Thrust compensation method and device for rocket engine in wide range, medium and equipment

Abstract

The invention discloses a thrust compensation method and device for a rocket engine in a wide range, a medium and equipment, and relates to the technical field of engine thrust compensation. A plurality of different target thrusts are applied to the test run frame through the rocket engine, and the output thrusts of the rocket engine under the corresponding thrusts are measured; dividing a plurality of thrust compensation intervals, and setting a corresponding initial compensation digital filter for each thrust compensation interval; according to the target thrust and the output thrust, parameters in the corresponding initial compensation digital filters are iteratively adjusted, and the compensation digital filter of each thrust compensation interval is obtained; the actual output thrust of the rocket engine in actual engineering is measured, the target thrust compensation interval corresponding to the actual output thrust is determined, the actual output thrust is compensated through the compensation digital filter of the target thrust compensation interval, and the compensated thrust of the rocket engine is obtained. According to the method, the thrust of the rocket engine can be accurately compensated in a wide range.

Description

Technical Field

[0001] The present invention relates to the technical field of engine thrust compensation, and particularly relates to a thrust compensation method, device, medium and equipment for a rocket engine in a wide range. Background Technique

[0002] At present, as the main power device of spacecraft and missiles and other aircraft, the thrust control technology of rocket engines has an important impact on the performance of aircraft. With the continuous development of the aerospace field, the thrust provided by rocket engines is increasing continuously, and higher requirements are put forward for the accuracy and dynamic response speed of rocket engine thrust. Rocket engines need to be able to adjust thrust within a wide range to meet the needs of different flight stages.

[0003] However, during the operation of rocket engines, due to the influence of various factors such as temperature changes caused by the combustion of propellants, fluctuations in propellant supply, and changes in flight attitude, the thrust will change dynamically. In a wide range of flight conditions, this thrust change may have a serious impact on key performances such as the flight trajectory and attitude control of rockets. Existing technologies are difficult to effectively and accurately dynamically compensate the thrust of rocket engines within a wide range, resulting in limited performance of rocket engines. Summary of the Invention

[0004] Based on this, in view of the above technical problems, it is necessary to provide a thrust compensation method, device, medium and equipment for a rocket engine in a wide range, and this method can accurately compensate the thrust of the rocket engine within a wide range.

[0005] The present invention adopts the following technical solutions:

[0006] The present invention provides a thrust compensation method for a rocket engine in a wide range, including:

[0007] Applying multiple different target thrusts to the test frame by the rocket engine respectively, and measuring the output thrust of the rocket engine under the corresponding thrust;

[0008] According to the target thrust and the corresponding output thrust, calculating the parameters that can characterize the transfer characteristics of the filtering system under different target thrusts respectively, and dividing multiple thrust compensation intervals according to the differences between the parameters under different target thrust steps, and setting a corresponding initial compensation digital filter for each thrust compensation interval; the thrust compensation interval is the thrust range to be compensated;

[0009] Iteratively adjusting the parameters in the corresponding initial compensation digital filter according to the target thrust and the output thrust to obtain the compensation digital filter for each thrust compensation interval;

[0010] Measure the actual output thrust of a rocket engine in an actual project, determine the target thrust compensation interval corresponding to the actual output thrust, and use the compensation digital filter in the target thrust compensation interval to compensate the actual output thrust to obtain the compensated thrust of the rocket engine.

[0011] Optionally, the parameters include the natural angular frequency and damping ratio of the filtering system; the target thrust is a stepwise increasing target thrust; according to the differences between the parameters under different target thrust steps, multiple thrust compensation intervals are divided, including:

[0012] For any target thrust, quantify the natural angular frequency and damping ratio corresponding to the target thrust to obtain the eigenvalue under the target thrust;

[0013] Calculate the difference between the eigenvalues under all adjacent two target thrusts;

[0014] Use the absolute value of the difference greater than the preset difference threshold as the demarcation point to obtain multiple thrust compensation intervals.

[0015] Optionally, quantifying the natural angular frequency and damping ratio corresponding to the target thrust to obtain the eigenvalue under the target thrust includes:

[0016] Substitute the natural angular frequency and damping ratio corresponding to the target thrust into the pre-constructed normalized eigenvalue function to obtain the eigenvalue under the target thrust; the normalized eigenvalue function can reflect the influence of the co-variation of the natural angular frequency and damping ratio on the transfer characteristics of the filtering system.

[0017] Optionally, set a corresponding initial compensation digital filter for each thrust compensation interval, including:

[0018] For any thrust compensation interval, construct the transfer function of a second-order force measurement system;

[0019] Connect a dynamic compensation filter in series on the second-order force measurement system; the dynamic compensation filter includes a second-order low-pass filter;

[0020] Determine the equivalent transfer function according to the transfer function of the second-order force measurement system and the transfer function of the dynamic compensation filter;

[0021] Use the equivalent transfer function as the transfer function of the initial compensation digital filter.

[0022] Optionally, the transfer function G(s) of the second-order force measurement system is:

[0023]

[0024] where ω n is the natural angular frequency of the initial compensation digital filter, ξ is the damping ratio, ω n is the complex frequency domain;

[0025] The transfer function H d (s) of the dynamic compensation filter is as follows:

[0026]

[0027] where ω' n is the natural angular frequency of the second-order low-pass filter;

[0028] The equivalent transfer function X(s) is as follows:

[0029]

[0030] Optionally, according to the target thrust and the output thrust, iteratively adjust the parameters in the corresponding initial compensation digital filter to obtain the compensation digital filter for each thrust compensation interval, including:

[0031] For any thrust compensation interval, compensate the output thrust through the initial compensation digital filter to obtain the compensated thrust;

[0032] Compare the compensated thrust with the target thrust. If it is determined that the compensated thrust does not reach the desired dynamic performance, adjust the natural angular frequency and damping ratio in the initial compensation digital filter;

[0033] According to the target thrust and the output thrust, iteratively adjust the natural angular frequency and damping ratio in the initial compensation digital filter until the compensated thrust reaches the desired dynamic performance, and determine the initial compensation digital filter that reaches the desired dynamic performance as the compensation digital filter.

[0034] Optionally, use the compensation digital filter of the target thrust compensation interval to compensate the actual output thrust to obtain the compensated thrust of the rocket engine, including:

[0035] Determine the product of the equivalent transfer function in the compensation digital filter and the actual output thrust as the compensated thrust of the rocket engine.

[0036] The present invention provides a thrust compensation device for a rocket engine in a wide range, including:

[0037] A measurement module, configured to apply multiple different target thrusts to the test vehicle frame through the rocket engine respectively, and measure the output thrust of the rocket engine under the corresponding thrust;

[0038] A division module, configured to calculate the parameters that can characterize the transfer characteristics of the filtering system under different target thrusts according to the target thrust and the corresponding output thrust, and divide multiple thrust compensation intervals according to the differences between the parameters under different target thrust steps, and set a corresponding initial compensation digital filter for each thrust compensation interval; the thrust compensation interval is the thrust range to be compensated;

[0039] An adjustment module, configured to iteratively adjust parameters in a corresponding initial compensation digital filter according to a target thrust and an output thrust, so as to obtain a compensation digital filter for each thrust compensation interval;

[0040] A compensation module, configured to measure an actual output thrust of a rocket engine in an actual project, determine a target thrust compensation interval corresponding to the actual output thrust, and compensate the actual output thrust by using a compensation digital filter of the target thrust compensation interval, so as to obtain a compensated thrust of the rocket engine.

[0041] The present invention provides a computer-readable storage medium storing a computer program, and when the computer program is executed by a processor, the thrust compensation method for a rocket engine in a wide range is implemented.

[0042] The present invention provides a computer device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the program, the thrust compensation method for a rocket engine in a wide range is implemented.

[0043] The above at least one technical solution adopted by the present invention can achieve the following beneficial effects:

[0044] In the present invention, the thrust is divided into multiple thrust compensation intervals, and the compensation digital filter for each thrust compensation interval can more accurately match the dynamic characteristics of the thrust compensation interval, so that different compensation digital filters are used for compensation in each thrust compensation interval. In this way, compared with a single compensation model, the compensation behavior under all working conditions can be described more accurately, and each compensation digital filter is more accurate in a specific thrust compensation interval, thereby improving the accuracy of rocket engine thrust compensation. Description of the Drawings

[0045] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention. In the drawings:

[0046] Figure 1 It is a schematic flowchart of a thrust compensation method for a rocket engine in a wide range provided by the present invention;

[0047] Figure 2 It is a schematic flowchart of another thrust compensation method for a rocket engine in a wide range provided by the present invention;

[0048] Figure 3 It is a schematic diagram of a thrust compensation device for a rocket engine in a wide range provided by the present invention;

[0049] Figure 4A schematic diagram of a computer device for implementing a thrust compensation method for a rocket engine over a wide range provided by the present invention. DETAILED DESCRIPTION

[0050] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with specific embodiments of the present invention and corresponding drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0051] While the "wide range" feature provides rocket engines with greater flexibility and adaptability, it also presents challenges in terms of system complexity, dynamic response, and cost. During rocket engine operation, thrust dynamically varies due to various factors, including temperature fluctuations caused by propellant combustion, fluctuations in propellant supply, and changes in flight attitude. Under a wide range of flight conditions, these thrust variations can severely impact key performance indicators such as the rocket's flight trajectory and attitude control. Existing technologies struggle to effectively and accurately and in real time dynamically compensate for rocket engine thrust over a wide range, limiting rocket engine performance.

[0052] Current rocket engine thrust dynamic compensation technology lacks support for dynamic thrust compensation over a wide range of operating conditions. A wide thrust range increases system complexity, and the engine faces more complex loads and environmental conditions, such as higher pressures, temperatures, and greater vibrations. This complicates the engine's dynamic response characteristics. Traditional feedback control methods struggle to maintain optimal parameters throughout the entire flight process when faced with complex, wide-ranging operating condition changes. This results in insufficient thrust compensation accuracy, especially in situations of drastic thrust changes or rapid operating condition switching, where over- or under-compensation can easily occur. From the sensor detecting the thrust change signal, to the control system processing and outputting control commands, to the actuator adjusting parameters such as propellant flow, the entire process involves a certain time delay, which prevents the thrust compensation response from keeping pace with the speed of the thrust change, impacting the rocket's flight stability.

[0053] Therefore, due to the complex operating conditions that may occur in a wide range (such as switching between low and high operating conditions), the existing thrust compensation method is difficult to meet its thrust adjustment requirements during the dynamic adjustment process, resulting in inaccurate thrust size and affecting the stability and performance of the engine.

[0054] Based on this, the present invention provides a thrust compensation method, device, medium and equipment for a rocket engine in a wide range. Through interval compensation, the method can perform high-precision, fast-response and well-adaptive dynamic compensation on the thrust of the rocket engine under wide-range flight conditions, effectively improving the flight performance and mission reliability of the rocket.

[0055] The execution subject of the method provided in the present invention can be a server set up in a business platform, or devices such as a desktop computer or a laptop computer that can execute the solution of the present invention.

[0056] The following will combine with the attached drawings to detail the technical solutions provided by each embodiment of the present invention.

[0057] Figure 1 It is a schematic flow chart of a thrust compensation method for a rocket engine in a wide range in the present invention, which specifically includes the following steps:

[0058] S101, apply multiple different target thrusts to the test vehicle frame through the rocket engine respectively, and measure the output thrust of the rocket engine under the corresponding thrust.

[0059] Specifically, control the rocket engine to apply multiple different target thrusts to the test vehicle frame respectively, and monitor the thrust output of the rocket engine in real time through a high-precision sensor to obtain the output thrust of different target thrusts in a wide range.

[0060] A strain gauge sensor or a piezoelectric sensor can be used, installed on the thrust test bench of the rocket engine to monitor the thrust output in real time; convert the analog signal output by the sensor into a digital signal through a high-speed data acquisition card and transmit it to a computer for processing; filter and amplify the collected signal to remove noise and interference to obtain the final output thrust.

[0061] S102, calculate the parameters that can characterize the transfer characteristics of the filtering system under different target thrusts respectively according to the target thrust and the corresponding output thrust, and divide multiple thrust compensation intervals according to the differences between the parameters under different target thrust steps, and set a corresponding initial compensation digital filter for each thrust compensation interval; the thrust compensation interval is the thrust range to be compensated.

[0062] Optionally, the parameters include the natural angular frequency and damping ratio of the filtering system; the target thrust is a stepwise increasing target thrust; dividing multiple thrust compensation intervals according to the differences between the parameters under different target thrust steps includes: for any target thrust, quantize the natural angular frequency and damping ratio corresponding to the target thrust to obtain the characteristic value under the target thrust; calculate the difference between the characteristic values of all adjacent two target thrusts; use the absolute value of the difference greater than the preset difference threshold as the demarcation point to obtain multiple thrust compensation intervals.

[0063] Specifically, the natural angular frequency and damping ratio corresponding to the target thrust are quantified to obtain the eigenvalue under the target thrust, including: substituting the natural angular frequency and damping ratio corresponding to the target thrust into the pre-constructed normalization characteristic function to obtain the eigenvalue under the target thrust; the normalization characteristic function can reflect the influence of the co-variation of the natural angular frequency and damping ratio on the transfer characteristics of the filtering system.

[0064] Among them, the normalization characteristic function is: α + β = 1, ω is the natural angular frequency of the filtering system, and ζ is the damping ratio of the filtering system. ζ max , ω max are the maximum or nominal values of the system parameters. α and β are weight coefficients, mainly based on the sensitivity of the parameters. If the system is sensitive to vibration attenuation, α should be increased to give ζ a higher weight. If it is sensitive to the resonance frequency, β should be increased to give ω a higher weight. Here, taking the maximum thrust of 70 tons, α = 0.6, and β = 0.4 as an example to introduce the method.

[0065] Calculate the eigenvalue sequence F i = F(ζ i , ω i ), as shown in Table 1.

[0066] Table 1

[0067]

[0068] Calculate ΔF i To determine the interval: calculate the difference ΔF between adjacent points i = |F i+1 - F i |, and set a threshold according to requirements (such as the difference threshold ΔF > 0.2) to determine the demarcation point. The smaller ΔF is, the more intervals are divided. For example, assuming the difference threshold is 0.1, after calculation, it is found that only when the thrust is from 30 tons to 40 tons, ΔF > 0.1. Therefore, 40 tons is the demarcation point.

[0069] Division result: Interval 1: 0 - 40 tons (ΔF rises smoothly); Interval 2: 40 - 70 tons (ΔF fluctuates after a sudden change).

[0070] It should be noted that if the designed characteristic function has poor regularity or cannot meet the project requirements, the characteristic function needs to be redesigned. For example, if there is a non-linear relationship between parameters, such as ζ 2 is related to 1 / ω, the characteristic function can be designed as non-linear, such as After adjustment, check whether the characteristic function curve can clearly reflect the parameter mutation, and adjust the function form or weight until the division result meets the engineering expectations.

[0071] In the above manner, the thrust range can be systematically divided into multiple thrust compensation intervals, and the characteristic function F remains relatively stable within each thrust compensation interval, thereby reflecting the consistency of the dynamic characteristics of the system.

[0072] When the rocket engine applies multiple different target thrusts to the test frame respectively, the applied target thrusts can be incremented sequentially, covering the entire thrust range that the rocket engine may generate.

[0073] Optionally, an initial compensation digital filter is set for each thrust compensation interval, including for any thrust compensation interval, constructing the transfer function of the second-order force measurement system; connecting a dynamic compensation filter in series on the second-order force measurement system; determining the equivalent transfer function according to the transfer function of the second-order force measurement system and the transfer function of the dynamic compensation filter; using the equivalent transfer function as the transfer function of the initial compensation digital filter; the dynamic compensation filter includes a second-order low-pass filter.

[0074] Optionally, methods such as the special whitening filter generalized least squares system identification modeling method and the MATLAB system identification toolbox can be used to obtain the transfer function of the initial compensation digital filter; for example, methods such as the least squares method, moment estimation, state space model, neural network, genetic algorithm, etc.

[0075] Among them, assuming the transfer function of the second-order force measurement system is G(s), if the dynamic calibration curve of the second-order force measurement system is close to the response curve of the second-order oscillation link, its second-order mathematical model can be established as:

[0076]

[0077] Among them, ω n is the natural angular frequency of the initial compensation digital filter, ξ is the damping ratio, and ω n is the complex frequency domain. Since the dynamic response characteristics of different thrust compensation intervals may be different, ω n and ξ have different parameter values for each thrust compensation interval.

[0078] To improve the dynamic performance of the initial compensation digital filter, a series-connected compensation filter can be designed, and the compensation filter has the same damping ratio and natural frequency as the original second-order force measurement system. To reduce high-frequency interference, a second-order low-pass filter can also be added to the compensation filter to form a dynamic compensation filter H d (s). The transfer function H d (s) of the dynamic compensation filter is:

[0079]

[0080] Among them, ω' n is the natural angular frequency of the second-order low-pass filter.

[0081] The equivalent transfer function X(s) of the dynamic compensation filter in series with the second-order force measurement system is as follows:

[0082]

[0083] S103. According to the target thrust and the output thrust, iteratively adjust the parameters in the corresponding initial compensation digital filter to obtain the compensation digital filter for each thrust compensation interval.

[0084] Iteratively adjust the parameters in each initial compensation digital filter respectively through the output thrust and the corresponding target thrust within each thrust compensation interval to obtain the compensation digital filter for each thrust compensation interval.

[0085] Specifically, in one embodiment, according to the target thrust and the output thrust, iteratively adjust the parameters in the corresponding initial compensation digital filter to obtain the compensation digital filter for each thrust compensation interval, including: for any thrust compensation interval, compensate the output thrust through the initial compensation digital filter to obtain the compensated thrust; compare the compensated thrust with the target thrust. If it is determined that the compensated thrust does not reach the desired dynamic performance, then adjust the natural angular frequency and damping ratio in the initial compensation digital filter; according to the target thrust and the output thrust, iteratively adjust the natural angular frequency and damping ratio in the initial compensation digital filter until the compensated thrust reaches the desired dynamic performance, and determine the initial compensation digital filter that reaches the desired dynamic performance as the compensation digital filter.

[0086] Among them, the calculation formula for the compensated thrust is:

[0087]

[0088] Among them, Y(s) is the compensated thrust, and U(s) is the output thrust.

[0089] Among them, when judging whether the compensated thrust reaches the desired dynamic performance, all output thrusts within the corresponding thrust compensation interval can be compensated correspondingly to obtain multiple compensated thrusts, and judge the difference between the compensated thrust and the corresponding target thrust. If all differences are less than the preset difference threshold, it is determined that the compensated thrust reaches the desired dynamic performance; otherwise, it is determined that the compensated thrust does not reach the desired dynamic performance, that is, the initial compensation digital filter does not reach the desired dynamic performance.

[0090] S104. Measure the actual output thrust of the rocket engine in actual engineering and determine the target thrust compensation interval corresponding to the actual output thrust, and use the compensation digital filter of the target thrust compensation interval to compensate the actual output thrust to obtain the compensated thrust of the rocket engine.

[0091] In one embodiment, the compensated thrust can be calculated using formula (4). Specifically, the compensated digital filter in the target thrust compensation interval is used to compensate the actual output thrust to obtain the compensated thrust of the rocket engine, including: determining the product of the equivalent transfer function in the compensated digital filter and the actual output thrust as the compensated thrust of the rocket engine.

[0092] In one embodiment, as Figure 2 shown, the present invention also provides a thrust compensation method for a rocket engine in a wide range. This embodiment includes the following steps:

[0093] S201, Obtain the second-order force measurement system in different thrust compensation intervals.

[0094] S202, Determine whether the dynamic performance of the second-order force measurement system meets the expected dynamic performance.

[0095] If the requirements are not met, execute step S203.

[0096] S203, Calculate the damping ratio and natural angular frequency of the second-order force measurement system.

[0097] S204, Input or adjust the damping ratio and natural angular frequency.

[0098] S205, Connect the dynamic compensation filter in series to obtain the equivalent transfer function.

[0099] S206, Use the equivalent transfer function as the transfer function of the initial compensated digital filter.

[0100] S207, Determine whether the initial compensated digital filter meets the expected dynamic performance.

[0101] In the method of the present invention, through the segmented compensated digital filter, it is possible to quickly respond to thrust deviations, significantly improve the timeliness of thrust adjustment; moreover, by using different compensated digital filters in different thrust compensation intervals, high-precision thrust compensation can be achieved, improving the accuracy of thrust control; it has a large applicable thrust range, can adapt to the thrust adjustment requirements under different working conditions, and ensure stable thrust control under a wide range of thrusts.

[0102] When applying the thrust compensation method for a rocket engine in a wide range provided by the present invention, it is not necessary to execute according to Figure 1 the sequence of the steps shown. Specifically, the execution sequence of each step can be determined according to needs, and the present invention does not limit this.

[0103] The above is the thrust compensation method for a rocket engine in a wide range provided by one or more embodiments of the present invention. Based on the same idea, the present invention also provides a corresponding thrust compensation device for a rocket engine in a wide range, as Figure 3 shown.

[0104] Figure 3 Schematic diagram of a thrust compensation device for a rocket engine in a wide range provided by the present invention. The device 300 includes:

[0105] A measurement module 301, configured to apply multiple different target thrusts to a test vehicle frame by a rocket engine respectively, and measure the output thrust of the rocket engine under the corresponding thrusts;

[0106] A division module 302, configured to calculate parameters capable of characterizing the transfer characteristics of a filtering system under different target thrusts respectively according to the target thrust and the output thrust, divide multiple thrust compensation intervals according to the differences between the parameters under different target thrust steps, and set a corresponding initial compensation digital filter for each thrust compensation interval; the thrust compensation interval is the thrust range to be compensated;

[0107] An adjustment module 303, configured to iteratively adjust the parameters in the corresponding initial compensation digital filter according to the target thrust and the output thrust to obtain a compensation digital filter for each thrust compensation interval;

[0108] A compensation module 304, configured to measure the actual output thrust of a rocket engine in actual engineering, determine the target thrust compensation interval corresponding to the actual output thrust, and compensate the actual output thrust by using the compensation digital filter of the target thrust compensation interval to obtain the thrust of the rocket engine after compensation.

[0109] For the specific limitations on the thrust compensation device for a rocket engine in a wide range, reference can be made to the limitations on the thrust compensation method for a rocket engine in a wide range in the above text, which will not be elaborated here. Each module in the above-mentioned thrust compensation device for a rocket engine in a wide range can be implemented in whole or in part through software, hardware and their combinations. The above-mentioned modules can be embedded in the processor in a computer device in the form of hardware or independent of the processor, or stored in the memory in a computer device in the form of software, so as to facilitate the processor to call and execute the operations corresponding to the above-mentioned modules.

[0110] The present invention also provides a computer-readable storage medium, which stores a computer program, and the computer program can be used to execute the above-mentioned Figure 1 thrust compensation method for a rocket engine in a wide range.

[0111] The present invention also provides Figure 4 the structural schematic diagram of the computer device shown in Figure 4 As shown, at the hardware level, the computer device includes a processor, an internal bus, a network interface, a memory, and a non-volatile memory. Of course, other hardware required for other services may also be included. The processor reads the corresponding computer program from the non-volatile memory into the memory and then runs it to implement the above-mentionedFigure 1 A thrust compensation method for a rocket engine in a wide range is provided.

[0112] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, storage, database, or other medium used in the embodiments provided by the present invention can include at least one of non-volatile and volatile memories. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, or optical memory, etc. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0113] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope recorded by the present invention.

Claims

1. A thrust compensation method for rocket engines in a wide range, characterized in that, Including: Applying multiple different target thrusts to the test vehicle frame through a rocket engine respectively, and measuring the output thrust of the rocket engine under the corresponding thrusts; Calculating the parameters capable of characterizing the transfer characteristics of the filtering system under different target thrusts respectively according to the target thrusts and the corresponding output thrusts, dividing multiple thrust compensation intervals according to the differences between the parameters under different target thrust steps, and setting corresponding initial compensation digital filters for each thrust compensation interval; the thrust compensation interval is the thrust range to be compensated; Iteratively adjusting the parameters in the corresponding initial compensation digital filter according to the target thrust and the output thrust to obtain the compensation digital filter for each thrust compensation interval; Measuring the actual output thrust of the rocket engine in actual engineering, determining the target thrust compensation interval corresponding to the actual output thrust, and compensating the actual output thrust by using the compensation digital filter of the target thrust compensation interval to obtain the compensated thrust of the rocket engine.

2. The method according to claim 1, characterized in that The parameters include the natural angular frequency and damping ratio of the filtering system; the target thrust is a stepwise increasing target thrust; the dividing of multiple thrust compensation intervals according to the differences between the parameters under different target thrust steps includes: For any target thrust, quantifying the natural angular frequency and damping ratio corresponding to the target thrust to obtain the eigenvalue under the target thrust; Calculating the differences between the eigenvalues under all adjacent two target thrusts; Taking the absolute value of the difference greater than the preset difference threshold as the demarcation point to obtain multiple thrust compensation intervals.

3. The method according to claim 2, wherein The quantifying the natural angular frequency and damping ratio corresponding to the target thrust to obtain the eigenvalue under the target thrust includes: Substituting the natural angular frequency and damping ratio corresponding to the target thrust into the pre-constructed normalized eigenfunction to obtain the eigenvalue under the target thrust; the normalized eigenfunction can reflect the influence of the coordinated change of the natural angular frequency and damping ratio on the transfer characteristics of the filtering system.

4. The method according to claim 1, wherein The setting corresponding initial compensation digital filters for each thrust compensation interval includes: For any thrust compensation interval, constructing the transfer function of the second-order force measurement system; Connecting a dynamic compensation filter in series on the second-order force measurement system; the dynamic compensation filter includes a second-order low-pass filter; Determining the equivalent transfer function according to the transfer function of the second-order force measurement system and the transfer function of the dynamic compensation filter; Taking the equivalent transfer function as the transfer function of the initial compensation digital filter.

5. The method according to claim 4, wherein The transfer function G(s) of the second-order force measurement system is: where ω n is the natural angular frequency of the second-order force measurement system, ξ is the damping ratio, and ω n is the complex frequency domain; The transfer function H d (s) of the dynamic compensation filter is as follows: where ω' n is the natural angular frequency of the second-order low-pass filter; The equivalent transfer function X(s) is:

6. The method according to claim 5, wherein The iteratively adjusting the parameters in the corresponding initial compensation digital filter according to the target thrust and the output thrust to obtain the compensation digital filter for each thrust compensation interval includes: For any thrust compensation interval, compensating the output thrust through the initial compensation digital filter to obtain the compensated thrust; Comparing the compensated thrust with the target thrust, if it is determined that the compensated thrust does not reach the expected dynamic performance, then adjusting the natural angular frequency and damping ratio in the initial compensation digital filter; Iteratively adjust the natural angular frequency and damping ratio in the initial compensation digital filter according to the target thrust and the output thrust until the compensated thrust reaches the desired dynamic performance, and determine the initial compensation digital filter that reaches the desired dynamic performance as the compensation digital filter.

7. The method according to claim 4, characterized in that Compensating the actual output thrust of the rocket engine by using the compensation digital filter in the target thrust compensation interval to obtain the compensated thrust of the rocket engine, includes: Determine the product of the equivalent transfer function in the compensation digital filter and the actual output thrust as the compensated thrust of the rocket engine.

8. A thrust compensation device for a rocket engine in a wide range, characterized in that, Includes: A measurement module, configured to apply multiple different target thrusts to the test vehicle frame by the rocket engine respectively, and measure the output thrust of the rocket engine under the corresponding thrusts; A division module, configured to calculate the parameters capable of characterizing the transfer characteristics of the filtering system under different target thrusts respectively according to the target thrust and the corresponding output thrust, divide multiple thrust compensation intervals according to the differences between the parameters under different target thrust steps, and set a corresponding initial compensation digital filter for each thrust compensation interval; the thrust compensation interval is the thrust range to be compensated; An adjustment module, configured to iteratively adjust the parameters in the corresponding initial compensation digital filter according to the target thrust and the output thrust to obtain the compensation digital filter for each thrust compensation interval; A compensation module, configured to measure the actual output thrust of the rocket engine in actual engineering, determine the target thrust compensation interval corresponding to the actual output thrust, and compensate the actual output thrust by using the compensation digital filter in the target thrust compensation interval to obtain the compensated thrust of the rocket engine.

9. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, and when the computer program is executed by a processor, the method described in any one of claims 1 to 7 is implemented.

10. A computer device, characterized in that, It includes a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the program, the method described in any one of claims 1 to 7 is implemented.

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