Fault diagnosis method and device for multiple-rocket parallel connection, and electronic equipment

Abstract

The present disclosure provides a fault diagnosis method and device for multi-parallel rocket, and an electronic device, and relates to the field of rocket fault diagnosis. The method comprises: starting a first group of engines and a second group of engines of the rocket in turn according to a preset time interval, wherein a take-off thrust-weight ratio generated after the first group of engines is started cannot make the rocket take off; performing fault detection on the first group of engines within the preset time interval to obtain a first detection result; controlling a take-off state of the rocket based on the first detection result and a starting condition of the second group of engines respectively; after the rocket successfully takes off, performing fault detection on the engines of the rocket to obtain a second detection result, and adjusting a flight parameter of the rocket based on the second detection result. The present disclosure solves the technical problem that the existing liquid rocket engine fault diagnosis method is not suitable for multi-parallel and power redundant rockets.

Description

Technical Field

[0001] This disclosure relates to the field of rocket fault diagnosis technology, and more specifically, to a fault diagnosis method, apparatus, and electronic equipment for multi-engine parallel rockets. Background Technology

[0002] Current methods for diagnosing engine failures in liquid rockets involve using the ignition command as a baseline. This is achieved through a restraint-release mechanism, ensuring the rocket doesn't leave the launch pad while thrust is being built, and then performing engine fault diagnosis. If an engine fails, an emergency shutdown and launch abort are triggered. Therefore, conventional liquid rockets have zero tolerance for engine failures. In multi-engine parallel operation, liquid rockets possess redundancy in power from one or more engines. Even with a small number of engine failures, the rocket can still complete its mission and successfully reach orbit. Therefore, aborting launch due to a single engine failure is not the optimal strategy. Summary of the Invention

[0003] The purpose of this disclosure is to address the problem that existing liquid rocket engine fault diagnosis methods are not applicable to multi-engine parallel and redundant rockets.

[0004] According to one aspect of the present disclosure, a fault diagnosis method for a multi-engine parallel rocket is provided. The method includes: sequentially starting a first group of engines and a second group of engines of the rocket at a preset time interval, wherein the takeoff thrust-to-weight ratio generated after the first group of engines is started is insufficient to enable the rocket to take off; performing fault detection on the first group of engines within the preset time interval to obtain a first detection result; controlling the state of the rocket's engines based on the first detection result and the starting status of the second group of engines; and after the rocket successfully takes off, performing fault detection on the rocket's engines to obtain a second detection result, and adjusting the rocket's flight parameters based on the second detection result.

[0005] Optionally, the rocket's engine status can be controlled based on the first detection result and the starting status of the second group of engines, including: if at least one engine in the first group of engines fails, shutting down the failed engine and refusing to start the second group of engines.

[0006] Optionally, the rocket's engine status is controlled based on the first detection result and the starting status of the second set of engines, including: if none of the first set of engines malfunction, and the takeoff thrust-to-weight ratio generated by the successfully started second set of engines and the started first set of engines is sufficient to enable the rocket to take off, the rocket takes off.

[0007] Optionally, controlling the rocket's engine status based on the first detection result and the starting status of the second set of engines respectively also includes: if none of the first set of engines malfunctions and none of the second set of engines starts successfully, shutting down the rocket's first set of engines.

[0008] Optionally, after the rocket successfully takes off, the rocket's engines are tested for faults to obtain a second test result, including: if none of the rocket's engines are faulty, the second test result is determined as the first flight state; if a predetermined number of the rocket's engines are faulty, the second test result is determined as the second flight state, wherein the faulting of the predetermined number of engines does not affect the normal flight of the rocket.

[0009] Optionally, controlling the rocket's flight parameters based on the second detection result includes: if the second detection result is a first flight state, selecting flight trajectory control parameters corresponding to the first flight state to control the rocket; if the second detection result is a second flight state, selecting flight trajectory control parameters corresponding to the second flight state to control the rocket.

[0010] Optionally, fault detection is performed, including: abnormal data removal and smoothing of engine parameters; red line judgment of smoothed parameters; if the parameters are all outside the red line within a consecutive preset number of preset time intervals, the parameters are determined to be abnormal parameters, where the red line is a preset value range; if more than a preset proportion of parameters in all parameters of any engine are abnormal, the engine is determined to have a fault.

[0011] According to another aspect of the present disclosure, a fault diagnosis device for a multi-engine parallel rocket is provided. The device includes: a starting module, configured to sequentially start a first group of engines and a second group of engines of the rocket at preset time intervals, wherein the takeoff thrust-to-weight ratio generated after the first group of engines starts is insufficient to enable the rocket to take off; a detection module, configured to perform fault detection on the first group of engines within the preset time interval and obtain a first detection result; a first control module, configured to control the state of the rocket's engines based on the first detection result and the starting status of the second group of engines, respectively; and a second control module, configured to perform fault detection on the rocket's engines after the rocket successfully takes off, obtain a second detection result, and adjust the rocket's flight parameters based on the second detection result.

[0012] According to another aspect of the present disclosure, an electronic device is provided, comprising: a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the above-described method.

[0013] According to another aspect of the present disclosure, a computer-readable storage medium is provided that stores a computer program thereon, which, when executed by a processor, implements the above-described method.

[0014] The beneficial effects of the technical solutions provided in this disclosure are: By starting the engines of a multi-engine parallel rocket in groups and setting different start-up time intervals for different groups of engines, the thrust provided by the first engine to start is insufficient to launch the rocket, but fault detection can be performed. The control system can decide whether the rocket should launch based on the fault detection results. After launch, the control system continuously monitors the engine operating status and has the ability to switch to the optimal trajectory under different launch conditions. This achieves the technical effect of fault detection and fault handling of the engines of a multi-engine parallel rocket during the launch and flight phases without relying on the restraint release device. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments of this disclosure will be briefly introduced below.

[0016] Figure 1 A flowchart illustrating a fault diagnosis method for a multi-rocket parallel system provided in this embodiment of the present disclosure; Figure 2 This is a flowchart of an engine fault diagnosis provided in an embodiment of this disclosure; Figure 3 This is a timing diagram for fault diagnosis of a multi-engine parallel rocket engine provided in an embodiment of this disclosure; Figure 4 A schematic diagram of the structure of a fault diagnosis device for a multi-rocket parallel rocket provided in an embodiment of this disclosure; Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this disclosure. Detailed Implementation

[0017] The embodiments of this disclosure are described below with reference to the accompanying drawings. It should be understood that the embodiments described below with reference to the accompanying drawings are exemplary descriptions for explaining the technical solutions of the embodiments of this disclosure, and do not constitute a limitation on the technical solutions of the embodiments of this disclosure.

[0018] Those skilled in the art will understand that, unless specifically stated otherwise, the singular forms “a,” “an,” “the,” and “the” used herein may also include the plural forms. It should be further understood that the terms “comprising” and “including” as used in embodiments of this disclosure mean that the corresponding feature can be implemented as the presented feature, information, data, step, operation, element, and / or component, but do not exclude implementation as other features, information, data, step, operation, element, component, and / or combinations thereof supported by the art. It should be understood that when we say that an element is “connected” or “coupled” to another element, the one element can be directly connected or coupled to the other element, or it can mean that the one element and the other element are connected through an intermediate element. Furthermore, “connected” or “coupled” as used herein can include wireless connection or wireless coupling. The term “and / or” as used herein indicates at least one of the items defined by the term, for example, “A and / or B” or “A, B” indicates implementation as “A,” or implementation as “B,” or implementation as “A and B.”

[0019] To make the objectives, technical solutions, and advantages of this disclosure clearer, the embodiments of this disclosure will be described in further detail below with reference to the accompanying drawings.

[0020] First, the technical terms used in this disclosure will be introduced and explained: Fault diagnosis is the process of judging and analyzing the existence, type, and severity of faults during the operation of a rocket system through various detection methods and techniques. After fault detection, corresponding fault handling measures should also be taken.

[0021] Takeoff thrust-to-weight ratio: The ratio of the total thrust of the engine to the weight of the rocket at takeoff. This ratio is greater than 1, and for liquid rockets it is generally between 1.2 and 2.

[0022] Liquid rocket engine fault diagnosis technology integrates fault detection, diagnosis, and control methods to monitor the operation of liquid rocket engines, serving as a prerequisite and foundation for implementing power redundancy. Fault diagnosis technology mainly includes three key stages: fault detection, fault diagnosis, and fault handling. Currently, fault diagnosis methods are mainly divided into three categories: model-based methods, signal processing-based methods, and artificial intelligence-based methods.

[0023] Existing liquid rocket engine fault diagnosis methods are not applicable to multi-engine parallel rockets. Furthermore, under engine failure conditions, the control system needs to reconstruct the flight trajectory. Commonly used online planning algorithms have poor on-rocket real-time performance and are mainly used in the later stages of rocket flight, making them less adaptable to engine failure conditions in the early stages of rocket flight.

[0024] Liquid rockets typically use two, three, or four engines in parallel on the first stage, all of which start simultaneously. As liquid rockets become larger, the number of engines used for first-stage takeoff increases. On one hand, parallel operation provides rocket power redundancy, allowing the mission to continue even when some engines experience reduced or zero thrust. On the other hand, parallel operation necessitates the diagnosis of faults in multiple engines, requiring the control system to make real-time decisions regarding takeoff and trajectory adjustments at different stages.

[0025] The fault diagnosis method, apparatus, and electronic equipment for multi-engine parallel rockets disclosed herein are intended to solve at least one of the above-mentioned technical problems in the prior art.

[0026] To address the aforementioned technical problems, this disclosure proposes a fault diagnosis method for multi-engine parallel liquid rockets, filling this gap. The proposed solution can perform engine fault detection without relying on a restraint release device, fully utilizing the time intervals between the parallel grouping of multiple liquid rocket engines. The rocket automatically determines whether to launch based on the fault detection results and autonomously selects its flight trajectory, thus achieving engine fault detection, fault diagnosis, and fault handling during both the launch and flight phases.

[0027] The following description of several exemplary embodiments illustrates the technical solutions of this disclosure and the technical effects produced by these solutions. It should be noted that the following embodiments can be referenced, learned from, or combined with each other. Identical terms, similar features, and similar implementation steps in different embodiments will not be repeated.

[0028] This disclosure provides a fault diagnosis method for multi-engine parallel rockets, such as... Figure 1 As shown, the method includes the following steps: Step S101: Start the first set of engines and the second set of engines of the rocket in sequence according to a preset time interval. The takeoff thrust-to-weight ratio generated after the first set of engines is started is insufficient to enable the rocket to take off.

[0029] In the embodiments of this disclosure, taking a seven-engine parallel liquid rocket as an example, engine fault diagnosis is achieved by starting the engines in groups and at different times without the need for a restraint release device.

[0030] The seven engines are divided into two groups: the first group has five engines, and the second group has two engines. The thrust-to-weight ratio generated by all seven engines igniting simultaneously is 1.35. Therefore, the thrust-to-weight ratio after the first group of engines ignites is 0.96, which is insufficient for rocket liftoff. Alternatively, the first group could have four engines, and the second group three engines; this embodiment does not impose specific limitations on this configuration.

[0031] It is understandable that if the number of engines in a multi-engine parallel rocket is other than a certain value, other grouping methods can be used when grouping the engines, as long as the thrust-to-weight ratio of the first group of engines is not sufficient to enable the rocket to take off after ignition. The specific grouping method is not limited here.

[0032] After the first set of engines starts, the intermediate interval (i.e., the aforementioned preset time interval) should be sufficient to ensure that the engine has entered a stable working state and that the conditions for determining whether a fault has occurred can be met by using the main parameters.

[0033] Step S102: Perform fault detection on the first group of engines within a preset time interval to obtain the first detection result.

[0034] Within the aforementioned preset time interval, fault detection is performed on the first group of engines using the main sensor parameters of the first group of engines.

[0035] Step S103: Control the state of the rocket's engines based on the first detection result and the starting status of the second set of engines.

[0036] Step S104: After the rocket successfully takes off, the rocket engine is tested for faults to obtain a second test result, and the rocket's flight parameters are adjusted based on the second test result.

[0037] According to an optional embodiment of this disclosure, the aforementioned flight parameters refer to the flight trajectory control parameters of the rocket. These parameters are key factors guiding and adjusting an aircraft (such as a rocket or missile) to follow a predetermined trajectory during flight. These parameters ensure that the aircraft can accurately reach its target location while taking into account various dynamic and environmental influences during flight. Examples include orbital parameters, attitude control parameters, navigation and guidance parameters, and environmental adaptation parameters.

[0038] The technical solution proposed in this disclosure involves grouping and activating the engines of a multi-engine parallel rocket, setting different engine activation time intervals. The thrust provided by the first activated engine is insufficient for rocket launch, but fault detection can be performed. The control system can determine whether the rocket should launch based on the fault detection results. After launch, the control system continuously monitors the engine operating status, possessing the ability to switch to the optimal trajectory under different launch conditions. This achieves the technical effect of fault detection and handling of the engines of a multi-engine parallel rocket during the launch and flight phases without relying on a restraint release device.

[0039] This disclosure provides a possible implementation method in which step S103 controls the state of the rocket's engines based on the first detection result and the starting status of the second group of engines, including the following steps: if at least one engine in the first group of engines fails, shut down the failed engine and refuse to start the second group of engines.

[0040] As mentioned above, the thrust-to-weight ratio is 0.96 after all the first set of engines are started, which is insufficient for rocket liftoff. Therefore, if one or more engines in the first set are detected to be malfunctioning, the emergency shutdown procedure is initiated, and the launch mission is aborted. In this case, it is not necessary to restart the second set of engines.

[0041] By staggering the start-up times of different engine groups, the onboard power supply requirements can be reduced, while also providing the rocket control system with time to assess the engine's operating status.

[0042] According to some optional embodiments of this disclosure, the execution step S103 controls the state of the rocket's engines based on the first detection result and the starting status of the second group of engines, and further includes the following steps: if none of the first group of engines has failed, and the takeoff thrust-to-weight ratio generated by the successfully started second group of engines and the started first group of engines is sufficient to enable the rocket to take off, the rocket takes off.

[0043] Taking a seven-engine parallel rocket as an example, since the first group of five engines has been successfully started, if one or two engines in the second group are successfully started, the rocket's thrust-weight balance will be established, and the rocket will take off and leave the launch pad.

[0044] For rockets with other types of engines, if the first set of engines has been successfully started, the rocket can take off as long as the takeoff thrust-to-weight ratio generated by the second set of successfully started engines and the first set of engines is sufficient. There is no limit to the number of second set of engines that have been successfully started.

[0045] In the above scenario, the rocket can take off and leave the launch pad normally without the need for engine control operations.

[0046] According to some other optional embodiments of this disclosure, the execution step S103 controls the state of the rocket's engines based on the first detection result and the starting status of the second set of engines, and further includes the following step: if none of the first set of engines has failed and none of the second set of engines has started successfully, shut down the first set of engines of the rocket.

[0047] For the second set of engines, if the two engines fail to start successfully, the rocket cannot take off. However, since the first five engines continue to consume propellant and the rocket's weight continues to decrease, the rocket's thrust-weight balance will also be established if the engines are not shut down in an emergency. But this will be later than the time when the seven or six engines start successfully. Therefore, the engines can be shut down in an emergency before this time to avoid the rocket taking off and causing an accident.

[0048] In some optional embodiments of this disclosure, step S104 involves performing fault detection on the rocket's engines after the rocket has successfully taken off, and obtaining a second detection result, including the following steps: if none of the rocket's engines have failed, the second detection result is determined to be the first flight state; if a preset number of the rocket's engines have failed, the second detection result is determined to be the second flight state, wherein the failure of the preset number of engines does not affect the normal flight of the rocket.

[0049] Taking a seven-engine parallel rocket as an example, after the rocket takes off, the control system can continuously detect engine faults during the vertical ascent phase to determine whether all the rocket's engines have started normally. If all engines start normally, it is in a seven-engine flight state (i.e., the first flight state mentioned above). If one engine fails, that engine is immediately shut down, and a six-engine flight state (i.e., the second flight state mentioned above) is adopted.

[0050] As some optional embodiments of this disclosure, the execution step S104 adjusts the rocket's flight parameters based on the second detection result, including the following steps: if the second detection result is a first flight state, select the flight trajectory control parameters corresponding to the first flight state to control the rocket; if the second detection result is a second flight state, select the flight trajectory control parameters corresponding to the second flight state to control the rocket.

[0051] The aforementioned first flight state corresponds to the seven-engine flight state, meaning that none of the rocket's seven engines are malfunctioning. In this state, the onboard integrated control system selects the seven-engine flight trajectory control parameters to control the rocket.

[0052] The aforementioned second flight state corresponds to the six-engine flight state, which means that all six engines of the rocket are functioning normally, but one engine fails. In this case, the failed engine is immediately shut down, and the onboard integrated control system selects the six-engine flight trajectory control parameters to control the rocket.

[0053] This disclosure provides an optional implementation method in which fault detection is performed during steps S102 and S104, both of which are achieved through the following method: abnormal data removal and smoothing processing of engine parameters; red line judgment of smoothed parameters; if the parameters are all outside the red line within a consecutive preset number of preset time intervals, the parameters are determined to be abnormal parameters, where the red line is a preset value range; if more than a preset proportion of parameters in all parameters of any engine are abnormal, the engine is determined to have malfunctioned.

[0054] When diagnosing engine faults, the main tasks include removing and smoothing abnormal data from the engine's main sensor parameters, redline identification, and parameter voting.

[0055] First, abnormal data is removed from the parameters collected by the engine's main parameter sensors, and smoothing is performed to prevent single-frame data anomalies from affecting the diagnostic results. Then, a redline judgment is applied to the smoothed parameters. If a parameter is outside the normal redline band for three consecutive fault diagnosis cycles (or other values), the parameter is considered abnormal. Redline judgment determines whether a parameter exceeds a set "normal range" (i.e., the redline), which is typically an upper or lower threshold.

[0056] For an engine, a parameter voting method is used to determine whether a fault has occurred. If three out of the four key parameters are abnormal, the engine is diagnosed as having a fault.

[0057] Figure 2 This is a flowchart of an engine fault diagnosis provided in an embodiment of this disclosure, such as... Figure 2 As shown, taking the fault diagnosis of an engine (C01) as an example, the diagnostic process includes the following steps: Step S1: Determine whether the critical parameter C01_M1 of C01 is within the red line range (i.e., determine whether M1min < C01_M1 < M1max). If the determination result is yes, set the status value (F_C01_M1) of the critical parameter C01_M1 to 0, indicating that the critical parameter C01_M1 is not abnormal; if the determination result is no, set the status value (F_C01_M1) of the critical parameter C01_M1 to 1, indicating that the critical parameter C01_M1 is abnormal.

[0058] Step S2: Determine whether the critical parameter C01_M2 of C01 is within the red line range (i.e., determine whether M2min < C01_M2 < M2max). If the determination result is yes, set the status value (F_C01_M2) of the critical parameter C01_M2 to 0, indicating that the critical parameter C01_M2 is not abnormal; if the determination result is no, set the status value (F_C01_M2) of the critical parameter C01_M2 to 1, indicating that the critical parameter C01_M2 is abnormal.

[0059] Step S3: Determine whether the critical parameter C01_M3 of C01 is within the red line range (i.e., determine whether M3min < C01_M3 < M3max). If the determination result is yes, set the status value (F_C01_M3) of the critical parameter C01_M3 to 0, indicating that the critical parameter C01_M3 is not abnormal; if the determination result is no, set the status value (F_C01_M3) of the critical parameter C01_M3 to 1, indicating that the critical parameter C01_M3 is abnormal.

[0060] Step S4: Sum the status values ​​of each key parameter (N(F_C01)), and determine whether N(F_C01) is greater than or equal to 3. If the result is yes, set the status value of engine C01 (Failure_C01) to 1 to determine that engine C01 has failed; if the result is no, set the status value of engine C01 (Failure_C01) to 0 to determine that engine C01 has not failed.

[0061] Figure 3 This is a timing diagram for fault diagnosis of a multi-engine parallel rocket engine provided in an embodiment of this disclosure, as shown below. Figure 3 As shown, the first set of engines starts first. After the first set of engines stabilizes, fault diagnosis is performed on them. If one or more engines in the first set malfunction, the emergency shutdown procedure is initiated, and the launch mission is aborted. If none of the first set of engines malfunctions, the second set of engines starts. If one or two engines in the second set successfully start, the rocket's thrust-weight balance is established, and liftoff occurs. During the rocket's flight, fault diagnosis of the engines continues, and ballistic control parameters are selected based on the diagnostic results.

[0062] The fault diagnosis method for multi-engine parallel rockets proposed in this disclosure utilizes the parallel grouping and starting of multiple engines, setting different start-up time intervals for different groups of engines. Even if the thrust provided by the first started engine is insufficient for rocket launch, fault diagnosis can still be performed. The control system can decide whether to launch the rocket based on the fault diagnosis results. Launch is aborted only in cases of insufficient rocket power; normal launch is possible when power redundancy exists. After launch, the control system continuously assesses the engine operating status and has the capability to switch to the optimal trajectory under different launch conditions, enabling diagnosis and decision-making under engine fault conditions during both the launch and flight phases.

[0063] The fault diagnosis method for multi-aircraft parallel rockets disclosed herein has the following technical advantages compared with the prior art: 1) Takeoff judgment under the condition of failure of seven parallel liquid rocket engines was realized without the need for a restraint release device; 2) Even if one engine fails during the takeoff phase, the rocket can still enter orbit; 3) The calculation is simple, the program runs fast, and the implementation on the arrow is reliable.

[0064] This disclosure provides a fault diagnosis device for a multi-rocket parallel configuration, such as... Figure 4 As shown, the device 40 may include: a starting module 401, a detection module 402, a first control module 403, and a second control module 404, wherein, The starting module 401 is used to start the first set of engines and the second set of engines of the rocket sequentially according to a preset time interval. The takeoff thrust-to-weight ratio generated after the first set of engines is started is insufficient to enable the rocket to take off.

[0065] The detection module 402 is used to perform fault detection on the first group of engines within a preset time interval and obtain the first detection result.

[0066] The first control module 403 is used to control the state of the rocket's engines based on the first detection result and the starting status of the second set of engines, respectively.

[0067] The second control module 404 is used to perform fault detection on the rocket's engine after the rocket has successfully taken off, obtain a second detection result, and adjust the rocket's flight parameters based on the second detection result.

[0068] According to an optional embodiment of this disclosure, the first control module 403 is configured to shut down the faulty engine and refuse to start the second group of engines if at least one engine in the first group of engines fails.

[0069] According to an optional embodiment of this disclosure, the first control module 403 is used to launch the rocket when none of the first set of engines has failed, and the takeoff thrust-to-weight ratio generated by the successful start of the second set of engines and the start of the first set of engines is sufficient to enable the rocket to take off.

[0070] According to an optional embodiment of this disclosure, the first control module 403 is configured to shut down the first set of engines of the rocket when none of the first set of engines has failed and none of the second set of engines has started successfully.

[0071] According to an optional embodiment of this disclosure, the second control module 404 is used to determine the second detection result as the first flight state when none of the rocket's engines have failed; and to determine the second detection result as the second flight state when a preset number of rocket engines have failed, wherein the failure of the preset number of engines does not affect the normal flight of the rocket.

[0072] According to an optional embodiment of this disclosure, the second control module 404 is configured to, when the second detection result is a first flight state, select flight trajectory control parameters corresponding to the first flight state to control the rocket; and when the second detection result is a second flight state, select flight trajectory control parameters corresponding to the second flight state to control the rocket.

[0073] According to an optional embodiment of this disclosure, the detection module 402 or the second control module 404 is further configured to perform abnormal data removal and smoothing processing on the engine parameters; to perform red line discrimination on the smoothed parameters; if the parameters are all outside the red line within a consecutive preset number of preset time intervals, the parameters are determined to be abnormal parameters, wherein the red line is a preset value range; if more than a preset proportion of the parameters of any engine are abnormal, the engine is determined to have malfunctioned.

[0074] The apparatus of this disclosure embodiment can execute the method provided in this disclosure embodiment, and its implementation principle is similar, and it has corresponding technical effects. The actions performed by each module in the apparatus of each embodiment of this disclosure correspond to the steps in the method of each embodiment of this disclosure. For a detailed functional description of each module of the apparatus, please refer to the description in the corresponding method shown above, and it will not be repeated here.

[0075] This disclosure provides an electronic device (computer device / equipment / system) including a memory, a processor, and a computer program stored in the memory. The processor executes the computer program to implement the steps of the method provided in any optional embodiment of this disclosure. Compared with the prior art, it achieves the technical effect of performing fault detection and fault handling on the engines of multi-rocket parallel rockets during the takeoff and flight phases without relying on a restraint release device. In one alternative embodiment, an electronic device is provided, such as Figure 5 As shown, Figure 5 The illustrated electronic device 5000 includes a processor 5001 and a memory 5003. The processor 5001 and the memory 5003 are connected, for example, via a bus 5002. Optionally, the electronic device 5000 may further include a transceiver 5005, which can be used for data interaction between the electronic device and other electronic devices, such as sending and / or receiving data. It should be noted that in practical applications, the transceiver 5005 is not limited to one type, and the structure of the electronic device 5000 does not constitute a limitation on the embodiments of this disclosure.

[0076] Processor 5001 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It may implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with this disclosure. Processor 5001 may also be a combination that implements computational functions, such as including one or more microprocessor combinations, a combination of a DSP and a microprocessor, etc.

[0077] Bus 5002 may include a pathway for transmitting information between the aforementioned components. Bus 5002 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. Bus 5002 can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 5 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0078] The memory 5003 may be ROM (Read Only Memory) or other types of static storage devices capable of storing static information and instructions, RAM (Random Access Memory) or other types of dynamic storage devices capable of storing information and instructions, or EEPROM (Electrically Erasable Programmable Read Only Memory), CD-ROM (Compact Disc Read Only Memory) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media, other magnetic storage devices, or any other medium capable of carrying or storing computer programs and capable of being read by a computer, without limitation herein.

[0079] The memory 5003 is used to store computer programs that execute embodiments of the present disclosure, and is controlled by the processor 5001 to execute them. The processor 5001 is used to execute the computer programs stored in the memory 5003 to implement the steps shown in the foregoing method embodiments.

[0080] Electronic devices include, but are not limited to, computers.

[0081] This disclosure provides a computer-readable storage medium storing a computer program, which, when executed by a processor, can implement the steps and corresponding content of the aforementioned method embodiments.

[0082] This disclosure also provides a computer program product, including a computer program that, when executed by a processor, can implement the steps and corresponding content of the aforementioned method embodiments.

[0083] It should be understood that although arrows indicate various operation steps in the flowcharts of the embodiments of this disclosure, the order in which these steps are implemented is not limited to the order indicated by the arrows. Unless explicitly stated herein, in some implementation scenarios of the embodiments of this disclosure, the implementation steps in each flowchart can be executed in other orders as required. Furthermore, some or all of the steps in each flowchart may include multiple sub-steps or multiple stages based on the actual implementation scenario. Some or all of these sub-steps or stages can be executed at the same time, and each sub-step or stage can also be executed at different times. In scenarios where execution times differ, the execution order of these sub-steps or stages can be flexibly configured as required, and the embodiments of this disclosure do not limit this.

[0084] The above description is only an optional implementation method for some implementation scenarios of this disclosure. It should be noted that for those skilled in the art, other similar implementation methods based on the technical concept of this disclosure, without departing from the technical concept of this disclosure, also fall within the protection scope of the embodiments of this disclosure.

Claims

1. A fault diagnosis method for a multi-engine parallel rocket, characterized in that, include: The first and second sets of engines of the rocket are started sequentially at a preset time interval, wherein the takeoff thrust-to-weight ratio generated after the first set of engines is started is insufficient to enable the rocket to take off. Fault detection is performed on the first group of engines within the preset time interval to obtain a first detection result; The state of the rocket's engines is controlled based on the first detection result and the starting status of the second group of engines, respectively. The rocket's engine status is controlled based on the first detection result and the starting status of the second group of engines, including: If at least one engine in the first group of engines malfunctions, shut down the malfunctioning engine and refuse to start the second group of engines; If none of the first set of engines malfunctions, and the takeoff thrust-to-weight ratio generated by the successfully started second set of engines and the first set of engines is sufficient to enable the rocket to take off, the rocket will take off. If none of the first set of engines malfunctions and none of the second set of engines starts successfully, shut down the first set of engines of the rocket. After the rocket successfully takes off, a fault detection is performed on the rocket's engine to obtain a second detection result, and the rocket's flight parameters are adjusted based on the second detection result.

2. The method according to claim 1, characterized in that, After the rocket successfully takes off, a fault detection is performed on the rocket's engine to obtain a second detection result, including: If none of the rocket's engines malfunction, the second detection result is determined to be the first flight state; If a predetermined number of engines in the rocket malfunction, the second detection result is determined as the second flight state, wherein the malfunction of the predetermined number of engines does not affect the normal flight of the rocket.

3. The method according to claim 2, characterized in that, Based on the second detection result, the flight parameters of the rocket are controlled, including: If the second detection result is the first flight state, select the flight trajectory control parameters corresponding to the first flight state to control the rocket; If the second detection result is the second flight state, select the flight trajectory control parameters corresponding to the second flight state to control the rocket.

4. The method according to any one of claims 1 to 3, characterized in that, The fault detection includes: The parameters of the engine are subjected to abnormal data removal and smoothing processing; The smoothed parameters are judged by a red line. If the parameters are all outside the red line within a preset number of consecutive preset time intervals, the parameters are determined to be abnormal parameters. The red line is a preset value range. If any engine has more than a preset proportion of abnormal parameters, the engine is determined to have malfunctioned.

5. A fault diagnosis device for a multi-engine parallel rocket, characterized in that, include: The starting module is used to sequentially start the first set of engines and the second set of engines of the rocket at a preset time interval, wherein the takeoff thrust-to-weight ratio generated after the first set of engines is started is insufficient to enable the rocket to take off. The detection module is used to perform fault detection on the first group of engines within the preset time interval and obtain a first detection result; The first control module is used to control the state of the rocket's engines based on the first detection result and the starting status of the second group of engines, respectively. The first control module is used to shut down the faulty engine and refuse to start the second group of engines when at least one engine in the first group of engines fails. The first control module is used to launch the rocket when none of the first group of engines has failed, and the takeoff thrust-to-weight ratio generated by the successfully started second group of engines and the first group of engines is sufficient to launch the rocket. The first control module is used to shut down the first group of engines of the rocket when none of the first group of engines has failed and none of the second group of engines has started successfully. The second control module is used to perform fault detection on the rocket's engine after the rocket has successfully taken off, obtain a second detection result, and adjust the rocket's flight parameters based on the second detection result.

6. An electronic device, comprising: A memory, a processor, and a computer program stored on the memory, characterized in that the processor executes the computer program to implement the method of any one of claims 1 to 4.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the method of any one of claims 1 to 4.

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