CN101508348B - Shutdown control method of self-pressurized liquefied gas propelling system - Google Patents
Shutdown control method of self-pressurized liquefied gas propelling system Download PDFInfo
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- CN101508348B CN101508348B CN2009100472105A CN200910047210A CN101508348B CN 101508348 B CN101508348 B CN 101508348B CN 2009100472105 A CN2009100472105 A CN 2009100472105A CN 200910047210 A CN200910047210 A CN 200910047210A CN 101508348 B CN101508348 B CN 101508348B
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Abstract
The invention discloses a method for controlling the shutdown of a self-pressurization liquefied gas propulsion system, which comprises a temperature-time shutdown control mode: acquiring an impulse coefficient; mounting a temperature sensor on the surface of a storage tank, judging whether the actual temperature of the storage tank exceeds a preset temperature range according to a set period by a satellite processor, and controlling the autonomous working of a heating belt intertwined on the surface of the storage tank according to the judging result; performing reverse check on an impulse coefficient calculation table to obtain the starting up duration when the temperature of the storage tank is controlled accurately and autonomously and the impulse coefficient is obtained through calculation; setting the starting up duration parameters in an orbit control command to the obtained calculating result, and uploading an orbital transfer parameter packet from the ground when a satellite enters a country; and when the satellite receives the orbital transfer parameter packet, shutting down the self-pressurization liquefied gas propulsion system according to the starting up duration in the parameter packet so as to achieve the shutdown control. The method uses two shutdown control modes of temperature-time and pressure-speed to solve the key problem of accurately performing starting up and shutdown by the novel self-pressurization liquefied gas propulsion system.
Description
Technical field
The invention belongs to aerospace and advance theoretical and engineering research field, relate to a kind of shutdown control method, relate in particular to a kind of shutdown control method of self-pressurized liquefied gas propelling system.
Background technology
The development trend of space industry requires Future Spacecraft must have strong attitude, orbit maneuver ability and higher-security; Novel self-pressurized liquefied gas propelling system is under the jurisdiction of cold air and advances; Has simple, reliable, safe property advantages of higher; Enjoy space industry to pay close attention to,, particularly will have wide application prospect on the microsatellite platform in Future Spacecraft.On-off control method is the core technology that novel self-pressurized liquefied gas propelling system is applied to actual aerospace engineering; Its main task is to be input with predetermined control strategy and propulsion system state; Accurately the switching on and shutting down of control propulsion system constantly; Guarantee that propulsion system can provide the predetermined speed increment by control strategy during the space mission, for the success of space mission provides important leverage.Whether propulsion system switching on and shutting down control accurately will directly influence attitude and orbit control accuracy; Influence the success or failure of space mission; And then influence the practical engineering application of novel self-pressurized liquefied gas propelling system, become the focal issue of novel self-pressurized liquefied gas propelling system area research.
China starts late in the research in self-pressurized liquefied gas Push Technology field, and is rarely seen at spaceborne application example, has big gap with international most advanced level.In order to accelerate the space flight development of new techniques, to follow the tracks of world's space flight advanced level; In April, 2005; China formally will smallly follow the satellite test to classify the application test project of No. seven tasks of divine boat as, and confirm on the companion star, to install that to implement track from supercharging liquefied ammonia propulsion system approaching and follow flight; The present invention derives from No. seven tasks of divine boat.Obtain on the basis that the present invention is approaching at " SZ-7 " companion star track and the test of being diversion is crowned with complete success; The control method to novel self-pressurized liquefied gas propelling system that its design is accomplished has effectively guaranteed orbit control accuracy; The test mission success of guaranteeing to be diversion, this technology have been filled up the blank that domestic novel self-pressurized liquefied gas propelling system is used in spacecraft orbit control field.
The domestic spacecraft that the control of employing novel liquefied petroleum gas propulsion system successful implementation track is not arranged at present as yet only has the Inspector satellite of Germany to adopt similar propulsion system abroad, but in the document of publishing, does not see the report to its shutdown mode.
The tradition shutdown mode of propulsion system is speed shutdown control both at home and abroad, but it is different fully with " pressure-speed " shutdown control mode implementation method of the present invention's proposition.Traditional mode is through accelerometer is installed on spacecraft acceleration in the rail control process to be measured, and it is carried out integration acquisition velocity variations, compares with the predetermined change rail speed that ground provides, and implements shutdown.
Summary of the invention
Technical matters to be solved by this invention is: the shutdown control method that a kind of self-pressurized liquefied gas propelling system is provided; Novelty has designed " temperature-time " and " pressure-speed " two kinds of shutdown control mode, has solved the key issue that novel self-pressurized liquefied gas propelling system is accurately implemented switching on and shutting down.
For solving the problems of the technologies described above, the present invention adopts following technical scheme:
A kind of shutdown control method of self-pressurized liquefied gas propelling system, said propulsion system is as the propulsion system of satellite; This method comprises the steps:
Before A1, aerial mission begin,, obtain propulsion system impact coefficient reckoner through the propulsion system ground run; This impact coefficient reckoner is input with tank temperature, start duration, is output with the impact coefficient;
During A2, the actual task, acquire impact coefficient: ∫ Pdt=m Δ v/k; Wherein, m is known for the satellite quality, and the predetermined rail speed Δ v that becomes is provided by charge center, ground, and calibration coefficient k obtains through demarcating at rail, and P is a tank pressure;
A3, tank mounted on surface have temperature sensor, and the propellant temperature in the tank is measured; The ground control centre is provided with the tank operating temperature range through remote control mode;
Processor judges according to setting cycle whether the tank actual temperature exceeds predetermined temperature range on A4, the star, and control is wrapped in the utonomous working of the heating tape on tank surface according to judged result;
A5, tank temperature obtain accurate Autonomous Control, and impact coefficient has calculated acquisition, and the anti-impact coefficient reckoner of looking into obtains the duration of starting shooting;
A6, the result of calculation that start duration parameters setting in the rail control instruction is obtained according to steps A 5, during the satellite immigration, progress of disease rail parameter bag on the ground; After satellite receives,, realize shutdown control according to start duration shutdown in the parameter bag.
As a kind of preferred version of the present invention, said method also comprises the step of controlling shutdown according to pressure-speed:
During B1, the aerial mission, before the control of enforcement rail, the ground control centre obtains becoming rail speed according to surveying the rail data computation, the first speed increment v in the relative set rail control instruction, and pass through ground observing and controlling system with rail control instruction injection satellite; The said first speed increment v is above-mentioned predetermined change rail speed Δ v;
In B2, the enforcement rail control process, measure tank pressure P through pressure transducer;
B3, ground are through demarcating definite calibration coefficient k at rail, satellite obtains the second speed increment Delta v ' that propulsion system produces after receiving ground transmission rail control instruction in each software cycle Δ T:
B4, after rail control start, processor adds up to the speed increment that calculates on the star;
B5, each software cycle, processor compares " first speed increment " v in speed increment accumulation result and the ground rail control instruction on the star; , then control propulsion system and carry out shutdown more than or equal to the first speed increment v in the rail control instruction like second speed increment Delta v ' accumulation result.
As a kind of preferred version of the present invention, also comprise between step B2, the step B3: the every software cycle of processor is delivered a letter to pressure on the star, and breath is gathered and Information Monitoring validity is judged the wild value of rejecting.
As a kind of preferred version of the present invention, in the steps A 3, autonomous close-loop control mode realization on the star is adopted in the tank temperature control.
As a kind of preferred version of the present invention, in the steps A 4, each software cycle of processor judges whether the tank actual temperature exceeds predetermined temperature range on the said star.
As a kind of preferred version of the present invention, in the steps A 4, processor adopting 10 7 modes of getting are adopted judged result on the said star.
As a kind of preferred version of the present invention, in the steps A 4, the tank temperature is realized autonomous high precision closed loop control.
Beneficial effect of the present invention is:
Consider the characteristics that the space mission security requirement is high, the present invention also novelty ground proposes " temperature-time " shutdown control mode, and high blank test result is the basis with propulsion system, realizes the accurate shutdown of propulsion system.Simultaneously; The present invention also proposes " pressure-speed " shutdown control mode; Fully take into account the designing requirement of moonlet " volume is little, in light weight, simple and reliable "; Novelty realizes need not on propulsion system, to install accelerometer, and only the physical characteristics according to novel self-pressurized liquefied gas propelling system realizes accurately shutdown." temperature-time " and " pressure-speed " two kinds of shutdown control mode backups each other, the application of in the SZ-7 task, succeeding, and its performance index meet and exceed domestic and international similar satellite level, effectively improve the reliability and security of system works.
Description of drawings
Fig. 1 is the control principle figure of self-pressurized liquefied gas propelling system.
Fig. 2 utilizes temperature-time to carry out the process flow diagram of shutdown control method.
Fig. 3 utilizes pressure speed to carry out the process flow diagram of shutdown control method.
Fig. 4 is rail control instruction synoptic diagram.
Embodiment
Specify the preferred embodiments of the present invention below in conjunction with accompanying drawing.
Embodiment one
The composition of the system that shutdown control method utilized that the present invention discloses sees also Fig. 1, and it adopts world close-loop control mode.Ground is according to surveying rail data computation rail control strategy, and again according to the corresponding rail control instruction of rail control policy development, the satellite immigration is given satellite with rail control instruction injection then.Work according to each functional module of rail control instructions coordinate on the star; Comprise that accomplishing the reception, the control propulsion system that go up the instruction of notes change rail carries out switching on and shutting down, control change rail attitude sensing and attitude stability, control tank temperature environment etc. by predetermined policy, wherein the accurate control of propulsion system switching on and shutting down is key issues.
To novel self-pressurized liquefied gas propelling system; In the present embodiment; Shutdown control method can adopt " temperature-time " to reach " pressure-speed " two kinds of shutdown control mode; During practical engineering application, ground can be through being provided with flexible selection propulsion system shutdown control mode to relevant parameter in the rail control instruction.Rail control instruction comprises: inject change rail number of times+decanting point parameter list, and as shown in Figure 4.
[temperature-time control]
As selecting " temperature-time " shutdown control mode, then " start duration " parameter of rail control instruction is set to the start duration that the ground control centre calculates among Fig. 4, and " speed increment " parameter of rail control instruction is set to instruction and allows maximal value.
The ultimate principle of " temperature-time " shutdown control mode is following:
(1) before aerial mission begins, obtains propulsion system impact coefficient (∫ Pdt) reckoner, provide different temperatures in the table, different start durations, corresponding impact coefficient by ground run.
(2) during the aerial mission, the ground control centre provide become the rail speed v, demarcate calibration coefficient k at rail, m is known for the satellite quality, with m; V and k are input; Can calculate impact coefficient ∫ Pdt, on the star propulsion system tank carried out autonomous thermal control, so the tank temperature can be foreseen; With tank temperature, impact coefficient is the anti-impact coefficient reckoner of looking into of input, can confirm the duration of starting shooting.
(3) before the rail control is implemented in the ground control centre; According to the start duration that calculates; In the relative set rail control instruction " start duration ", and pass through ground observing and controlling system satellite is injected in rail control instruction, soft ware autonomous on the star according to " start duration " control propulsion system completion switching on and shutting down in the rail control instruction.
Concrete steps see also Fig. 2, and the present invention utilizes temperature-time to carry out shutdown control method and comprises the steps:
Before A1, aerial mission begin,, obtain propulsion system impact coefficient reckoner through the propulsion system ground run; This reckoner is input with tank temperature, start duration, is output with the impact coefficient;
During A2, the actual task, acquire impact coefficient: ∫ Pdt=m Δ v/k; Wherein, m is known for the satellite quality, and the predetermined rail speed Δ v that becomes is provided by charge center, ground, and calibration coefficient k obtains through demarcating at rail;
A3, tank mounted on surface have temperature sensor, and the propellant temperature in the tank is measured; The ground control centre is provided with the tank operating temperature range through remote control mode; Autonomous close-loop control mode realization on the star is adopted in the tank temperature control;
Processor judges according to setting cycle (like each software cycle) whether the tank actual temperature exceeds predetermined temperature range on A4, the star; Can adopt 10 to get 7 modes (getting majority) and adopt judged result, control is wrapped in the utonomous working of the heating tape on tank surface according to judged result; The tank temperature is realized the control of autonomous high precision closed loop, control accuracy can reach ± and 0.5 ℃;
A5, tank temperature obtain accurate Autonomous Control, and impact coefficient has calculated acquisition, and the anti-impact coefficient reckoner of looking into obtains the duration of starting shooting;
A6, the result of calculation that start duration parameters setting in the rail control instruction is obtained according to steps A 5, during the satellite immigration, progress of disease rail parameter bag on the ground; After satellite receives,, realize " temperature-time " shutdown control according to start duration shutdown in the parameter bag.
The control effect of " temperature-time " shutdown mode sees also table 1.The experimental stage of being diversion adopts the time shutdown mode, and the propeller control precision statistics that obtains is as shown in table 1.It is thus clear that the orbit control accuracy of goal pace increment adopts " temperature-time " shutdown control mode precision to be superior to 10% relatively.
The effect table of table 1 " temperature-time " shutdown control mode
[pressure-speed control]
As selecting " pressure-speed " shutdown control mode, then " speed increment " parameter of rail control instruction is set to the predetermined change rail speed that the ground control centre calculates among Fig. 4, and " start duration " parameter of rail control instruction is set to instruction and allows maximal value.
The ultimate principle of " pressure-speed " shutdown control mode is following:
(1) distinguishing feature of novel self-pressurized liquefied gas propelling system is: thrust F is directly proportional with the tank pressure P, that is: F=k ' P.
(2) during the aerial mission, before the control of enforcement rail, the ground control centre obtains becoming rail speed according to surveying the rail data computation, in the relative set rail control instruction " the first speed increment v ", and passes through ground observing and controlling system with rail control instruction injection satellite.The said first speed increment v is above-mentioned predetermined change rail speed Δ v;
(3) implement in the rail control process; Measure tank pressure P by pressure transducer; Calibration coefficient k is confirmed through demarcating at rail in ground; After receiving ground transmission rail control instruction on the star; Calculate the second speed increment Delta v ' that propulsion system produces in each software cycle AT,
adds up to Δ v ', and " first speed increment " v in instructing with ground rail control compares;, then control propulsion system and carry out shutdown more than or equal to " first speed increment " v in the rail control instruction like second speed increment Delta v ' accumulation result.
Concrete steps see also Fig. 3, and the present invention utilizes pressure-speed to carry out shutdown control method and comprises the steps:
During B1, the aerial mission, before the control of enforcement rail, the ground control centre obtains becoming rail speed according to surveying the rail data computation, the first speed increment v in the relative set rail control instruction, and pass through ground observing and controlling system with rail control instruction injection satellite;
In B2, the enforcement rail control process, measure tank pressure P through pressure transducer;
The every software cycle of processor is delivered a letter to pressure on B3, the star, and breath is gathered and Information Monitoring validity is judged the wild value of rejecting.
B4, ground are through demarcating definite calibration coefficient k at rail, satellite obtains the second speed increment Delta v ' that propulsion system produces after receiving ground transmission rail control instruction in each software cycle Δ T:
B5, after rail control start, processor adds up to the speed increment that calculates on the star;
B6, at each software cycle, processor compares " first speed increment " v in speed increment accumulation result and the ground rail control instruction on the star; Like each software cycle, second speed increment Delta v ' accumulation result is then controlled propulsion system and is carried out shutdown more than or equal to the first speed increment v in the rail control instruction.
The control effect of " pressure-speed " shutdown mode sees also table 2.Companion star's long-period of management experimental stage adopts the speed shutdown mode, and the propeller control precision statistics that obtains is as shown in table 2.It is thus clear that the orbit control accuracy of goal pace increment adopts " pressure-speed " shutdown control mode precision to be superior to 4.34% relatively.
The effect table of table 2 " pressure-speed " shutdown control mode
Through above improvement, the present invention is with a wide range of applications, dissemination:
China is since the research of novel self-pressurized liquefied gas propelling system at the beginning of the nineties, though captured a large amount of technical barriers, no any before SZ-7 companion star task in the rail flying experience.The present invention proposes two kinds of shutdown modes that are applicable to novel self-pressurized liquefied gas propelling system at home first, and the ingenious propulsion system self characteristics of utilizing realizes the high precision shutdown, has filled up domestic blank.To have boundless prospect in the novel self-pressurized liquefied gas propelling system practical application in future.
Two kinds of shutdown modes that the present invention proposes SZ-7 follow satellite orbit near and the test of being diversion in applications of succeeding, for the spacecraft that will utilize novel self-pressurized liquefied gas propelling system realization orbit maneuver from now on provides extremely important reference and in the rail flying experience.
The innovative design method that uses of succeeding among the present invention all can be generalized in the multiple spacecraft of the novel self-pressurized liquefied gas propelling system of following employing; Practical applications to novel propulsion system has important reference meanings, has actively pushed forward the development of Future in China spationautics.
Embodiment two
The difference of present embodiment and embodiment one is that in the present embodiment, shutdown control method of the present invention only comprises " temperature-time " control mode, and detailed process sees also embodiment one.
Embodiment three
The difference of present embodiment and embodiment one is that in the present embodiment, shutdown control method of the present invention only comprises " pressure-speed " control mode, and detailed process sees also embodiment one.
Here description of the invention and application is illustrative, is not to want with scope restriction of the present invention in the above-described embodiments.Here the distortion of the embodiment that is disclosed and change are possible, and the replacement of embodiment is known with the various parts of equivalence for those those of ordinary skill in the art.Those skilled in the art are noted that under the situation that does not break away from spirit of the present invention or essential characteristic, and the present invention can be with other forms, structure, layout, ratio, and realize with other elements, material and parts.Under the situation that does not break away from the scope of the invention and spirit, can carry out other distortion and change here to the embodiment that is disclosed.
Claims (6)
1. the shutdown control method of a self-pressurized liquefied gas propelling system, said propulsion system is as the propulsion system of satellite; It is characterized in that this method comprises the steps:
Before A1, aerial mission begin,, obtain propulsion system impact coefficient reckoner through the propulsion system ground run; This impact coefficient reckoner is input with tank temperature, start duration, is output with the impact coefficient;
During A2, the actual task, acquire impact coefficient: ∫ Pdt=m Δ v/k; Wherein, m is known for the satellite quality, and the predetermined rail speed Δ v that becomes is provided by charge center, ground, and calibration coefficient k obtains through demarcating at rail, and P is a tank pressure;
A3, tank mounted on surface have temperature sensor, and the propellant temperature in the tank is measured; The ground control centre is provided with the tank operating temperature range through remote control mode;
Processor judges according to setting cycle whether the tank actual temperature exceeds predetermined temperature range on A4, the star, and control is wrapped in the utonomous working of the heating tape on tank surface according to judged result;
A5, tank temperature obtain accurate Autonomous Control, and impact coefficient has calculated acquisition, and the anti-impact coefficient reckoner of looking into obtains the duration of starting shooting;
A6, the result of calculation that start duration parameters setting in the rail control instruction is obtained according to steps A 5, during the satellite immigration, progress of disease rail parameter bag on the ground; After satellite receives,, realize shutdown control according to start duration shutdown in the parameter bag.
2. the shutdown control method of self-pressurized liquefied gas propelling system according to claim 1, it is characterized in that: said method also comprises the step of controlling shutdown according to pressure-speed:
During B1, the aerial mission, before the control of enforcement rail, the ground control centre obtains becoming rail speed according to surveying the rail data computation, the first speed increment v in the relative set rail control instruction, and pass through ground observing and controlling system with rail control instruction injection satellite; The said first speed increment v is above-mentioned predetermined change rail speed Δ v;
In B2, the enforcement rail control process, measure tank pressure P through pressure transducer;
B3, ground are through demarcating definite calibration coefficient k at rail, satellite obtains the second speed increment Delta v ' that propulsion system produces after receiving ground transmission rail control instruction in each software cycle Δ T:
B4, after rail control start, processor adds up to the speed increment that calculates on the star;
B5, each software cycle, processor compares " first speed increment " v in speed increment accumulation result and the ground rail control instruction on the star; , then control propulsion system and carry out shutdown more than or equal to the first speed increment v in the rail control instruction like second speed increment Delta v ' accumulation result;
Also comprise between step B2, the step B3: the every software cycle of processor is delivered a letter to pressure on the star, and breath is gathered and Information Monitoring validity is judged the wild value of rejecting.
3. the shutdown control method of self-pressurized liquefied gas propelling system according to claim 1 is characterized in that:
In the steps A 3, autonomous close-loop control mode realization on the star is adopted in the tank temperature control.
4. the shutdown control method of self-pressurized liquefied gas propelling system according to claim 1 is characterized in that:
In the steps A 4, each software cycle of processor judges whether the tank actual temperature exceeds predetermined temperature range on the said star.
5. the shutdown control method of self-pressurized liquefied gas propelling system according to claim 1 is characterized in that:
In the steps A 4, processor adopting 10 7 modes of getting are adopted judged result on the said star.
6. the shutdown control method of self-pressurized liquefied gas propelling system according to claim 1 is characterized in that:
In the steps A 4, the tank temperature is realized autonomous high precision closed loop control.
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| CN101943082A (en) * | 2010-07-23 | 2011-01-12 | 北京航空航天大学 | Heating gasification device for liquefied gas micro-propulsion system |
| CN105187116B (en) * | 2015-07-31 | 2018-05-18 | 上海卫星工程研究所 | Spaceborne trunk subscriber terminal system task control bag generation method and execution method |
| CN108216688B (en) * | 2017-12-27 | 2019-11-29 | 北京控制工程研究所 | A kind of depleted shutdown method for dual mode satellite propulsion system |
| CN110989707A (en) * | 2019-11-07 | 2020-04-10 | 上海空间推进研究所 | Safety management method for spacecraft orbit control pipeline pressure intensity |
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| US5163641A (en) * | 1988-08-12 | 1992-11-17 | Nippon Telegraph And Telephone Corporation | Method and apparatus for changing orbit of artificial satellite |
| CN101219713A (en) * | 2007-12-26 | 2008-07-16 | 北京控制工程研究所 | Satellitic self-determination orbital transfer method |
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