1. A method for realizing cold separation between carrier rocket stages is characterized by comprising the following steps:

step 100, decoupling multiple influence factors in a rocket stage cold separation process by using a single influence factor iteration method, stripping one by one to solve a deviation value range of the single influence factor, and solving the upper stage attitude through an objective function;

200, selecting parameters of deviation value ranges corresponding to the single influence factors one by one, acquiring an upper-level posture corresponding to parameter variation of the single influence factor according to the target function, and comparing and removing the upper-level posture with a posture requirement so as to reduce the deviation value range of each influence factor;

step 300, discretizing the influence factors in the deviation value range obtained in the step 200, and freely combining parameters of a plurality of influence factors in the corresponding deviation value range to form a parameter combination;

step 400, traversing and simulating all parameter combinations by using ADAMS, comparing a simulation result with the attitude control requirement until values of all influence factors are traversed, and eliminating the parameter combinations of which the simulation results do not meet the attitude control requirement so as to further reduce the deviation value range of each influence factor.

2. The method for realizing cold separation between stages of a launch vehicle according to claim 1, wherein the method comprises the following steps: influence factors of rocket interstage separation comprise a quality characteristic, an aftereffect thrust characteristic and a reverse thrust characteristic, and different deviation working conditions are caused by value change of multiple factors;

the quality deviation of the quality characteristic comprises seven parameters, which are respectively: mass deviation, three-dimensional center position deviation and three-dimensional rotational inertia deviation;

the aftereffect thrust deviation of the aftereffect thrust characteristic comprises three parameters which are respectively: the thrust magnitude deviation, the thrust direction deviation and the thrust acting time deviation;

the thrust deviation of the thrust characteristics comprises three parameters, which are respectively: the thrust magnitude deviation, the thrust direction deviation and the thrust acting time deviation.

3. The method for implementing the launcher stage-to-stage cold separation according to claim 2, wherein the objective function is used to solve the upper stage attitude by:

establishing a fixed coordinate system on the ground, and establishing a moving coordinate system moving along with the upper stage at the upper stage;

taking a tiny time step length in the fixed coordinate system, solving acceleration and angular acceleration according to the current stress of the upper level, integrating time to obtain speed and angular velocity, and integrating the speed and the angular velocity to obtain the mass center displacement of the upper level and the attitude angle of the upper level;

converting displacement and angle to the moving coordinate system through coordinate conversion between the fixed coordinate system and the moving coordinate system to obtain new force and moment vectors so as to recalculate the coordinate-converted upper-level centroid displacement and upper-level attitude angle, wherein the upper-level centroid displacement and the upper-level attitude angle form an upper-level attitude;

and the upper-stage attitude angle is a rotation angle between the upper stage and a three-dimensional coordinate value axis of the moving coordinate system.

4. The method for realizing cold separation between stages of a launch vehicle according to claim 2, characterized in that: in step 200, the single-impact-factor iterative method is implemented as follows:

step 201, obtaining a plurality of decoupled influence factors, and sequencing the plurality of influence factors;

202, sequentially selecting parameters of the influence factors in the deviation value range, taking standard values of other influence factors, and solving the upper-level posture by using an objective function;

step 203, comparing the upper-level posture and posture control requirements, and eliminating parameters which do not meet the requirements in the deviation range of the influence factors;

and 204, sequentially selecting the next influence factor according to the sequence, selecting parameters in the deviation range of the influence factor, taking standard values for other influence factors, and repeating the steps 202 to 203 to narrow the deviation value range of all the influence factors.

5. The method for realizing cold separation between stages of a launch vehicle according to claim 4, wherein the method comprises the following steps: selecting parameters of a single influence factor in a deviation value range, calculating the upper-level centroid displacement and the upper-level attitude angle by using a target function, and removing the parameters of the influence factor when any one of the upper-level centroid displacement or the upper-level attitude angle does not accord with the corresponding attitude control requirement;

and when the upper-level centroid displacement and the upper-level attitude angle jointly meet the corresponding attitude control requirements, the parameter is reserved in the deviation value range.

6. The method of claim 1, wherein the discretization of the impact factors within the corresponding range of deviation values in step 300 is performed by: the influence factor is used as a variable parameter in the ADAMS, and parameter value change of the influence factor is realized by using a script file.

7. The method for realizing cold separation between stages of a launch vehicle according to claim 6, wherein the method comprises the following steps: all the influence factors are selected to be parameters in corresponding deviation ranges, a plurality of the influence factors are freely combined, m influence factors are arranged, and each influence factor is divided into n separation factorsScatter point, the number of the free combination of the influence factors is n^m。

8. The method for realizing cold separation between stages of a launch vehicle according to claim 7, wherein the method comprises the following steps: in the step 400, the simulation result of each parameter combination is compared with the attitude control requirement, if the simulation result exceeds the attitude control requirement, the parameter combination is rejected, and the parameter is rejected in the deviation value range of the corresponding influence factor;

and if the simulation result of each parameter combination is within the range of the attitude control requirement, continuing to select the next group of parameter combinations for simulation.

9. The method for implementing cold separation between stages of a launch vehicle according to claim 8, wherein: the simulation objects of traversing simulation of all parameter combinations by the ADAMS specifically comprise an upper-level attitude control result, a separation gap and a far-field pursuit;

when the simulation result of any simulation object does not meet the corresponding upper-level attitude control requirement, separation gap requirement or far-field pursuit requirement, judging that the simulation result exceeds the attitude control requirement;

and when the simulation results of all the simulation objects meet the corresponding upper-level attitude control requirement, separation gap requirement or far-field pursuit requirement, judging that the simulation result of each parameter combination is in the range of the attitude control requirement.

Background

The cold separation is also called deceleration separation, the lower stage is decelerated or the upper stage is accelerated mainly by an auxiliary reverse thrust device, and when the two stages are pulled apart for a certain distance, the upper stage engine is ignited to establish thrust. If the thrust provided by the auxiliary thrust reverser is limited, if the lower stage also has a back thrust after separation, the lower stage may hit the upper stage and collide. The cold separation needs to consider the influence of factors such as pneumatics, quality characteristics, environment, two-stage dynamic characteristics, flight control and the like, and realizes safe separation, namely, the separation gap is large enough, and the upper stage engine spray pipe does not collide with instruments, supports and the like in the shell section in the pulling-out process; no far field pursuit collision occurs.

In the existing cold separation scheme, a small rocket is generally used as an auxiliary reverse thrust device and directly acts on the separation body of the lower stage to generate reverse thrust so as to realize the speed reduction of the lower stage without influencing the upper stage, but as the separation system improves the low-impact and detectable requirements, the initiating explosive devices cannot meet the higher and higher separation requirements, and the non-initiating actuating auxiliary reverse thrust device becomes a new development direction. The action principle of the non-firer actuating auxiliary reverse thrust device is different from that of the small rocket which ejects high-pressure high-speed airflow to generate thrust, but the non-firer actuating auxiliary reverse thrust device needs to act on the upper-stage separating body and the lower-stage separating body simultaneously to push the two bodies away to realize separation. The action mode can affect the pose of the upper level, the study aiming at the change of the pose of the upper level caused by the non-explosive reverse thrust device is less at present, and the three aspects of the pose of the upper level, the near-field gap and the far-field pursuit are mutually affected and mutually restricted. Firstly, on one hand, the posture change of the upper stage can cause the two bodies to have relative rotation angles, so that the separation gap on one side is increased, and the separation gap on one side is reduced; on the other hand, the attitude change of the upper and lower stages causes the change of the trajectory of the two bodies separation, thereby causing the deviation of the recovery route. Secondly, the attitude change of the upper level can influence the control of the attitude control system on the subsequent flight.

Therefore, the existing separation research does not take the attitude change of the upper level as an objective function, the ADAMS simulation method in the existing method has strong visibility, but cannot traverse all deviation working conditions, and the Monte Carlo target shooting method is not suitable for a separation body with uneven mass and inertia distribution and cannot be suitable for the design of a separation system taking a non-explosive working actuation reverse thrust device as separation energy.

Disclosure of Invention

The invention aims to provide a method for realizing interstage cold separation of a carrier rocket, which aims to solve the technical problem in the prior art.

In order to solve the technical problems, the invention specifically provides the following technical scheme:

a method for realizing cold separation between carrier rocket stages comprises the following steps:

step 100, decoupling multiple influence factors in a rocket stage cold separation process by using a single influence factor iteration method, stripping one by one to solve a deviation value range of the single influence factor, and solving the upper stage attitude through an objective function;

200, selecting parameters of deviation value ranges corresponding to the single influence factors one by one, acquiring an upper-level posture corresponding to parameter variation of the single influence factor according to the target function, and comparing and removing the upper-level posture with a posture requirement so as to reduce the deviation value range of each influence factor;

step 300, discretizing the influence factors in the deviation value range obtained in the step 200, and freely combining parameters of a plurality of influence factors in the corresponding deviation value range to form a parameter combination;

step 400, traversing and simulating all parameter combinations by using ADAMS, comparing a simulation result with the attitude control requirement until values of all influence factors are traversed, and eliminating the parameter combinations of which the simulation results do not meet the attitude control requirement so as to further reduce the deviation value range of each influence factor.

As a preferred scheme of the invention, the influence factors of rocket interstage separation comprise quality characteristics, after-effect thrust characteristics and reverse thrust characteristics, and the value change of multiple factors causes different deviation working conditions;

the quality deviation of the quality characteristic comprises seven parameters, which are respectively: mass deviation, three-dimensional center position deviation and three-dimensional rotational inertia deviation;

the aftereffect thrust deviation of the aftereffect thrust characteristic comprises three parameters which are respectively: the thrust magnitude deviation, the thrust direction deviation and the thrust acting time deviation;

the thrust deviation of the thrust characteristics comprises three parameters, which are respectively: the thrust magnitude deviation, the thrust direction deviation and the thrust acting time deviation.

As a preferred scheme of the present invention, the implementation manner of solving the upper-level attitude by using the objective function is as follows:

establishing a fixed coordinate system on the ground, and establishing a moving coordinate system moving along with the upper stage at the upper stage;

taking a tiny time step length in the fixed coordinate system, solving acceleration and angular acceleration according to the current stress of the upper level, integrating time to obtain speed and angular velocity, and integrating the speed and the angular velocity to obtain the mass center displacement of the upper level and the attitude angle of the upper level;

converting displacement and angle to the moving coordinate system through coordinate conversion between the fixed coordinate system and the moving coordinate system to obtain new force and moment vectors so as to recalculate the coordinate-converted upper-level centroid displacement and upper-level attitude angle, wherein the upper-level centroid displacement and the upper-level attitude angle form an upper-level attitude;

and the upper-stage attitude angle is a rotation angle between the upper stage and a three-dimensional coordinate value axis of the moving coordinate system.

As a preferred scheme of the present invention, in step 200, the implementation method of the single-impact-factor iterative method is:

step 201, obtaining a plurality of decoupled influence factors, and sequencing the plurality of influence factors;

202, sequentially selecting parameters of the influence factors in the deviation value range, taking standard values of other influence factors, and solving the upper-level posture by using an objective function;

step 203, comparing the upper-level posture and posture control requirements, and eliminating parameters which do not meet the requirements in the deviation range of the influence factors;

and 204, sequentially selecting the next influence factor according to the sequence, selecting parameters in the deviation range of the influence factor, taking standard values for other influence factors, and repeating the steps 202 to 203 to narrow the deviation value range of all the influence factors.

As a preferred scheme of the invention, a parameter of a single influence factor in a deviation value range is selected, an upper-level centroid displacement and an upper-level attitude angle are calculated by using an objective function, and when any one of the upper-level centroid displacement or the upper-level attitude angle does not meet the corresponding attitude control requirement, the parameter of the influence factor is removed;

and when the upper-level centroid displacement and the upper-level attitude angle jointly meet the corresponding attitude control requirements, the parameter is reserved in the deviation value range.

As a preferred embodiment of the present invention, in step 300, the method for discretizing the influence factor in the corresponding deviation value range includes: the influence factor is used as a variable parameter in the ADAMS, and parameter value change of the influence factor is realized by using a script file.

As a preferable aspect of the present invention, all the influence factors are selected as parameters within a corresponding deviation range, and a plurality of the influence factors are freely combined, m influence factors are selected, and each influence factor is divided into n discrete points, and then the number of the influence factor free combinations is nm.

As a preferred scheme of the present invention, in the step 400, the simulation result of each parameter combination is compared with the attitude control requirement, and if the simulation result exceeds the attitude control requirement, the parameter combination is rejected, and the parameter is rejected in the deviation value range of the corresponding impact factor;

and if the simulation result of each parameter combination is within the range of the attitude control requirement, continuing to select the next group of parameter combinations for simulation.

As a preferred aspect of the present invention, the simulation objects of traversing simulation of all parameter combinations by the ADAMS specifically include the upper-level attitude control result, the separation gap, and the far-field chase;

when the simulation result of any simulation object does not meet the corresponding upper-level attitude control requirement, separation gap requirement or far-field pursuit requirement, judging that the simulation result exceeds the attitude control requirement;

and when the simulation results of all the simulation objects meet the corresponding upper-level attitude control requirement, separation gap requirement or far-field pursuit requirement, judging that the simulation result of each parameter combination is in the range of the attitude control requirement.

Compared with the prior art, the invention has the following beneficial effects:

the invention takes the upper-level posture as guidance, calculates the upper-level posture corresponding to the parameters of each influence factor (namely the quality characteristic, the after-effect thrust characteristic and the counter-thrust characteristic) in the deviation value range, compares the upper-level posture with the corresponding posture requirement to eliminate the parameters which do not meet the requirement, firstly reduces the deviation value range of each influence factor, reduces the workload of ADAMS simulation, and then utilizes a parametric simulation method to combine the advantages of the ADAMS simulation that the real quality distribution can be simulated and the advantages of the Monte Carlo shooting method traversing various deviation combinations.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.

Fig. 1 is a schematic flow chart of a single-impact-factor iteration method according to an embodiment of the present invention;

fig. 2 is a schematic flowchart of an ADAMS simulation method according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1, the present invention provides a method for implementing inter-stage cold separation suitable for a launch vehicle, in the present embodiment, the upper-stage attitude is taken as a guide, the upper-stage attitude corresponding to parameters of each influence factor (i.e., quality characteristic, back thrust characteristic, and reverse thrust characteristic) in a deviation value range is calculated, the upper-stage attitude is compared with the corresponding attitude requirement to eliminate parameters which do not meet the requirement, the deviation value range of each influence factor is reduced first, ADAMS simulation workload is reduced, then a parameterized simulation method is used, the advantages of ADAMS simulation of real quality distribution and the advantages of traversal of various deviation combinations by a monte carlo targeting method are combined, and the method of a nested script file enables simulation to be more automated.

The method specifically comprises the following steps:

step 100, decoupling multiple influence factors in the rocket stage cold separation process by using a single influence factor iteration method, stripping one by one to solve the deviation value range of the single influence factor, and solving the upper stage attitude through an objective function.

Influence factors of rocket interstage separation comprise a quality characteristic, an aftereffect thrust characteristic and a reverse thrust characteristic, and different deviation working conditions are caused by value change of multiple factors; the mass deviation of the mass characteristic comprises seven parameters, namely mass deviation, three-dimensional center position deviation (x, y and z) and three-dimensional rotational inertia deviation (Ixx, Iyy and Izz); the back effect thrust deviation of the back effect thrust characteristic comprises three parameters, namely a thrust magnitude deviation, a thrust direction deviation and a thrust acting time deviation; the thrust deviation of the thrust characteristics comprises three parameters, namely a thrust magnitude deviation, a thrust direction deviation and a thrust acting time deviation.

Wherein the deviation value range of each influence factor is determined according to the interface of each system. Such as determining mass, moment of inertia deviations from the structural system; determining the thrust magnitude and time deviation according to the design and test results of the separating device, and determining the direction deviation according to the installation and assembly tolerance; and determining the aftereffect deviation of the engine according to the design of the engine and the test run result.

Therefore, the research on the separation and attitude control interference under the influence of multiple factors is complex, the value change of the multiple influence factors causes different separation working conditions, and the selection of the deviation working condition of each influence factor is always a key problem in the cold separation process, so that the establishment of a simple, quick and factor-comprehensive deviation working condition selection method has great application value in the research on the cold separation.

The realization principle of solving the upper-level attitude through the objective function is as follows: and establishing a fixed coordinate system on the ground, and establishing a moving coordinate system moving along with the upper stage at the upper stage.

And taking a tiny time step length in the fixed coordinate system, solving the acceleration and the angular acceleration according to the current stress of the upper level, integrating the time to obtain the speed and the angular velocity, and integrating the speed and the angular velocity to obtain the mass center displacement of the upper level and the attitude angle of the upper level.

And converting the displacement and the angle to the moving coordinate system through coordinate conversion between the fixed coordinate system and the moving coordinate system to obtain new force and moment vectors so as to recalculate the coordinate-converted upper-level centroid displacement and upper-level attitude angle, wherein the upper-level centroid displacement and the upper-level attitude angle form an upper-level attitude. And the upper-stage attitude angle is a rotation angle between the upper stage and a three-dimensional coordinate value axis of the moving coordinate system.

In general, the method of coordinate transformation and integration is used to calculate the position and posture at the upper level,

the specific process is as follows:

at the time of the dissociation lock time T0 of the upper and lower stages, a fixed coordinate system O-XYZ is established with the intersection point of the space two-body separating plane and the arrow body axis as the origin, the axis along the arrow body as the X axis, and the pointing flight direction as the positive direction of the X axis. Using the upper centroid as the originEstablishing a moving coordinate system parallel to the coordinate system O-XYZ and moving along with the upper stageEstablishing a moving coordinate system moving along with the next level by taking the next level centroid as an origin and being parallel to a coordinate system O-XYZAfter two-stage separation unlocking, two-stage moving coordinate systemAndmoves as the upper and lower stages move.

Position in fixed coordinate system O-XYZ with origin of moving coordinate systemRepresenting the displacement of two bodies by the attitude angle of the moving coordinate system in the fixed coordinate system O-XYZTo characterize the pose of both bodies. The distance between the centers of mass of the two bodies at the separation unlocking time T0 isThen, the separation distance of the two bodies is defined as:；

taking the above stage as an example, the centroid displacement of the upper stage separator is calculatedAnd posture。

Beginning in the fixed coordinate System O-XYZ at the above stageThe starting conditions were as follows: initial velocity ofInitial angular velocity ofInitial displacement ofInitial attitude angle of。

From the coordinate system O-XYZ to the coordinate systemThe attitude transformation matrix of is T₀₁And then:

；

wherein the content of the first and second substances,、、three attitude angles of the upper stage with respect to the fixed coordinate system O-XYZ. Due to the coordinate systemAlong with the motion of the separating body, the attitude angle and the attitude transformation matrix can also change.

Typically, upon disengagement, the lower stage is subjected to a constant forward thrust along the axis of the arrow. Thus in the coordinate systemMiddle to upperAnalyzing the force on the surface level to obtain the forceSum moment. According to the theory of coordinate system transformation, the forces and moments experienced by the upper stage in the coordinate system O-XYZ are:

at time T0, the upper stage is subjected to the forces:

；

；

then, the acceleration and angular acceleration of the upper stage at this time are:

；

；

wherein:for the total mass of the upper stage,the moment of inertia of the upper stage in the fixed coordinate system O-XYZ. Due to the fact that，In its own coordinate system for the upper levelThe moment of inertia is constant, thenAlong with the coordinate systemIs changed.

Taking a time stepThen the next time is, integrated over time, thenDisplacement, angular displacement of the upper stage at the moment:

；

；

calculated to obtainI.e. the displacement of the centroid of the upper level at a time,is composed ofThe attitude of the upper stage at the moment with respect to the fixed coordinate system O-XYZ, so that a new attitude angle can be obtainedAnd attitude matrixT ₀₁ （1）As the basis for the calculation of the next moment.

The force of the upper stage at time T1 is recalculated taking into account the variation in time of the force experienced by the upper stageSum momentThen the acceleration at the time T1 is calculatedAnd angular acceleration. The sequential loop iteration is carried out to obtain the centroid displacement of the upper level in the whole separation processAnd posture。

200, selecting parameters of deviation value ranges corresponding to the single influence factors one by one, acquiring an upper-level posture corresponding to parameter variation of the single influence factor according to the target function, and comparing and removing the upper-level posture with a posture requirement so as to reduce the deviation value range of each influence factor;

in step 200, attitude control is used as a guide, a single-influence-factor iteration method is used to effectively reduce the deviation value range of the influence factors, and implementation conditions are provided for subsequent ADAMS parameterization simulation, as shown in fig. 1, the specific implementation method is as follows:

1. obtaining a plurality of decoupled influence factors, and sequencing the plurality of influence factors.

2. And sequentially selecting parameters of the influence factors in the deviation value range, wherein other influence factors all adopt standard values, solving the upper-level posture by using an objective function, and solving the objective function of the upper-level posture into a monotone function or a quadratic function of a single influence factor, so that the value range meeting the posture control requirement is easily obtained.

3. And comparing the upper-level posture and the posture control requirements, and eliminating the parameters which do not meet the requirements in the deviation range of the influence factors.

4. And sequentially selecting the next influence factor according to the sequence, selecting parameters in the deviation range of the next influence factor, taking the standard values of other influence factors, and repeating the operation to narrow the deviation value range of all the influence factors.

Selecting parameters of the single influence factor in a deviation value range, calculating the upper-level centroid displacement and the upper-level attitude angle by using an objective function, removing the parameters of the influence factor when any one of the upper-level centroid displacement or the upper-level attitude angle does not accord with the corresponding attitude control requirement, and keeping the parameters in the deviation value range when the upper-level centroid displacement and the upper-level attitude angle jointly accord with the corresponding attitude control requirement.

Step 300, discretizing the influence factors in the deviation value range obtained in the step 200, and freely combining parameters of a plurality of influence factors in the corresponding deviation value range to form a parameter combination;

in step 300, the method for discretizing the influence factors in the corresponding deviation value ranges includes: the influence factor is used as a variable parameter in the ADAMS, and parameter value change of the influence factor is realized by using a script file.

As shown in fig. 2, all the influence factors select parameters within the corresponding deviation ranges, and a plurality of the influence factors are freely combined, m influence factors are provided, and each influence factor is divided into n discrete points, so that the number of the influence factor free combinations is n^m。

At this time, the deviation value range is the deviation value range after being filtered and removed in the step 100, so that the parameter quantity of each influence factor in the deviation value range in the step 200 is smaller than the parameter quantity of each influence factor in the deviation value range in the step 100, thereby reducing the parameter range and further greatly reducing the quantity of parameter combinations.

Step 400, traversing and simulating all parameter combinations by using ADAMS, comparing a simulation result with the attitude control requirement until values of all influence factors are traversed, and eliminating the parameter combinations of which the simulation results do not meet the attitude control requirement so as to further reduce the deviation value range of each influence factor.

In the step 400, the simulation result of each parameter combination is compared with the attitude control requirement, and if the simulation result exceeds the attitude control requirement, the parameter combination is rejected, and the parameter is rejected in the deviation value range of the corresponding influence factor. And if the simulation result of each parameter combination is within the range of the attitude control requirement, continuing to select the next group of parameter combinations for simulation.

The simulation objects of the ADAMS traversing simulation of all parameter combinations specifically comprise the upper-level attitude control results, the separation gaps and the far-field pursuits.

When the simulation result of any simulation object does not meet the corresponding upper-level attitude control requirement, separation gap requirement or far-field pursuit requirement, judging that the simulation result exceeds the attitude control requirement, and when the simulation results of all the simulation objects meet the corresponding upper-level attitude control requirement, separation gap requirement or far-field pursuit requirement, judging that the simulation result of each parameter combination is in the range of the attitude control requirement.

The separation design method taking the upper-level posture as the guide can meet the design requirement of the conventional active separation device, the value range of parameters is reduced by a single influence factor iteration method, the simulation workload is reduced, a parameterized simulation method is utilized, the advantages that ADAMS simulation can simulate real mass distribution and the advantages that Monte Carlo targeting method traverses various deviation combinations are combined, the simulation is more automatic by a nested script file method, the separators with uneven mass and inertia distribution are adapted by screening the deviation values of a plurality of influence factors, the visibility is high, and all deviation working conditions can be traversed.

The above embodiments are only exemplary embodiments of the present application, and are not intended to limit the present application, and the protection scope of the present application is defined by the claims. Various modifications and equivalents may be made by those skilled in the art within the spirit and scope of the present application and such modifications and equivalents should also be considered to be within the scope of the present application.