Launch vehicle pipeline compensator stiffness matrix calculation method based on least square method

Abstract

The invention belongs to the technical field of pipeline compensator test and simulation, and particularly relates to a carrier rocket pipeline compensator stiffness matrix calculation method based on a least square method. The method comprises the following steps: collecting test data of the pipeline compensator of the carrier rocket to obtain a first response curve, a second response curve and a third response curve; the axial rigidity of the compensator is obtained based on the first response curve, and the transverse rigidity and the bending rigidity of the compensator are solved based on the second response curve and the third response curve through the least square method; the torsional rigidity of the compensator is obtained through a carrier rocket pipeline compensator torsion test; and the compensator axial rigidity, the compensator transverse rigidity, the compensator bending rigidity and the compensator torsional rigidity form a compensator rigidity array. According to the method, the deformation and force vectors in the compensator test process are listed by utilizing the compensator test data, the vectors are substituted into the compensator stiffness equation, and the equation is solved by adopting the least square method, so that the difficulty in calculating the stiffness matrix of the compensator assembly is effectively solved.

Description

Technical Field

[0001] This invention belongs to the field of pipeline compensator testing and simulation technology, and in particular relates to a method for calculating the stiffness matrix of a launch vehicle pipeline compensator based on the least squares method. Background Technology

[0002] As a flexible component in the pipeline system of launch vehicles, pipeline compensators can compensate for the relative displacement of the pipeline in the axial, lateral, and angular directions caused by vibration, thermal deformation, and propellant pressure during rocket flight, ensuring the reliability of the pipeline system. The wire mesh compensator, widely used in launch vehicles, typically consists of an inner stainless steel corrugated pipe and an outer metal woven mesh sleeve. The inner corrugated pipe has lower stiffness to compensate for deformation, while the outer metal mesh sleeve structure can withstand tensile forces to ensure the stability of the compensator's operation. With the development of launch vehicle recovery and reuse technology, the number and application scenarios of pipeline compensators have grown rapidly.

[0003] Due to their complex structure, pipeline compensators exhibit intricate mechanical behaviors such as yielding and contact during operation, making accurate simulation analysis of their deformation behavior difficult for a long time. As an alternative, calculating the stiffness parameters of the compensator can be used for the design analysis and experimental verification of launch vehicle pipelines, accelerating the iterative design process. For example, Chinese patent application CN112115585A proposes a stiffness calculation method using a beam model approximation. However, this method has two drawbacks: firstly, the nonlinear behavior of the compensator's axial deformation differs from that of a beam; secondly, the method of equivalence of geometric parameters from the compensator to the beam is too simplistic and direct, and its accuracy needs further verification.

[0004] Therefore, there is an urgent need for a method to directly calculate the stiffness matrix of the launch vehicle pipeline compensator based on experimental data. Summary of the Invention

[0005] The purpose of this invention is to provide a method for calculating the stiffness matrix of a launch vehicle pipeline compensator based on the least squares method, so as to solve the current problem of calculating the stiffness matrix of compensator components.

[0006] The first aspect of this invention provides a method for calculating the stiffness matrix of a launch vehicle pipeline compensator based on the least squares method, comprising: Test data of the launch vehicle pipeline compensator were collected to obtain the first response curve, second response curve, and third response curve, including: A single compensator is subjected to axial tension and compression using a tensile testing machine, and the axial displacement-load response curve c1 is recorded as the first response curve. A single cantilever compensator is laterally compressed using a tensile testing machine, and the displacement-load response curve c2 is recorded as the second response curve. Two sets of horizontally opposed compensators are compressed laterally from the middle using a tensile testing machine, and the load-displacement response curve c3 is recorded as the third response curve. The axial stiffness of the compensator is directly obtained based on the first response curve. The lateral stiffness and bending stiffness of the compensator are solved by the least squares method based on the second and third response curves. At the same time, the torsional stiffness of the compensator is obtained by torsion test of the compensator in the launch vehicle pipeline. The compensator stiffness matrix is ​​composed of the axial stiffness, the lateral stiffness, the bending stiffness, and the torsional stiffness of the compensator.

[0007] In some embodiments, the step of solving for the lateral stiffness and bending stiffness of the compensator based on the second response curve and the third response curve using the least squares method includes: The stiffness equation of the compensator is constructed based on the structural symmetry coupled stiffness matrix of the rocket pipeline compensator. Based on the displacement-load response curve c2, several points and corresponding rotation angles are obtained to obtain the corresponding deformation state and stress state of the second response curve; Based on the load-displacement response curve c3, several points are obtained to obtain the corresponding deformation state and stress state of the third response curve; Substitute the corresponding deformation and stress states of the second response curve and the corresponding deformation and stress states of the third response curve into several compensator stiffness equations. After eliminating the rows and columns related to axial stiffness and torsional stiffness in the stiffness equations of the compensators, the lateral stiffness and bending stiffness are solved by the least squares method.

[0008] In some embodiments, constructing the compensator stiffness equation based on the structural symmetry coupled stiffness matrix of the launch vehicle pipeline compensator includes: The coupling stiffness matrix K is obtained based on the structural symmetry of the launch vehicle pipeline compensator. Define the deformation state U of the launch vehicle pipeline compensator and the reaction force and reaction moment vector F of the compensator; The stiffness equation of the compensator, KU=F, is constructed.

[0009] In some embodiments, obtaining several points and corresponding rotation angles based on the displacement-load response curve c2 to obtain the corresponding deformation state and stress state of the second response curve specifically includes: Take several points (ui, fi) and corresponding rotation angles θi from the displacement-load response curve c2, and their corresponding deformation states are Ui=[0 ui 0 0 0 θi]. T The force state Fi = [0 fi 0 0 0 0] Tui is the displacement value at the end of the compensator, fi is the load force value, and T represents the transposed matrix.

[0010] In some embodiments, the corresponding rotation angle is obtained by recording the end rotation angle through transverse compression of a single cantilever compensator using a tensile testing machine. Alternatively, the corresponding rotation angle can be calculated using the cantilever beam formula.

[0011] In some embodiments, the corresponding rotation angle is calculated using the cantilever beam formula, which is expressed as follows: θi = ui × 3 / 2L; where θi is the corresponding rotation angle, ui is the displacement value at the end of the compensator, and L is the length value of a single compensator.

[0012] In some embodiments, obtaining several points based on the load-displacement response curve c3 to obtain the corresponding deformation state and stress state of the third response curve specifically includes: Take several points (ui, fi) from the load-displacement response curve c3, and their corresponding deformation states Ui=[0 ui 0 00 0] T The force state Fi = [0 fi 0 0 0 -fi×L / 2] T ui is the displacement value at the end of the compensator, fi is the load force value, L is the length value of a single compensator, and T represents the rank matrix.

[0013] A second aspect of the present invention provides a computer device including a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the method described in the above embodiments.

[0014] A third aspect of the present invention provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the method described in the above embodiments.

[0015] A fourth aspect of the present invention provides a computer program product, including a computer program / instructions, which, when executed by a processor, implements the steps of the method described in the above embodiments.

[0016] This invention provides a method for calculating the stiffness matrix of a launch vehicle pipeline compensator based on the least squares method. This method makes full use of compensator test data and uses the least squares method to solve the equations, solving the problem of calculating the stiffness matrix of compensator components. It can achieve the effect of simple and direct operation and high accuracy, and its accuracy will be further improved as the amount of test data increases. Attached Figure Description

[0017] Figure 1This is a schematic diagram of the calculation method for the stiffness matrix of a launch vehicle pipeline compensator based on the least squares method according to an embodiment of the present invention. Figure 2 This is a flowchart illustrating the calculation of the lateral stiffness and bending stiffness of the compensator according to an embodiment of the present invention. Detailed Implementation

[0018] Various embodiments and features of this application are described herein with reference to the accompanying drawings.

[0019] It should be understood that various modifications can be made to the embodiments described herein. Therefore, the above description should not be considered as limiting, but merely as an example of embodiments. Other modifications within the scope and spirit of this application will be apparent to those skilled in the art.

[0020] The accompanying drawings, which are included in and form part of this specification, illustrate embodiments of the present application and, together with the general description of the present application given above and the detailed description of the embodiments given below, serve to explain the principles of the present application.

[0021] These and other features of this application will become apparent from the following description of preferred forms of embodiments given as non-limiting examples, with reference to the accompanying drawings.

[0022] It should also be understood that although this application has been described with reference to some specific examples, those skilled in the art can certainly implement many other equivalent forms of this application.

[0023] To address the difficulty in accurately analyzing the mechanical properties of compensator components in launch vehicle piping systems during piping analysis and testing, and the need to calculate compensator stiffness parameters, this invention proposes a least squares-based method for calculating the stiffness matrix of launch vehicle piping compensators, thereby achieving accurate characterization of compensator stiffness characteristics.

[0024] Figure 1 A flowchart of a method for calculating the stiffness matrix of a launch vehicle pipeline compensator based on the least squares method is provided for embodiments of the present invention, as shown below. Figure 1 As shown, a method for calculating the stiffness matrix of a launch vehicle pipeline compensator based on the least squares method includes the following steps: S101, collect test data of the launch vehicle pipeline compensator to obtain the first response curve, second response curve, and third response curve, including: A single compensator is subjected to axial tension and compression using a tensile testing machine, and the axial displacement-load response curve c1 is recorded as the first response curve. A single cantilever compensator is laterally compressed using a tensile testing machine, and the displacement-load response curve c2 is recorded as the second response curve. Two sets of horizontally opposed compensators are compressed laterally from the middle using a tensile testing machine, and the load-displacement response curve c3 is recorded as the third response curve. S102, the axial stiffness of the compensator is directly obtained based on the first response curve, and the lateral stiffness and bending stiffness of the compensator are solved by the least squares method based on the second response curve and the third response curve. At the same time, the torsional stiffness of the compensator is obtained through the torsion test of the compensator in the launch vehicle pipeline. S103, the axial stiffness, lateral stiffness, bending stiffness and torsional stiffness of the compensator are combined to form a compensator stiffness matrix.

[0025] Specifically, the method of the present invention mainly includes the following steps: axially tensioning a single compensator with a tensile testing machine to obtain the axial displacement-load response curve c1, and calculating the axial stiffness of the compensator using curve c1; laterally compressing a single cantilever compensator with a tensile testing machine, and recording the displacement-load response curve c2 and the end rotation angle θ; laterally compressing two horizontally opposed sets of compensators from the middle with a tensile testing machine to obtain the load-displacement response curve c3; taking several points from curves c2 and c3 and using the least squares method to obtain the lateral stiffness and bending stiffness of the compensator, forming the compensator stiffness matrix.

[0026] The data acquisition process for the compensator test is as follows: First, the displacement-load response curve c1 is obtained through an axial tensile-compression test of a single compensator. Next, a tensile testing machine laterally compresses a single cantilever compensator, recording the displacement-load response curve c2 and the end rotation angle θ. For the end rotation angle θ, only the angles at a few key displacements need to be recorded for later use. Then, the tensile testing machine laterally compresses two horizontally opposed sets of compensators from the middle, obtaining the load-displacement response curve c3. It should be noted that the two sets of compensators are horizontally opposed and connected, with both ends fixed to a fixture. The tensile testing machine performs lateral compression at the mating surface of the two sets of compensators.

[0027] Compared with the prior art, the technical solution of the present invention fully utilizes experimental data to list the vectors of deformation and force during the compensator test, substitutes them into the compensator stiffness equation, and solves the equation using the least squares method. This effectively solves the problem of calculating the stiffness matrix of the compensator component. The method is simple and direct to operate and has high accuracy. Moreover, its accuracy will increase as the amount of experimental data increases.

[0028] In the above embodiments, response curves are obtained by using a single compensator for axial tension and compression and a single compensator for lateral compression, as well as two sets of compensators that are horizontally opposed. In actual operation, more types of compensator tension, compression and bending test data can be used to solve the problem using the least squares method.

[0029] Based on the above embodiments, the lateral stiffness and bending stiffness of the compensator are solved using the least squares method based on the second and third response curves, as follows: Figure 2 As shown, it includes the following steps: S201, constructing the stiffness equation of the compensator based on the structural symmetry coupled stiffness matrix of the launch vehicle pipeline compensator; S202, based on the displacement-load response curve c2, obtain several points and corresponding rotation angles to obtain the corresponding deformation state and stress state of the second response curve; Specifically, take several points (ui, fi) and corresponding rotation angles θi from curve c2, and their corresponding deformation states Ui = [0 ui0 0 0 θi]. T ui is the displacement value at the end of the compensator, and the force state is Fi=[0 fi 0 0 0 0]. T , fi is the load force value, and T represents the transposed rank matrix.

[0030] It should be noted here that if the end rotation angle is not recorded by transverse compression of a single cantilever compensator using a tensile testing machine, the rotation angle can be obtained using the cantilever beam formula θi=ui×3 / 2L, where L is the length of a single compensator.

[0031] S203, based on the load-displacement response curve c3, obtain several points to obtain the corresponding deformation state and stress state of the third response curve; Specifically, take several points (ui, fi) from curve c3, whose corresponding deformation states are Ui=[0 ui 0 0 0 0]. T The force state Fi = [0 fi 0 0 0 -fi×L / 2] T L is the length of a single compensator, ui is the displacement at the end of the compensator, fi is the load force, and T represents the transrank matrix.

[0032] S204, Substitute the corresponding deformation state and stress state of the second response curve and the corresponding deformation state and stress state of the third response curve into several compensator stiffness equations respectively. S205, after eliminating the rows and columns related to axial stiffness and torsional stiffness in the stiffness equations of the compensators, the lateral stiffness and bending stiffness are solved by the least squares method.

[0033] Based on the above embodiments, the construction of the compensator stiffness equation based on the structural symmetry coupled stiffness matrix of the launch vehicle pipeline compensator includes: The coupling stiffness matrix K is obtained based on the structural symmetry of the launch vehicle pipeline compensator. Define the deformation state U of the launch vehicle pipeline compensator and the reaction force and reaction moment vector F of the compensator; The stiffness equation of the compensator, KU=F, is constructed.

[0034] Specifically, based on the structural symmetry of the launch vehicle pipeline compensator, its 6×6 coupling stiffness matrix K is shown in Table 1. K is a 6×6 matrix, where direction 1 represents axial stiffness, directions 2 and 3 represent lateral stiffness, direction 4 represents torsional stiffness, and directions 5 and 6 represent bending stiffness. This matrix is ​​symmetric and has K22=K33, K55=K66, K61=-K52=-K25=K16.

[0035] Table 1 For a deformation state U of the compensator, we have KU=F, where F is the vector of the compensator's reaction force and reaction moment. F and U are 6×1 vectors, and their components are shown in Table 2.

[0036] Table 2 Based on the above embodiments, the step of obtaining several points and corresponding rotation angles based on the displacement-load response curve c2 to obtain the corresponding deformation state and stress state of the second response curve specifically includes: Take several points (ui, fi) and corresponding rotation angles θi from the displacement-load response curve c2, and their corresponding deformation states are Ui=[0 ui 0 0 0 θi]. T The force state Fi = [0 fi 0 0 0 0] T ui is the displacement value at the end of the compensator, fi is the load force value, and T represents the transposed matrix.

[0037] Based on the above embodiments, the corresponding rotation angle is obtained by recording the end rotation angle through transverse compression of a single cantilever compensator using a tensile testing machine; Alternatively, the corresponding rotation angle can be calculated using the cantilever beam formula.

[0038] Based on the above embodiments, the corresponding rotation angle is calculated using the cantilever beam formula, which is expressed as follows: θi = ui × 3 / 2L; where θi is the corresponding rotation angle, ui is the displacement value at the end of the compensator, and L is the length value of a single compensator.

[0039] Based on the above embodiments, the step of obtaining several points based on the load-displacement response curve c3 to obtain the corresponding deformation state and stress state of the third response curve specifically includes: Take several points (ui, fi) from the load-displacement response curve c3, and their corresponding deformation states Ui=[0 ui 0 00 0] TThe force state Fi = [0 fi 0 0 0 -fi×L / 2] T ui is the displacement value at the end of the compensator, fi is the load force value, L is the length value of a single compensator, and T represents the rank matrix.

[0040] In summary, it should be noted that the calculation steps for each stiffness component of the compensator are as follows: a. The axial stiffness K11 of the compensator is generally a nonlinear stiffness, which can be directly obtained from c1.

[0041] b. Take several points (ui, fi) and corresponding rotation angles θi from curve c2. The corresponding deformation Ui = [0 ui 0 0 0 θi] T The force state Fi = [0 fi 0 0 0 0] T .

[0042] c. If the end rotation angle is not recorded, the rotation angle θi can be obtained using the cantilever beam formula θi=ui×3 / 2L, where L is the length of a single compensator.

[0043] d. Take several points (ui, fi) from curve c3, and their corresponding deformed forms Ui = [0 ui 0 0 0 0]. T The force state Fi = [0 fi 0 0 0 -fi×L / 2] T L is the length of a single compensator.

[0044] e. For the above points, several equations of KUi=Fi can be listed. After eliminating the axial and torsional related rows and columns, the lateral and bending stiffnesses K22, K33, K55, K66, K16, K25, K52, and K61 can be solved using the least squares method.

[0045] f. The torsional stiffness K44 can be obtained through a compensator torsion test.

[0046] g. The stiffness matrix K, composed of all stiffness parameters, can be obtained through the above calculations.

[0047] Based on the above embodiments, this embodiment of the invention provides a computer device, including a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the method described in the above embodiments.

[0048] In some embodiments of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the method described in the above embodiments.

[0049] In some embodiments of the present invention, a computer program product is provided, including a computer program / instructions, which, when executed by a processor, implements the steps of the method described in the above embodiments.

[0050] The processor may include, but is not limited to, one or more processors or microprocessors. Each processor may be implemented as an Application Specific Integrated Circuit (ASIC), Digital Signal Processor (DSP), Digital Signal Processing Device (DSPD), Programmable Logic Device (PLD), Field Programmable Gate Array (FPGA), controller, microcontroller, microprocessor, or other electronic component, for executing the methods in the above embodiments.

[0051] Computer-readable storage media can be implemented by any type of volatile or non-volatile storage device or a combination thereof. Computer-readable storage media may include, but are not limited to, random access memory (RAM), read-only memory (ROM), flash memory, EPROM memory, EEPROM memory, registers, and computer storage media (e.g., hard disks, floppy disks, solid-state drives, removable disks, CD-ROMs, DVD-ROMs, Blu-ray discs, etc.).

[0052] Computer-readable storage media may also store at least one computer-executable program / instruction, such as computer-readable instructions. Computer-readable storage media include, but are not limited to, volatile memory and / or non-volatile memory. Volatile memory may include, for example, random access memory (RAM) and / or cache memory. Computer-readable storage media may include, for example, read-only memory (ROM), hard disk, flash memory, etc. For example, a non-transitory computer-readable storage medium may be connected to a computing device such as a computer, and then, when the computing device executes the computer-readable instructions stored on the computer-readable storage medium, the various methods described above can be performed.

[0053] In addition, the computer device may include (but is not limited to) a data bus, an input / output (I / O) bus, a display, and input / output devices (e.g., keyboard, mouse, speakers, etc.).

[0054] The processor can communicate with external devices via the I / O bus through wired or wireless networks.

[0055] In one embodiment, the at least one computer-executable instruction may also be compiled into or comprise a software product / computer program product, wherein one or more computer-executable instructions are executed by a processor to perform the steps of the various functions and / or methods in the embodiments described herein.

[0056] Those skilled in the art will understand that all or part of the steps of the methods described above can be implemented by a program instructing related hardware. The program can be stored in a readable storage medium, and when executed, the program includes one or a combination of the steps of the method implementation.

[0057] In the various embodiments of this application, the functional units can be integrated into a single processing module, or each unit can exist physically separately, or two or more units can be integrated into a single module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a readable storage medium. The storage medium can be a read-only memory, a disk, or an optical disk, etc.

[0058] In the description of this specification, the references to terms such as "one embodiment / mode," "some embodiments / modes," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment / mode or example is included in at least one embodiment / mode or example of this application. Furthermore, the described specific features, structures, materials, or characteristics may be combined in any suitable manner in one or more embodiments / modes or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments / modes or examples described in this specification, as well as the features of different embodiments / modes or examples.

[0059] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0060] Those skilled in the art should understand that the above embodiments are merely for illustrative purposes and are not intended to limit the scope of this application. Those skilled in the art can make other changes or modifications based on the above disclosure, and these changes or modifications still fall within the scope of this application.

Claims

1. A method for calculating the stiffness matrix of a launch vehicle pipeline compensator based on the least squares method, characterized in that, include: Test data of the launch vehicle pipeline compensator were collected to obtain a first response curve, a second response curve, and a third response curve, including: axially tensioning and compressing a single compensator using a tensile testing machine, and recording the axial displacement-load response curve c1 as the first response curve; laterally compressing a single cantilever compensator using a tensile testing machine, and recording the displacement-load response curve c2 as the second response curve; and laterally compressing two horizontally opposed sets of compensators from the middle using a tensile testing machine, and recording the load-displacement response curve c3 as the third response curve. The axial stiffness of the compensator is obtained based on the first response curve. The lateral stiffness and bending stiffness of the compensator are solved using the least squares method based on the second and third response curves. At the same time, the torsional stiffness of the compensator is obtained through a torsion test of the compensator in the launch vehicle pipeline. The compensator stiffness matrix is ​​composed of the axial stiffness, the lateral stiffness, the bending stiffness, and the torsional stiffness of the compensator.

2. The method according to claim 1, characterized in that, The step of solving for the lateral stiffness and bending stiffness of the compensator based on the second and third response curves using the least squares method includes: The stiffness equation of the compensator is constructed based on the structural symmetry coupled stiffness matrix of the rocket pipeline compensator. Based on the displacement-load response curve c2, several points and corresponding rotation angles are obtained to obtain the corresponding deformation state and stress state of the second response curve; Based on the load-displacement response curve c3, several points are obtained to obtain the corresponding deformation state and stress state of the third response curve; Substitute the corresponding deformation and stress states of the second response curve and the corresponding deformation and stress states of the third response curve into several compensator stiffness equations. After eliminating the rows and columns related to axial stiffness and torsional stiffness in the stiffness equations of the compensators, the lateral stiffness and bending stiffness are solved by the least squares method.

3. The method according to claim 2, characterized in that, The construction of the compensator stiffness equation based on the structural symmetry coupled stiffness matrix of the launch vehicle pipeline compensator includes: The coupling stiffness matrix K is obtained based on the structural symmetry of the launch vehicle pipeline compensator. Define the deformation state U of the launch vehicle pipeline compensator and the reaction force and reaction moment vector F of the compensator; The stiffness equation of the compensator, KU=F, is constructed.

4. The method according to claim 2, characterized in that, The process of obtaining several points and corresponding rotation angles based on the displacement-load response curve c2 to obtain the corresponding deformation state and stress state of the second response curve specifically includes: Take several points (ui, fi) and corresponding rotation angles θi from the displacement-load response curve c2, and their corresponding deformation states Ui=[0ui 0 0 0 θi] T The force state Fi = [0 fi 0 0 0 0] T ui is the displacement value at the end of the compensator, fi is the load force value, and T represents the transposed matrix.

5. The method according to claim 2 or 4, characterized in that, The corresponding rotation angle is obtained by recording the end rotation angle through transverse compression of a single cantilever with a compensator on a tensile testing machine. Alternatively, the corresponding rotation angle can be calculated using the cantilever beam formula.

6. The method according to claim 5, characterized in that, The corresponding rotation angle is calculated using the cantilever beam formula, which is expressed as follows: θi = ui × 3 / 2L; where θi is the corresponding rotation angle, ui is the displacement value at the end of the compensator, and L is the length value of a single compensator.

7. The method according to claim 2, characterized in that, The process of obtaining several points based on the load-displacement response curve c3 to obtain the corresponding deformation state and stress state of the third response curve specifically includes: Take several points (ui, fi) from the load-displacement response curve c3, and their corresponding deformation states Ui=[0 ui 0 0 0 0] T The force state Fi = [0 fi 0 0 0 -fi×L / 2] T ui is the displacement value at the end of the compensator, fi is the load force value, L is the length value of a single compensator, and T represents the rank matrix.

8. A computer device, comprising a memory, a processor, and a computer program stored in the memory, characterized in that, The processor executes the computer program to implement the steps of the least squares-based method for calculating the stiffness matrix of a launch vehicle pipeline compensator as described in any one of claims 1 to 7.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the least squares-based method for calculating the stiffness matrix of a launch vehicle pipeline compensator as described in any one of claims 1 to 7.

10. A computer program product comprising a computer program / instructions, characterized in that, When executed by a processor, the computer program implements the steps of the least squares-based method for calculating the stiffness matrix of a launch vehicle pipeline compensator as described in any one of claims 1 to 7.

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