular weight of the atmosphere of Venus, v is the real-time speed of the detection aerostat, S is the real-time position of the detection aerostat, and v wind is the wind speed of Venus at the current altitude, and g is the gravitational acceleration of Venus.

[0093] Example:

[0094] The calculation parameters of this embodiment are: the speed v0 of the detection aerostat at the time of parachute opening is (0, -200m / s, 200m / s), the initial position S0 of the detection aerostat is (0, 0, -65km), the reentry resistance area A D 1.8m 2 , parachute drag area A P 5.0m 2 , the mass m1 of the detection aerostat parachute deceleration process is 280kg, and the gravity acceleration g of Venus is (0, 0, 8.87m / s 2 ), the inflation time t1 of the floating balloon is 500s, and the design volume V0 of the floating balloon is 80m 3 The mass μ of the floating balloon per unit time is 0.081 kg / s. The mass m2 of the floating balloon parachute inflation process is 275 kg. The gas in the floating balloon is helium with a molecular weight of M. B is 4, the molecular weight of Venus' atmosphere M is 44, the parachute release time t2 is 520s, and the detection load resistance area A L is 0.6m2, the system mass m3 of the detection aerostat during the floating detection process is 80kg, and the gas mass m in the floating balloon is B The weight of the aerostat is 8.1 kg, and the end time t3 of the dynamic simulation calculation of the deployment process of the detection aerostat is 4500 s. The atmospheric density ρ at different altitudes of Venus refers to the standard atmospheric model of Venus, and the wind speed v of Venus iswind =(0,v wy ,0), where v wy The relationship with height h is:

[0095] v wy =-0.00125h

[0096] Floating balloon drag area A B The inflation volume n of the floating balloon is calculated by interpolation from the following table:

[0097] Inflation volume of floating balloon 0.0 0.2 0.4 0.6 0.8 1.0 <![CDATA[Drag area of floating balloon (m 2 )]]> 0.0 2.3 4.3 6.0 6.9 4.5

[0098] The dynamic equations of the detection aerostat are solved according to the above parameters. Figure 4 To detect the time-varying curve of the aerostat’s height, Figure 5 To detect the time variation curve of the horizontal (-y) displacement of the aerostat, Figure 6 To detect the vertical velocity of the aerostat over time, Figure 7 It is the curve of the horizontal (z) velocity of the aerostat changing with time.

[0099] The contents not described in detail in the specification of the present invention belong to the prior art known to the professional and technical personnel in this field.

Claims

1. A method for dynamic modeling of the deployment process of a Venus exploration aerostat, characterized by: The Venus exploration aerostat includes: parachute, floating balloon, reentry capsule and exploration payload; the deployment process is divided into: parachute deceleration process, floating balloon parachute inflation process and floating exploration process; The dynamic modeling method of the detection aerostat deployment process includes: The dynamic equation of the parachute deceleration process of the detection aerostat is established. The speed v0 of the detection aerostat at the moment of parachute opening and the initial position S0 of the detection aerostat are used as initial values. The dynamic equation of the parachute deceleration process of the detection aerostat is solved by explicit time advancement until the moment when the floating balloon begins to inflate. The calculation of the parachute deceleration process of the detection aerostat ends. The speed of the detection aerostat at the end of the parachute deceleration process calculation is recorded as v1 and the position is S1. The dynamic equations for the parachute inflation process of the detection aerostat are established. The velocity v1 and position S1 of the detection aerostat at the end of the calculation of the parachute deceleration process of the detection aerostat are used as initial values. The dynamic equations for the parachute inflation process of the detection aerostat are solved by explicit time advancement until the parachute release time. The calculation of the parachute inflation process of the detection aerostat is completed. The velocity v2 and position S2 of the detection aerostat at the parachute release time are recorded. The dynamic equations for the floating detection process of the detection aerostat are established. The speed v2 and position S2 of the detection aerostat at the time of parachute release are taken as initial values. The dynamic equations of the floating detection process of the detection aerostat are solved by explicit time advancement until the deployment process of the detection aerostat is completed. The dynamic calculation is completed and the speed and position of the detection aerostat at the end of the calculation are output.

2. The method for dynamic modeling of the deployment process of a Venus exploration aerostat according to claim 1, characterized in that: The dynamic equation of the parachute deceleration process of the detection aerostat is: dS / dt=v Where t is the flight time of the detection aerostat, ρ is the atmospheric density of Venus at the current altitude, and v wind is the wind speed of Venus at the current altitude, A D is the reentry module resistance area, A P is the parachute drag area, m1 is the system mass of the detection aerostat during the parachute deceleration process, g is the gravity acceleration of Venus; v is the real-time speed of the detection aerostat, and S is the real-time position of the detection aerostat.

3. The method for dynamic modeling of the deployment process of a Venus exploration aerostat according to claim 1, characterized in that: The dynamic equation of the inflation process of the floating balloon parachute of the detection aerostat is: dS / dt=v Among them, t is the flight time of the detection aerostat, A B (n) are the drag area of ​​the floating balloon, expressed as a continuous function or piecewise interpolation function of the inflation volume n of the floating balloon; A D is the reentry module resistance area, A P is the parachute drag area, V is the volume of the floating balloon, V f is the design volume of the floating balloon, μ is the mass of the floating balloon per unit time, m2 is the mass of the detection aerostat during the parachute inflation process, ρ B is the gas density in the floating balloon, ρ is the atmospheric density of Venus at the current altitude, M B is the molecular weight of the gas in the floating balloon, M is the molecular weight of the atmosphere of Venus, v is the real-time speed of the detection aerostat, S is the real-time position of the detection aerostat, and v wind is the wind speed of Venus at the current altitude, and g is the gravitational acceleration of Venus.

4. The method for dynamic modeling of the deployment process of a Venus exploration aerostat according to claim 1, characterized in that: The dynamic equation of the detection aerostat during the floating detection process is: dS / dt=v Among them A L is the detection load resistance area, m3 is the system mass of the detection aerostat during the floating detection process, m B is the mass of gas in the floating balloon; t is the flight time of the detection aerostat, A B (n) are the drag area of ​​the floating balloon, expressed as a continuous function or piecewise interpolation function of the inflation volume n of the floating balloon; V is the volume of the floating balloon, V f is the design volume of the floating balloon, μ is the inflation mass of the floating balloon per unit time, ρ B is the gas density in the floating balloon, ρ is the atmospheric density of Venus at the current altitude, M B is the molecular weight of the gas in the floating balloon, M is the molecular weight of the atmosphere of Venus, v is the real-time speed of the detection aerostat, S is the real-time position of the detection aerostat, and v wind is the wind speed of Venus at the current altitude, and g is the gravitational acceleration of Venus.

5. A dynamic modeling system for the deployment process of a Venus exploration aerostat, characterized in that include: Dynamic modeling module for the parachute deceleration process of the detection aerostat, dynamic modeling module for the parachute inflation process of the detection aerostat, and dynamic modeling module for the floating detection process of the detection aerostat; specifically: The dynamics modeling module of the parachute deceleration process of the detection aerostat establishes a dynamics equation for the parachute deceleration process of the detection aerostat, takes the speed v0 of the detection aerostat at the time of parachute opening and the initial position S0 of the detection aerostat as initial values, and solves the dynamics equation of the parachute deceleration process of the detection aerostat by explicit time advancement until the moment when the floating balloon begins to inflate, and the calculation of the parachute deceleration process of the detection aerostat is completed, and the speed v1 and position S1 of the detection aerostat at the end of the calculation of the parachute deceleration process are sent to the dynamics modeling module of the parachute landing and inflation process of the floating balloon of the detection aerostat; The dynamics modeling module of the parachute inflation process of the detection aerostat establishes a dynamics equation for the parachute inflation process of the detection aerostat, takes the speed v1 and position S1 of the detection aerostat at the end of the calculation of the parachute deceleration process of the detection aerostat as initial values, and solves the dynamics equation of the parachute inflation process of the detection aerostat by explicit time advancement until the parachute release time, the calculation of the parachute inflation process of the detection aerostat is completed, and sends the speed v2 and position S2 of the detection aerostat at the parachute release time to the dynamics modeling module of the floating detection process of the detection aerostat; The dynamics modeling module of the detection aerostat floating detection process establishes the dynamics equation for the detection aerostat floating detection process, takes the detection aerostat speed v2 and position S2 at the time of parachute release as the initial values, and solves the dynamics equation of the detection aerostat floating detection process by explicit time advancement until the detection aerostat deployment process is completed, the dynamics calculation is completed and the detection aerostat speed and position at the calculation end time are output.

6. A Venus exploration aerostat deployment process dynamics modeling system according to claim 5, characterized in that: In the dynamic modeling module of the detection aerostat parachute deceleration process, the dynamic equation of the detection aerostat parachute deceleration process is: dS / dt=v Where t is the flight time of the detection aerostat, ρ is the atmospheric density of Venus at the current altitude, and v wind is the wind speed of Venus at the current altitude, A D is the reentry module resistance area, A P is the parachute drag area, m1 is the system mass of the detection aerostat during the parachute deceleration process, g is the gravity acceleration of Venus; v is the real-time speed of the detection aerostat, and S is the real-time position of the detection aerostat.

7. The Venus exploration aerostat deployment process dynamics modeling system according to claim 5, characterized in that: In the dynamic modeling module of the parachute inflation process of the detection aerostat, the dynamic equation of the parachute inflation process of the detection aerostat is: dS / dt=v Among them, t is the flight time of the detection aerostat, A B (n) are the drag area of ​​the floating balloon, expressed as a continuous function or piecewise interpolation function of the inflation volume n of the floating balloon; A D is the reentry module resistance area, A P is the parachute drag area, V is the volume of the floating balloon, V f is the design volume of the floating balloon, μ is the mass of the floating balloon per unit time, m2 is the mass of the detection aerostat during the parachute inflation process, ρ B is the gas density in the floating balloon, ρ is the atmospheric density of Venus at the current altitude, M B is the molecular weight of the gas in the floating balloon, M is the molecular weight of the atmosphere of Venus, v is the real-time speed of the detection aerostat, S is the real-time position of the detection aerostat, and v wind is the wind speed of Venus at the current altitude, and g is the gravitational acceleration of Venus.

8. The Venus exploration aerostat deployment process dynamics modeling system according to claim 5, characterized in that: In the dynamics modeling module of the detection aerostat floating detection process, the dynamics equation of the detection aerostat floating detection process is: dS / dt=v Among them A L is the detection load resistance area, m3 is the system mass of the detection aerostat during the floating detection process, m B is the mass of gas in the floating balloon; t is the flight time of the detection aerostat, A B (n) are the drag area of ​​the floating balloon, expressed as a continuous function or piecewise interpolation function of the inflation volume n of the floating balloon; V is the volume of the floating balloon, V f is the design volume of the floating balloon, μ is the inflation mass of the floating balloon per unit time, ρ B is the gas density in the floating balloon, ρ is the atmospheric density of Venus at the current altitude, M B is the molecular weight of the gas in the floating balloon, M is the molecular weight of the atmosphere of Venus, v is the real-time speed of the detection aerostat, S is the real-time position of the detection aerostat, and v wind is the wind speed of Venus at the current altitude, and g is the gravitational acceleration of Venus.

Images