CN106401795B - A kind of mN levels thrust continuously adjustabe electric propulsion system and method based on HEMPT thrusters - Google Patents
A kind of mN levels thrust continuously adjustabe electric propulsion system and method based on HEMPT thrusters Download PDFInfo
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- CN106401795B CN106401795B CN201610972893.5A CN201610972893A CN106401795B CN 106401795 B CN106401795 B CN 106401795B CN 201610972893 A CN201610972893 A CN 201610972893A CN 106401795 B CN106401795 B CN 106401795B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02K—JET-PROPULSION PLANTS
- F02K9/00—Rocket-engine plants, i.e. plants carrying both fuel and oxidant therefor; Control thereof
- F02K9/80—Rocket-engine plants, i.e. plants carrying both fuel and oxidant therefor; Control thereof characterised by thrust or thrust vector control
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Abstract
A kind of mN levels thrust continuously adjustabe electric propulsion system and method based on HEMPT thrusters, including：HEMPT thrusters, electric propulsion control unit, proportional flow storage are for unit, digitlization regulation power supply unit；For electric propulsion control unit on star under control instruction control, electric propulsion control unit produces two groups of driving control signal, and driving control signal 1 delivers to proportional flow storage and supplies unit, and driving control signal 2 delivers to digitlization regulation power supply unit；Meanwhile the collection proportional flow storage of electric propulsion control unit supplies the telemetered signal 1 of unit feedback and the telemetered signal 2 of digitlization regulation power supply unit feedback, and form remote measurement bag and deliver to outside On board computer；Thruster produces mN level thrust continuously adjustabe thrusts, and the present invention has the advantages that simple system is reliable, in light weight, operating voltage is low, thrust adjustable range is wide.By the design of the system, achievable thrust continuously adjusts, and thrust adjustable range reaches 1mN~20mN, and thrust resolution ratio is better than 15 μ N.
Description
Technical field
The present invention relates to a kind of mN levels thrust continuously adjustabe electric propulsion system and method based on HEMPT thrusters, belong to
Spacecraft propulsion technical field, it is mainly used in spacecraft and is controlled without towing.
Background technology
High accuracy is mainly used in the science such as gravitational wave detection, gravitational field high-acruracy survey without towing control technology and appointed at present
Business, from the point of view of payload measurement accuracy and control accuracy demand, it is most complicated to belong to current accuracy requirement highest, Con trolling index
Space tasks.It is so-called without towing control technology, i.e., using inertia detection and microthrust control be combined, apply on spacecraft
Lasting thrust, with the effect of the nonconservative force such as this " counteracting " air or solar light pressure, its purpose is to measured for superhigh precision
Instrument (such as gravity gradiometer) provides the flight environment of vehicle under one intimate " pure gravitation " effect, meets payload normal work
To the technical need of platform, make it from entering saturation state because of excessive acceleration.
For spacecraft without towing control task, in order to which the atmospheric drag caused by the change of real-Time Compensation orbital period becomes
Change, it is necessary to mN level thrust continuously adjustabes are realized, simultaneously as the speed increment required for track maintains is larger, to propulsion system
Specific impulse it is also proposed high requirement.Meet above-mentioned two requirement, the electric propulsion system of change propulsive is optimal selection.Therefore mN levels
Change propulsive electric propulsion system is to realize one of core technology without towing control, and to realize should without the in-orbit of towing control technology
With, it is necessary to break through mN level thrusts and continuously adjust electric propulsion system key technology.
The wide variety of electric propulsion system of spacecraft is mainly based upon the electric propulsion system of fixed thrust both at home and abroad at present, its
Thrust is held essentially constant or two to three thrust operating points, can not meet the need continuously adjusted without towing control to thrust
Ask.The mN level change propulsives electric propulsion system used without towing control spacecraft external at present is pushed away based on Kaufman type xenon ion
Power device, its system architecture is complicated, weight is big, operating voltage is high.
The content of the invention
Present invention solves the technical problem that it is：Overcome prior art insufficient, there is provided a kind of mN levels based on HEMPT thrusters
Thrust continuously adjustabe electric propulsion system and method, with simple system is reliable, in light weight, operating voltage is low, thrust adjustable range
The advantages that wide.By the design of the system, achievable thrust continuously adjusts, and thrust adjustable range reaches 1mN~20mN, thrust point
Resolution is better than 15 μ N.
The technical scheme that the present invention solves is：A kind of mN level thrust continuously adjustabe electric propulsions system based on HEMPT thrusters
System, including：HEMPT thrusters, electric propulsion control unit, proportional flow storage are for unit, digitlization regulation power supply unit；
Electric propulsion control unit, control instruction on star is received, on star under control instruction control, the production of electric propulsion control unit
Raw two groups of driving control signal, respectively driving control signal 1 and driving control signal 2, driving control signal 1 deliver to ratio stream
Amount storage supplies unit, and driving control signal 2 delivers to digitlization regulation power supply unit；Meanwhile electric propulsion control unit collection ratio stream
Amount storage is for the telemetered signal 1 of unit feedback and the telemetered signal 2 of digitlization regulation power supply unit feedback, and by the He of telemetered signal 1
Telemetered signal 2 forms remote measurement bag and delivers to outside On board computer；Electric propulsion control unit is powered by outside star last time power supply；
Regulation power supply unit is digitized, can be two required for the work of HEMPT thrusters by star last time Power convert
Secondary power power-supply gives HEMPT thrusters；
Proportional flow storage supplies unit, can store propellant, and propellant feed is managed；
Driving control signal 1 and driving control signal 2 control proportional flow storage for unit and digitlization regulation power supply respectively
Unit provides propellant flow rate and the power needed for ignition operation for HEMPT thrusters, realizes the normal point of HEMPT thrusters
Fire；
Propellant flow rate when proportional flow storage works HEMPT thrusters for unit forms telemetered signal 1 and feeds back to electricity
Solid rocket engine unit；
Power when digitlization regulation power supply unit works HEMPT thrusters forms telemetered signal 2 and feeds back to electric propulsion
Control unit；
Driving control signal 1 controls proportional flow storage to provide required propulsion agent method such as unit for HEMPT thrusters
Under：
Proportional flow storage supplies unit, can store and manage propellant, and proportional flow storage includes proportioning valve for unit；In electricity
Under the drive control for the driving control signal 1 that Solid rocket engine unit is sent specified anode is provided for HEMPT thruster normal works
With the propellant of negative electrode flow rate, the supply of negative electrode flow rate keeps constant, and then adoption rate valve controls the supply of anode flow rate, Neng Goushi
Existing anode flow rate supply continuously adjusts, to meet the needs of thrust coarse adjustment.
The digital control regulation power supply unit of driving control signal 2 for HEMPT provide needed for power method it is as follows：
Regulation power supply unit is digitized, is the secondary work(required for the work of HEMPT thrusters by star last time Power convert
Rate power supply, including Heating Cathode Source, priming supply and anode supply, for HEMPT thrusters work provide firing pulse and
Ionization and accelerating field；Meanwhile regulation power supply unit is digitized, in the driving control signal 2 that electric propulsion control unit is sent
Under drive control, start and stop and the power adjusting of each secondary power power supply are realized, Heating Cathode Source is constant-current source, priming supply is
The pulse power, anode supply are Digital Control voltage source, continuously adjusting for anode voltage can be realized, to meet thrust accurate adjustment
Demand.
The HEMPT thrusters include negative electrode and cusped magnetic field accelerator, and negative electrode is used for producing electronics, and a part of electronics enters
Field accelerator is cut in membership, and the multistage sophisticated cusped magnetic field of the passage of cusped magnetic field accelerator will enter cusped magnetic field accelerator
Electronics is strapped in HEMPT thruster axial regions, produces ionization for the propellant collision that unit is sent with proportional flow storage, is formed
Ion digitlization regulation power supply unit bring anode supply effect under accelerate spray produce thrust, ion spray after with
The plasma neutral with formation in a part of cathode electronics；
It is propellant anode flow rate and sun by changing thruster that thrust caused by HEMPT thrusters, which can continuously adjust,
Pole tension is realized.The HEMPT thruster anode voltage scopes of the present invention：100V~500V, anode flow rate range：3sccm
~20sccm, its thrust output are approximatelyIn anode flow rate
In the case of remaining unchanged, thrust and anode voltage VaInto linear approximate relationship, its proportionality coefficient is k2, in anode voltage VaDimension
Hold it is constant in the case of, thrust and anode flow rateInto linear approximate relationship, its proportionality coefficient is k1, wherein k1、k2、k3To be normal
Number, is obtained by experimental calibration.
Described electric propulsion control unit, including：Control parameter distribute module, anode flow rate input module, anode flow rate
PID controller, anode voltage PID controller, parameter collection module 1, parameter collection module 2, thrust estimate module, subtracter 1,
Subtracter 2；
Control instruction delivers to control parameter distribute module on star, and control parameter distribute module is according to control instruction on star, i.e.,
Thrust command (gives required anode gas flow rate desired value and thrust goals value) in thrust command, it is determined that required anode gas flow rate
Desired value and thrust goals value, then deliver to the input of subtracter 2 by anode gas flow rate desired value, and thrust goals value is delivered into subtraction
The input of device 1；
Parameter collection module 2 receives the anode flow rate during HEMPT thrusters work of digitlization regulation power supply unit feedbackDeliver to subtracter 2；
Subtracter 2 willWith required anode flow rate desired valueCarried out after making difference by anode flow rate proportional controller
PID control, obtain driving control signal 2 deliver to proportional flow storage supply unit；
Parameter collection module 1 receives the operating voltage V of the HEMPT thrusters of digitlization regulation power supply unit feedbacka, electric current
IaDeliver to thrust and estimate unit, thrust estimates operating voltage V of the unit according to the HEMPT thrusters of feedbacka, electric current Ia, estimate out
Thrust delivers to subtracter 1；Subtracter 1, according to control instruction on star, i.e. thrust command, by the target propulsive force value in thrust command
FoThe thrust F that unit estimates is estimated with thrustaIt is poor to carry out work, and passes through anode voltage PID control unit and carries out PID control, output
Driving control signal 1 delivers to digitlization regulation power supply unit.
A kind of mN level thrust continuously adjustabe methods based on HEMPT thrusters, step are as follows：
(1) control instruction, i.e. thrust command on the star that On board computer provides, including required anode gas flow rate desired value
With target propulsive force value, after being input to electric propulsion control unit with the frequency of setting, electric propulsion control unit obtains according to thrust command
To required anode flow rate desired value and thrust goals value, and respectively as proportional flow control unit and digitlization regulation electricity
The input signal of source unit；
(2) proportional flow control unit is conveyed to HEMPT according to required anode gas flow rate desired value by PID control
Flow rate needed for thruster normal work；
(3) regulation power supply unit thrust goals value as needed is digitized, is exported by PID control and gives HEMPT thrusts
Anode voltage needed for device normal work；
(4) HEMPT thrusters form thrust in the presence of anode flow rate and anode voltage；
(5) the work anode flow rate of HEMPT thrusters is measured in real timeAnd feed back to electric propulsion control unit, electric propulsion
Control unit is by the target propulsive force value of settingWith the work anode flow rate of the HEMPT thrusters of feedbackIt is compared, than
Example storage supplies the anode flow rate output signal of unit according to work anode flow rateWith target propulsive force valueDeviation by PID control
Device is automatically controlled, and the coarse adjustment of thrust is realized in passing ratio storage for the PID control of unit.
(6) the operating voltage V of HEMPT thrusters is measured in real timea, electric current IaAnd feed back to electric propulsion control unit, electric propulsion
Control unit is according to the operating voltage V of HEMPT thrustersa, electric current IaEstimate out thrust magnitude Fa, then by the target propulsive force of setting
Value FoThe thrust magnitude F estimated with thisaIt is compared, the voltage output signal of anode supply is according to the thrust magnitude F estimatedaWith target
Thrust magnitude FoDeviation automatically controlled by PID controller, the accurate adjustment section of thrust is realized by the PID control of anode voltage.
The present invention compared with prior art the advantages of be：
(1) electric propulsion system of wide variety of fixed thrust is compared, the present invention has the energy that mN level thrusts continuously adjust
Power, thrust can be adjusted on a large scale, realize 1~20mN continuously adjustabes；
(2) present invention supplies technology, thrust using double PID Closed loop Controls, the control of anode flow rate using the storage of PID ratios
Using PID control, it can realize that thrust degree of regulation is better than 15uN by the technical program；
(3) present invention is based on HEMPT electric propulsion technologies, and compared to Kaufman type ion electric propulsion technology, pushing force density improves
An order of magnitude, weight reduces nearly 1 times, and thrust adjustable range is wider, has good engineering practicability.
Brief description of the drawings
The mN level thrust continuously adjustabe electric propulsion system composition frame charts of Fig. 1 present invention；
Fig. 2 mN level thrust continuously adjustabe electric propulsion system fundamental diagrams
Embodiment
The present invention basic ideas be：A kind of mN levels thrust continuously adjustabe electric propulsion system based on HEMPT thrusters and
Method, including：HEMPT thrusters, electric propulsion control unit, proportional flow storage are for unit, digitlization regulation power supply unit；Electricity pushes away
Enter control unit on star under control instruction control, electric propulsion control unit produces two groups of driving control signal, drive control letter
Number 1, which delivers to proportional flow storage, supply unit, and driving control signal 2, which is delivered to, digitizes regulation power supply unit；Meanwhile electric propulsion control is single
The telemetered signal 1 and the telemetered signal 2 of digitlization regulation power supply unit feedback that member collection proportional flow storage is fed back for unit, and shape
Outside On board computer is delivered into remote measurement bag；Thruster produces mN level thrust continuously adjustabe thrusts, and the present invention has simple system
Reliably, in light weight, the advantages that operating voltage is low, thrust adjustable range is wide.By the design of the system, thrust can be achieved and continuously adjust
Section, thrust adjustable range reach 1mN~20mN, and thrust resolution ratio is better than 15 μ N.
The present invention is described in further detail with specific embodiment below in conjunction with the accompanying drawings.
As depicted in figs. 1 and 2, the present invention proposes a kind of mN level thrust continuously adjustabe electric propulsions based on HEMPT thrusters
System, including：HEMPT thrusters, electric propulsion control unit, proportional flow storage are for unit, digitlization regulation power supply unit；
Electric propulsion control unit, control instruction on star is received, on star under control instruction control, the production of electric propulsion control unit
Raw two groups of driving control signal, respectively driving control signal 1 and driving control signal 2, driving control signal 1 deliver to ratio stream
Amount storage supplies unit, and driving control signal 2 delivers to digitlization regulation power supply unit；Meanwhile electric propulsion control unit collection ratio stream
Amount storage is for the telemetered signal 1 of unit feedback and the telemetered signal 2 of digitlization regulation power supply unit feedback, and by the He of telemetered signal 1
Telemetered signal 2 forms remote measurement bag and delivers to outside On board computer；Electric propulsion control unit is powered by outside star last time power supply；
Regulation power supply unit is digitized, is the secondary work(required for the work of HEMPT thrusters by star last time Power convert
Rate power supply gives HEMPT thrusters, receives the driving control signal 1 of electric propulsion control unit transmission
Proportional flow storage supplies unit, can store propellant, and propellant feed is managed；
Driving control signal 1 and driving control signal 2 control proportional flow storage for unit and digitlization regulation power supply respectively
Unit provides propellant flow rate and the power needed for ignition operation for HEMPT thrusters, realizes the normal point of HEMPT thrusters
Fire；
Propellant flow rate when proportional flow storage works HEMPT thrusters for unit forms telemetered signal 1 and feeds back to electricity
Solid rocket engine unit；
Power when digitlization regulation power supply unit works HEMPT thrusters forms telemetered signal 2 and feeds back to electric propulsion
Control unit；
Proportional flow storage supplies unit, can store and manage propellant, and proportional flow storage includes proportioning valve for unit；In electricity
Under the drive control for the driving control signal 1 that Solid rocket engine unit is sent specified anode is provided for HEMPT thruster normal works
With the propellant of negative electrode flow rate, the supply of negative electrode flow rate keeps constant, and then adoption rate valve controls the supply of anode flow rate, Neng Goushi
Existing anode flow rate supply continuously adjusts, and to meet the needs of thrust a wide range of coarse adjustment, thrust 1~20mN levels can be achieved and adjust on a large scale
Section.
Regulation power supply unit is digitized, is the secondary work(required for the work of HEMPT thrusters by star last time Power convert
Rate power supply, including Heating Cathode Source, priming supply and anode supply, for HEMPT thrusters work provide firing pulse and
Ionization and accelerating field；Meanwhile regulation power supply unit is digitized, in the driving control signal 2 that electric propulsion control unit is sent
Under drive control, start and stop and the power adjusting of each secondary power power supply are realized, Heating Cathode Source is constant-current source, priming supply is
The pulse power, anode supply are Digital Control voltage source, continuously adjusting for anode voltage can be realized, to meet thrust accurate adjustment
Demand, thrust 15 μ N degrees of regulation can be achieved.
The HEMPT thrusters include negative electrode and cusped magnetic field accelerator, and negative electrode is used for producing electronics, and a part of electronics enters
Field accelerator is cut in membership, and the multistage sophisticated cusped magnetic field of the passage of cusped magnetic field accelerator will enter cusped magnetic field accelerator
Electronics is strapped in HEMPT thruster axial regions, produces ionization for the propellant collision that unit is sent with proportional flow storage, is formed
Ion digitlization regulation power supply unit bring anode supply effect under accelerate spray produce thrust, ion spray after with
The plasma neutral with formation in a part of cathode electronics.Using HEMPT thrusters, compared to Kaufman ion thruster, push away
Force density improves an order of magnitude, and weight reduces nearly 1 times.
It is propellant anode flow rate and sun by changing thruster that thrust caused by HEMPT thrusters, which can continuously adjust,
Pole tension is realized.The HEMPT thruster anode voltage scopes of the present invention：100V~600V, anode flow rate range：0.3mg/
S~2mg/s, its thrust output F areIn anode flow rateDimension
Hold it is constant in the case of, thrust and anode voltage VaInto linear approximate relationship, its proportionality coefficient is k2, in anode voltage VaMaintain
In the case of constant, thrust and anode flow rateInto linear approximate relationship, its proportionality coefficient is k1, wherein k1k2k3For constant,
Obtained by experimental calibration.Preferred scheme is：k1For 10~15；k2For 1.2~1.6；k3For -3.5~-2；Thrust being capable of big model
Enclose regulation.
Job step is as follows：K=0.4~0.6
(1) control instruction, i.e. thrust command on the star that On board computer provides, including required anode gas flow rate desired value
With target propulsive force value, after being input to electric propulsion control unit with the frequency (10Hz) of setting, electric propulsion control unit is according to thrust
Instruction, required anode flow rate desired value and thrust goals value is obtained, and respectively as proportional flow control unit and numeral
Change the input signal of regulation power supply unit；
(2) proportional flow control unit is conveyed to HEMPT according to required anode gas flow rate desired value by PID control
Flow rate needed for thruster normal work；
(3) regulation power supply unit thrust goals value as needed is digitized, is exported by PID control and gives HEMPT thrusts
Anode voltage needed for device normal work；
(4) HEMPT thrusters form thrust in the presence of anode flow rate and anode voltage；
(5) the work anode flow rate of HEMPT thrusters is measured in real timeAnd feed back to electric propulsion control unit, electric propulsion
Control unit is by the target propulsive force value of settingWith the work anode flow rate of the HEMPT thrusters of feedbackIt is compared, than
Example storage supplies the anode flow rate output signal of unit according to work anode flow rateWith target propulsive force valueDeviation by PID control
Device automatically controls, and passing ratio storage realizes a wide range of coarse adjustment of thrust for the PID control of unit, can be achieved adjustable range 1~
20mN。
(6) the operating voltage V of HEMPT thrusters is measured in real timea, electric current IaAnd feed back to electric propulsion control unit, electric propulsion
Control unit is according to the operating voltage V of HEMPT thrustersa, electric current IaEstimate out thrust magnitude Fa, then by the target propulsive force of setting
Value FoThe thrust magnitude F estimated with thisaIt is compared, the voltage output signal of anode supply is according to the thrust magnitude F estimatedaWith target
Thrust magnitude FoDeviation automatically controlled by PID controller, the accurate adjustment section of thrust is realized by the PID control of anode voltage, can be real
The existing μ N of degree of regulation 15.
The method tested the system of the present invention is as follows：
1) carry out open-loop test first, fixed anode flow rate be 3sccm respectively, then regulation anode voltage from 100V to
500V, step-length 50V, measure under the conditions of anode flow rate 3sccm, the relation of thrust and anode voltage；Next it is stepped up
Anode flow rate, increases fixed anode flow rate after 1sccm every time, then adjusts anode voltage from 100V to 500V, step-length 50V,
Measure under the conditions of new anode flow rate, the relation of thrust and anode voltage.According to test result, it is possible to achieve thrust 1~
20mN is adjusted, and obtains thrust and anode flow rate, the relation of anode voltage.
2) after open loop characteristic is obtained, system PID closed-loop controls are carried out, are referred to by being controlled on ground installation simulation transmission star
Order, thrust command is sent with 10Hz frequency, system thrust adjustable range is measured, reaches 1~20mN, degree of regulation is 15 μ N.
The unspecified content of the present invention belongs to the common knowledge of this area.
Claims (8)
- A kind of 1. mN level thrust continuously adjustabe electric propulsion systems based on HEMPT thrusters, it is characterised in that including：HEMPT is pushed away Power device, electric propulsion control unit, proportional flow storage are for unit, digitlization regulation power supply unit；Electric propulsion control unit, control instruction on star is received, on star under control instruction control, electric propulsion control unit produces two Group driving control signal, respectively driving control signal 1 and driving control signal 2, driving control signal 1 deliver to proportional flow storage For unit, driving control signal 2 delivers to digitlization regulation power supply unit；Meanwhile electric propulsion control unit collection proportional flow storage The telemetered signal 2 of telemetered signal 1 and digitlization regulation power supply unit feedback for unit feedback, and by telemetered signal 1 and remote measurement Signal 2 forms remote measurement bag and delivers to outside On board computer；Electric propulsion control unit is powered by outside star last time power supply；Regulation power supply unit is digitized, can be the secondary work(required for the work of HEMPT thrusters by star last time Power convert Rate power supply gives HEMPT thrusters；Proportional flow storage supplies unit, can store propellant, and propellant feed is managed；Driving control signal 1 and driving control signal 2 control proportional flow storage for unit and digitlization regulation power supply unit respectively Propellant flow rate and the power needed for ignition operation are provided for HEMPT thrusters, realizes the normal ignition of HEMPT thrusters；Propellant flow rate when proportional flow storage works HEMPT thrusters for unit forms telemetered signal 1 and feeds back to electric propulsion Control unit；Power when digitlization regulation power supply unit works HEMPT thrusters forms telemetered signal 2 and feeds back to electric propulsion control Unit.
- 2. a kind of mN level thrust continuously adjustabe electric propulsion systems based on HEMPT thrusters according to claim 1, it is special Sign is：Driving control signal 1 controls proportional flow storage to provide required propulsion agent method such as unit for HEMPT thrusters Under：Proportional flow storage supplies unit, can store and manage propellant, and proportional flow storage includes proportioning valve for unit；In electric propulsion Under the drive control for the driving control signal 1 that control unit is sent specified anode and the moon are provided for HEMPT thruster normal works The propellant of pole flow rate, the supply of negative electrode flow rate keeps constant, and then adoption rate valve controls the supply of anode flow rate, can realize sun Pole flow rate supply continuously adjusts, to meet the needs of thrust coarse adjustment.
- 3. a kind of mN level thrust continuously adjustabe electric propulsion systems based on HEMPT thrusters according to claim 1, it is special Sign is：The digital control regulation power supply unit of driving control signal 2 for HEMPT provide needed for power method it is as follows：Regulation power supply unit is digitized, is the secondary power electricity required for the work of HEMPT thrusters by star last time Power convert Source, including Heating Cathode Source, priming supply and anode supply, firing pulse and ionization are provided for the work of HEMPT thrusters And accelerating field；Meanwhile regulation power supply unit is digitized, in the driving for the driving control signal 2 that electric propulsion control unit is sent Under control, start and stop and the power adjusting of each secondary power power supply are realized, Heating Cathode Source is constant-current source, priming supply is pulse Power supply, anode supply are Digital Control voltage source, continuously adjusting for anode voltage can be realized, to meet the need of thrust accurate adjustment Ask.
- 4. a kind of mN level thrust continuously adjustabe electric propulsion systems based on HEMPT thrusters according to claim 1, it is special Sign is：The HEMPT thrusters include negative electrode and cusped magnetic field accelerator, and negative electrode is used for producing electronics, and a part of electronics enters Field accelerator is cut in membership, and the multistage sophisticated cusped magnetic field of the passage of cusped magnetic field accelerator will enter cusped magnetic field accelerator Electronics is strapped in HEMPT thruster axial regions, produces ionization for the propellant collision that unit is sent with proportional flow storage, is formed Ion digitlization regulation power supply unit bring anode supply effect under accelerate spray produce thrust, ion spray after with The plasma neutral with formation in a part of cathode electronics.
- 5. a kind of mN level thrust continuously adjustabe electric propulsion systems based on HEMPT thrusters according to claim 1, it is special Sign is：It is propellant anode flow rate and sun by changing thruster that thrust caused by HEMPT thrusters, which can continuously adjust, Pole tension is realized.
- 6. a kind of mN level thrust continuously adjustabe electric propulsion systems based on HEMPT thrusters according to claim 1, it is special Sign is：HEMPT thruster anode voltage scopes：100V~500V, anode flow rate range：3sccm~20sccm, its output push away Power is：In anode flow rateIn the case of remaining unchanged, thrust With anode voltage VaInto linear approximate relationship, its proportionality coefficient is k2, in anode voltage VaIn the case of remaining unchanged, thrust with Anode flow rateInto linear approximate relationship, its proportionality coefficient is k1, wherein k1、k2、k3For constant, obtained by experimental calibration.
- 7. a kind of mN level thrust continuously adjustabe electric propulsion systems based on HEMPT thrusters according to claim 1, it is special Sign is：Described electric propulsion control unit, including：Control parameter distribute module, anode flow rate input module, anode flow rate PID controller, anode voltage PID controller, parameter collection module 1, parameter collection module 2, thrust estimate module, subtracter 1, Subtracter 2；Control instruction delivers to control parameter distribute module on star, and control parameter distribute module is according to control instruction on star, i.e. thrust Instruction, it is determined that required anode gas flow rate desired value and thrust goals value, then deliver to subtracter 2 by anode gas flow rate desired value and input End, the input of subtracter 1 is delivered to by thrust goals value；Parameter collection module 2 receives the anode flow rate during HEMPT thrusters work of digitlization regulation power supply unit feedbackSend To subtracter 2；Subtracter 2 willWith required anode flow rate desired valuePID controls are carried out by anode flow rate PID controller after work difference System, obtain driving control signal 2 and deliver to digitlization regulation power supply unit；Parameter collection module 1 receives the anode voltage V of the HEMPT thrusters of digitlization regulation power supply unit feedbacka, electric current IaSend Module is estimated to thrust, thrust estimates anode voltage V of the module according to the HEMPT thrusters of feedbacka, electric current Ia, estimate out thrust Deliver to subtracter 1；Subtracter 1, according to control instruction on star, i.e. thrust command, by the thrust goals value F in thrust commandoWith Thrust estimates the thrust F that module is estimatedaIt is poor to carry out work, and passes through anode voltage PID controller and carries out PID control, output driving Control signal 1 delivers to proportional flow storage and supplies unit.
- A kind of 8. mN level thrust continuously adjustabe methods based on HEMPT thrusters, it is characterised in that step is as follows：(1) control instruction, i.e. thrust command on the star that On board computer provides, including required anode gas flow rate desired value and push away Power desired value, after being input to electric propulsion control unit with the frequency of setting, electric propulsion control unit obtains institute according to thrust command The anode gas flow rate desired value and thrust goals value needed, and respectively as anode flow rate PID controller and digitlization regulation power supply The input signal of unit；(2) anode flow rate PID controller is conveyed to HEMPT thrusts according to required anode gas flow rate desired value by PID control Flow rate needed for device normal work；(3) regulation power supply unit thrust goals value as needed is digitized, is exported by PID control to HEMPT thrusters just The often anode voltage needed for work；(4) HEMPT thrusters form thrust in the presence of anode flow rate and anode voltage；(5) the work anode flow rate of HEMPT thrusters is measured in real timeAnd electric propulsion control unit is fed back to, electric propulsion control Unit is by the target propulsive force value of settingWith the work anode flow rate of the HEMPT thrusters of feedbackIt is compared, ratio storage For unit anode flow rate output signal according to work anode flow rateWith target propulsive force valueDeviation by PID controller from The coarse adjustment of thrust is realized in dynamic control, passing ratio storage for the PID control of unit；(6) the anode voltage V of HEMPT thrusters is measured in real timea, electric current IaAnd electric propulsion control unit is fed back to, electric propulsion control Unit is according to the anode voltage V of HEMPT thrustersa, electric current IaEstimate out thrust magnitude Fa, then by the target propulsive force value F of settingo The thrust magnitude F estimated with thisaIt is compared, the voltage output signal of anode supply is according to the thrust magnitude F estimatedaWith target propulsive force Value FoDeviation automatically controlled by PID controller, the accurate adjustment section of thrust is realized by the PID control of anode voltage.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610972893.5A CN106401795B (en) | 2016-10-28 | 2016-10-28 | A kind of mN levels thrust continuously adjustabe electric propulsion system and method based on HEMPT thrusters |
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| CN201610972893.5A CN106401795B (en) | 2016-10-28 | 2016-10-28 | A kind of mN levels thrust continuously adjustabe electric propulsion system and method based on HEMPT thrusters |
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| Publication Number | Publication Date |
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| CN106401795A CN106401795A (en) | 2017-02-15 |
| CN106401795B true CN106401795B (en) | 2018-02-06 |
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| CN111505987B (en) * | 2020-04-26 | 2021-03-09 | 中国科学院国家空间科学中心 | Space micro-Newton electric propulsion control system |
| CN112947530A (en) * | 2021-03-25 | 2021-06-11 | 西安交通大学 | Control method and system for yawing of distributed electric propulsion aircraft |
| CN113107798B (en) * | 2021-03-26 | 2022-07-29 | 北京控制工程研究所 | Electric propulsion multi-mode autonomous control system and method |
| CN113217316B (en) * | 2021-05-14 | 2022-09-30 | 兰州空间技术物理研究所 | Thrust adjusting method based on Kaufman type ion thruster and satellite application |
| CN113202708B (en) * | 2021-05-16 | 2023-01-31 | 兰州空间技术物理研究所 | Working method of ionic electric propulsion system in full life cycle |
| CN113738606B (en) * | 2021-08-27 | 2022-10-25 | 西安交通大学 | Continuous variable thrust optimal control system and method for ionic electric propulsion system |
| CN113931817A (en) * | 2021-09-30 | 2022-01-14 | 北京控制工程研究所 | Two-stage pressure reduction device and pressure reduction method for electric propulsion system propellant |
| CN114753981A (en) * | 2022-04-13 | 2022-07-15 | 哈尔滨工业大学 | Micro propeller based on annular bombardment cathode |
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