CN103670801A - Multi-redundancy pump control servo mechanism for thrust vector control of liquid oxygen kerosene engine - Google Patents
Multi-redundancy pump control servo mechanism for thrust vector control of liquid oxygen kerosene engine Download PDFInfo
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- CN103670801A CN103670801A CN201210329946.3A CN201210329946A CN103670801A CN 103670801 A CN103670801 A CN 103670801A CN 201210329946 A CN201210329946 A CN 201210329946A CN 103670801 A CN103670801 A CN 103670801A
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- 239000003350 kerosene Substances 0.000 title claims abstract description 34
- 239000001301 oxygen Substances 0.000 title claims abstract description 29
- MYMOFIZGZYHOMD-UHFFFAOYSA-N oxygen Chemical compound O=O MYMOFIZGZYHOMD-UHFFFAOYSA-N 0.000 title claims abstract description 29
- 229910052760 oxygen Inorganic materials 0.000 title claims abstract description 29
- 239000007788 liquid Substances 0.000 title abstract description 4
- 238000006073 displacement reaction Methods 0.000 claims abstract description 19
- 238000001514 detection method Methods 0.000 claims abstract description 4
- 239000002828 fuel tank Substances 0.000 claims description 6
- 238000000034 method Methods 0.000 claims description 4
- 230000015572 biosynthetic process Effects 0.000 claims description 2
- 238000005755 formation reaction Methods 0.000 claims description 2
- 238000002955 isolation Methods 0.000 abstract 3
- 238000010586 diagram Methods 0.000 description 4
- 239000000969 carrier Substances 0.000 description 2
- 239000000446 fuel Substances 0.000 description 2
- 229910052627 muscovite Inorganic materials 0.000 description 2
- 241000272186 Falco columbarius Species 0.000 description 1
- 241000272184 Falconiformes Species 0.000 description 1
- 210000002356 Skeleton Anatomy 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000001808 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003000 nontoxic Effects 0.000 description 1
- 231100000252 nontoxic Toxicity 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 230000001360 synchronised Effects 0.000 description 1
Abstract
The invention belongs to a servo mechanism and particularly relates to a multi-redundancy pump control servo mechanism for thrust vector control of a liquid oxygen kerosene engine. The multi-redundancy pump control servo mechanism for thrust vector control of the liquid oxygen kerosene engine comprises a servo controller, a motor driver, a power control unit, an isolation valve, a hydraulic actuator and a displacement sensor. The servo controller is used for performing loop closing on the position of the hydraulic actuator and compensating for control characteristics. The motor driver is used for driving and controlling a servo motor in a servo pump and for controlling the isolation valve. The power control unit is used for providing a control signal for the hydraulic actuator and the isolation valve is used for switching the power control unit with a fault. The hydraulic actuator acts under the control of the servo controller. The displacement sensor is used for detecting actions of the hydraulic actuator and outputting a detection result to a four-redundancy servo controller. The servo mechanism has the advantages that the multi-redundancy device can achieve fault management and switching based on the servo mechanism, the fault tolerance capability of energy and control of the servo mechanism is achieved, and a high-reliability performance index is obtained.
Description
Technical field
The invention belongs to servomechanism, be specifically related to redundancy pump control servomechanism for a kind of oxygen kerosene motor power vector control.
Background technique
Servomechanism is the general designation of China to carrier rocket flight control actuator subtense angle, and typical case's application is to wave motor enforcement thrust vectoring to control.It is fuel that oxygen kerosene motor be take liquid oxygen and kerosene, possesses the advantages such as nontoxic, pollution-free, high performance-price ratio and working service be convenient, is a kind of main flow Launch Vehicle Engine in the world at present, and may be for manned.Correspondingly, the servomechanism that waves oxygen kerosene motor is also equipment on indispensable arrow.Due to power large (kilowatt to tens of multikilowatts), how to solve the key issue that its energy problem becomes this type of servomechanism technological scheme; On the other hand, as for manned booster, servomechanism reliability index requires high especially again, and reliability design becomes key issue.
Servomechanism can be divided into two elements: the servo energy and servocontrol.The servo energy solves how to obtain the problem of the energy, and converts it into the energy that can offer servo use; How servocontrol waves by actuator the problem that motor is followed e-command motion if solving.Because power is larger, main flow scheme remains hydraulic energy source and electrichydraulic control scheme.
External this type of typical servo energy scheme mainly contains: U.S. Atlas II rocket series, adopt MA-5A oxygen kerosene motor, and its turbine pump gear reduction box stretches out a transmission shaft and drives the oil hydraulic pump on servomechanism.U.S. Satun V rocket adopts F1 oxygen kerosene motor, Falcon rocket series adopts Merlin series oxygen kerosene motor, the Atas III series of Muscovite Energia and Zenith rocket series and the U.S. and Atas V rocket series all adopt Muscovite RD170/180 series oxygen kerosene motor, its servomechanism all adopts the scheme of the direct drive ram of high pressure kerosene after drainage engine fuel pump, to simplify to greatest extent motor and servomechanism design, be called for short " directly drainage type " hydraulic energy source scheme (as shown in Figure 1).China recent years has been carried out the development work of oxygen kerosene carrier rocket servomechanism, has the hydraulic energy source scheme of employing " directly drainage type ", and has developed on this basis " hydraulic motor formula " hydraulic energy source scheme (as shown in Figure 2).For servocontrol, these servomechanisms all adopt traditional electrohydraulic control control program.Aspect reliability design, aspect three of the electrohydraulic control prestage of servomechanism, actuator Displacement Feedback measuring transducer and controllers, take at present mainly the measure of Redundancy Design, and the design of the parallel redundancy of hydraulic energy source.
Summary of the invention
The object of this invention is to provide redundancy pump control servomechanism for a kind of oxygen kerosene motor power vector control.
The present invention is achieved in that redundancy pump control servomechanism for a kind of oxygen kerosene motor power vector control, comprises
Hydraulic actuator, output reciprocating motion,
Power control unit, is converted into hydraulic actuator action by the high pressure kerosene from motor drainage,
Separating valve, for switching the power control unit breaking down,
Motor driver, controls for the driven by servomotor of the servopump in power control unit, simultaneously also for the control of separating valve,
Servocontroller, for hydraulic actuator position closed loop and control characteristic compensation,
Displacement transducer, for surveying the position of hydraulic actuator and result of detection being exported to four redundant servo controllers.
Redundancy pump control servomechanism for a kind of oxygen kerosene motor power vector control as above, wherein, described power control unit comprises the hydraulic motor being communicated with outside, this hydraulic motor is converted into machine power by the high pressure kerosene from motor drainage, drive servopump to produce controllable hydraulic power, control the bidirectional-movement of actuator.
Redundancy pump control servomechanism for a kind of oxygen kerosene motor power vector control as above, wherein, the two ends of hydraulic motor are communicated with high oil filter and low oil filter respectively, in the process of oil flow, hydraulic motor is driven by oil and rotates, then drive and the coaxial free wheel device being connected of hydraulic motor and electric machine rotation, the rotation of motor is sent in servopump, wherein, when motor is used for ground test, the machinery of being realized hydraulic motor and motor by free wheel device departs from.
Redundancy pump control servomechanism for a kind of oxygen kerosene motor power vector control as above, wherein, servopump formation comprises two-way variable displacement plunger pump and variable swash plate control actuating motor, variable swash plate is controlled with actuating motor and is received from outside control signal, control signal is by controlled variable swash plate pivot angle size and Orientation, thereby change the output flow size and Orientation of two-way variable displacement plunger pump, realize the to-and-fro motion of actuator and control.On two-way variable displacement plunger pump passes through under the driving with actuating motor in the control of variable swash plate, one-way valve or lower one-way valve are extracted oil out from fuel tank, enter oil circulation.
Redundancy pump control servomechanism for a kind of oxygen kerosene motor power vector control as above, wherein, separating valve adopts two position four-way solenoid valves.
Redundancy pump control servomechanism for a kind of oxygen kerosene motor power vector control as above, wherein, by power control unit and hydraulic actuator Integrated design, power control unit is arranged on the surrounding of actuator one end.
The significant beneficial effect of the present invention is: the present invention proposes redundancy (referring to 2～4 remainings) the pump control servomechanism innovation scheme that adopts hydraulic motor to drive for a kind of oxygen kerosene motor power vector control.Redundancy comprises in fact that variable displacement pump and control thereof, hydraulic motor driving, actuator Displacement Feedback, actuator position closed loop are controlled, fault switch module adopts Redundancy Design in interior link, can realize on this basis fault management and switching, realize " the failure tolerant ability of servomotor and control ", reach high reliability index, the power level that significantly reduces servomechanism dynamical element requires and development difficulty, is specially adapted to the required high-power highly reliable servomechanism of high thrust oxygen kerosene motor power vector control.
Accompanying drawing explanation
The electrohydraulic control control program schematic diagram of the direct drainage type of Fig. 1;
The electrohydraulic control control program schematic diagram of Fig. 2 hydraulic motor formula;
Fig. 3 basic comprising skeleton diagram of the present invention;
Fig. 4 power control unit of the present invention and separating valve schematic diagram;
Fig. 5 servomechanism of the present invention total arrangement sketch.
In figure: 1. hydraulic motor, 2. two-way variable displacement plunger pump, 3. variable swash plate control with actuating motor, 4. retarder, 5. slippage pump, 6. booster body, 7. fuel tank, 8. go up one-way valve, 9. play one-way valve, 10. motor, 11. free wheel devicees, 12. high oil filters, 13. low oil filters, 14. separating valves.
Embodiment
As shown in Figure 3, basic comprising of the present invention comprises: four redundant servo controllers, four redundancy motor drivers, quadruplet power control unit, quadruplet separating valve and hydraulic actuator, hydraulic actuator includes four remaining displacement transducers.
Four redundant servo controllers are for hydraulic actuator position closed loop and control characteristic compensation.Four redundancy motor drivers are controlled for the driven by servomotor in servopump, also can be used for the control of separating valve simultaneously.Hydraulic actuator moves under the control of four redundant servo controllers, and four remaining displacement transducers are for surveying the action of hydraulic actuator and result of detection being exported to four redundant servo controllers.
As shown in Figure 4, high pressure oil flows through high oil filter 12, hydraulic motor 1 and low oil filter 13 successively.Hydraulic motor 1 is converted into machine power by the high pressure kerosene from motor drainage, drives servopump to produce controllable hydraulic power, controls the bidirectional-movement of actuator.Specifically, in the process of oil flow, hydraulic motor 1 is driven by oil and rotates, and then drives with the coaxial free wheel device being connected 11 of hydraulic motor 1 and motor 10 and rotates.The rotation of motor 10 is sent in servopump.
Servopump can adopt servopump of the prior art, also can adopt servopump as described below.Servopump in this example form comprise that two-way variable displacement plunger pump 2, variable swash plate control with actuating motor 3 and retarder 4, slippage pump 5, this example of booster body 6(employing accumulator), fuel tank 7, upper one-way valve 8 and lower one-way valve 9.Variable swash plate is controlled with actuating motor 3 and is received from outside control signal, and control signal is by controlled variable swash plate pivot angle size and Orientation, thereby the output flow size and Orientation of change two-way variable displacement plunger pump 2 is realized the to-and-fro motion of actuator and controlled.On two-way variable displacement plunger pump 2 passes through under the driving with actuating motor 3 in the control of variable swash plate, one-way valve 8 or lower one-way valve 9 are extracted oil out from fuel tank 7, enter oil circulation, in order to solve the situation that oil circuit pressure is inadequate, can in fuel tank 7, increase booster body 6.
Separating valve 14 adopts two position four-way solenoid valves.When power control unit breaks down, can switch to another position, link up two control ports of servopump, isolate its impact on actuator.The implementation of fault management is: the sensors such as pressure, pressure reduction, rotating speed are set in servopump, actuator, are carried out collecting treatment and the judgement of information by servocontroller, then control solenoid valve and switch.
As shown in Figure 5, by power control unit and hydraulic actuator Integrated design, power control unit is arranged on the surrounding of actuator one end.
Wherein, the booster body 6 that this example provides and separating valve 14 can also adopt other service form.
Servocontroller and motor driver TV structure layout need, and can be arranged on hydraulic actuator; Also be installed on other other places, position on arrow, and by cable, be connected between hydraulic actuator.
Ordinary circumstance, four redundancy servo controllers and a motor driver can be controlled the servomechanism in one to four playscript with stage directions invention simultaneously.
If oxygen kerosene motor power vector control power need to be 30kW, each power control unit design power is got 15kW, and hydraulic motor and variable piston pump power are in 15kW left and right.During normal work, four power control units are worked simultaneously, every power of sharing out equally 7.5kW.If two power control units lost efficacy, remain two power ratio control demand in full still can be provided.Therefore, the design possesses " ability of failure tolerant twice of the energy and controlling component ".And the power level of single power device is compared and has been declined half with single channel design.
Meanwhile, because rocket thrust vector control peak power is always instantaneous, regular power is general is also 10% ~ 30% of peak output.Therefore, even if only have an one power unit job, still can meet the Minimum requirements that thrust vectoring is controlled, can maintain at Maximum risk moment the attitude stabilization of rocket.Therefore, the design possesses the highly reliable ability to work of " three degree fail operations of the energy and control ", is that existing product does not have.
For the motor of ground test desirable 6～10kW, motor can adopt the high-specific-power design of intermediate frequency permanent magnet synchronous motor.
The power of Variable plunger pump is got 15kW, and the power ratio control of its variable swash plate is no more than 1kW, and existing electromechanical servo is controlled and can be competent at completely.Also therefore avoid the throttling of traditional electrical hydraulic servo and controlled a difficult problem for vulnerable to pollution and the high-power actuating motor control difficult problem in simple electromechanical coupling system.
Depending on use, need, servomechanism specific design can adopt 2 to 4 redundancy designs.
The products such as the parts such as servopump, hydraulic motor, motor, retarder and servocontroller, motor driver, existing invention all has and relates to or have off-the-shelf, can be used as parts of the present invention or a part.
Claims (6)
1. a redundancy pump control servomechanism for oxygen kerosene motor power vector control, is characterized in that: comprise
Servocontroller, for hydraulic actuator position closed loop and control characteristic compensation,
Motor driver, controls for driven by servomotor in servopump, simultaneously also for the control of separating valve,
Power control unit, is used to hydraulic actuator that control control signal is provided,
Separating valve, for switching the power control unit breaking down,
Hydraulic actuator moves under the control of servocontroller,
Displacement transducer, for surveying the action of hydraulic actuator and result of detection being exported to four redundant servo controllers.
2. redundancy pump control servomechanism for a kind of oxygen kerosene motor power vector control as claimed in claim 1, it is characterized in that: described power control unit comprises the hydraulic motor (1) being communicated with outside, this hydraulic motor (1) is converted into machine power by the high pressure kerosene from motor drainage, drive servopump to produce controllable hydraulic power, control the bidirectional-movement of actuator.
3. redundancy pump control servomechanism for a kind of oxygen kerosene motor power vector control as claimed in claim 2, it is characterized in that: the two ends of hydraulic motor (1) are communicated with high oil filter (12) and low oil filter (13) respectively, hydraulic motor in the process of oil flow (1) is driven by oil and rotates, then drive with the coaxial free wheel device being connected of hydraulic motor (1), (11) and motor (10) and rotate, the rotation of motor (10) is sent in servopump.
4. redundancy pump control servomechanism for a kind of oxygen kerosene motor power vector control as claimed in claim 1, it is characterized in that: servopump formation comprises two-way variable displacement plunger pump (2) and variable swash plate control actuating motor (3), variable swash plate is controlled with actuating motor (3) and is received from outside control signal, control signal is by controlled variable swash plate pivot angle size and Orientation, thereby change the output flow size and Orientation of two-way variable displacement plunger pump (2), realize the to-and-fro motion of actuator and control.Two-way variable displacement plunger pump (2) is controlled with by upper one-way valve (8) or lower one-way valve (9), oil being extracted out from fuel tank (7) under the driving of actuating motor (3) at variable swash plate, enters oil circulation.
5. redundancy pump control servomechanism for a kind of oxygen kerosene motor power vector control as claimed in claim 4, is characterized in that: separating valve (14) adopts two position four-way solenoid valves.
6. redundancy pump control servomechanism for a kind of oxygen kerosene motor power vector control as claimed in claim 1, is characterized in that: by power control unit and hydraulic actuator Integrated design, power control unit is arranged on the surrounding of actuator one end.
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| CN201210329946.3A CN103670801A (en) | 2012-09-07 | 2012-09-07 | Multi-redundancy pump control servo mechanism for thrust vector control of liquid oxygen kerosene engine |
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| CN201210329946.3A CN103670801A (en) | 2012-09-07 | 2012-09-07 | Multi-redundancy pump control servo mechanism for thrust vector control of liquid oxygen kerosene engine |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104196784A (en) * | 2014-08-25 | 2014-12-10 | 湖北三江航天红峰控制有限公司 | Integrated electro-hydraulic servo mechanism for cabin |
| CN104698984A (en) * | 2015-02-17 | 2015-06-10 | 北京精密机电控制设备研究所 | Thrust vector controlled electromechanical servo system |
| CN105022861A (en) * | 2015-06-11 | 2015-11-04 | 北京精密机电控制设备研究所 | Method for determining oil storage quantity of extrusion type servo system for carrier rocket |
| CN105370441A (en) * | 2015-10-16 | 2016-03-02 | 北京精密机电控制设备研究所 | Multivariable redundancy numerical control servo system adopting multisource hydrogen energy |
| CN105443451A (en) * | 2015-12-07 | 2016-03-30 | 北京精密机电控制设备研究所 | Kilowatt-level rock output three-redundancy electro-hydraulic digital servo system |
| CN105523197A (en) * | 2014-10-27 | 2016-04-27 | 北京精密机电控制设备研究所 | Triple-redundancy digital servo system for quickly responding to 10kW-grade linear output |
| CN105604737A (en) * | 2016-01-18 | 2016-05-25 | 北京航天发射技术研究所 | Vacuumizing and spill metering system for kerosine rocket engine |
| CN106224329A (en) * | 2016-09-08 | 2016-12-14 | 北京精密机电控制设备研究所 | A kind of integrated electric Hydrauservo System |
| CN106500992A (en) * | 2016-09-21 | 2017-03-15 | 北京精密机电控制设备研究所 | A kind of drainage engine kerosene servo control mechanism ground experiment method |
| CN106894918A (en) * | 2017-03-13 | 2017-06-27 | 西北工业大学 | A kind of mode pre-cooling cycle system suitable for assembly power cycle engine |
| CN108536004A (en) * | 2018-03-29 | 2018-09-14 | 北京精密机电控制设备研究所 | A kind of dual redundant electromechanical coupling system remaining switching method |
| CN109681347A (en) * | 2018-12-13 | 2019-04-26 | 西安航天动力研究所 | A kind of liquid-propellant rocket engine thrust adjusting servo-system fault protecting method |
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104196784A (en) * | 2014-08-25 | 2014-12-10 | 湖北三江航天红峰控制有限公司 | Integrated electro-hydraulic servo mechanism for cabin |
| CN105523197A (en) * | 2014-10-27 | 2016-04-27 | 北京精密机电控制设备研究所 | Triple-redundancy digital servo system for quickly responding to 10kW-grade linear output |
| CN104698984B (en) * | 2015-02-17 | 2017-10-03 | 北京精密机电控制设备研究所 | The electromechanical servo system of thruster vector control |
| CN104698984A (en) * | 2015-02-17 | 2015-06-10 | 北京精密机电控制设备研究所 | Thrust vector controlled electromechanical servo system |
| CN105022861A (en) * | 2015-06-11 | 2015-11-04 | 北京精密机电控制设备研究所 | Method for determining oil storage quantity of extrusion type servo system for carrier rocket |
| CN105022861B (en) * | 2015-06-11 | 2018-05-22 | 北京精密机电控制设备研究所 | A kind of carrier rocket definite method of squash type servo-drive system oil storage |
| CN105370441A (en) * | 2015-10-16 | 2016-03-02 | 北京精密机电控制设备研究所 | Multivariable redundancy numerical control servo system adopting multisource hydrogen energy |
| CN105370441B (en) * | 2015-10-16 | 2017-03-22 | 北京精密机电控制设备研究所 | Multivariable redundancy numerical control servo system adopting multisource hydrogen energy |
| CN105443451A (en) * | 2015-12-07 | 2016-03-30 | 北京精密机电控制设备研究所 | Kilowatt-level rock output three-redundancy electro-hydraulic digital servo system |
| CN105604737A (en) * | 2016-01-18 | 2016-05-25 | 北京航天发射技术研究所 | Vacuumizing and spill metering system for kerosine rocket engine |
| CN105604737B (en) * | 2016-01-18 | 2018-11-09 | 北京航天发射技术研究所 | Kerosene Rocket Engines, which vacuumize, releases metering system |
| CN106224329B (en) * | 2016-09-08 | 2018-02-13 | 北京精密机电控制设备研究所 | A kind of integrated electric Hydrauservo System |
| CN106224329A (en) * | 2016-09-08 | 2016-12-14 | 北京精密机电控制设备研究所 | A kind of integrated electric Hydrauservo System |
| CN106500992A (en) * | 2016-09-21 | 2017-03-15 | 北京精密机电控制设备研究所 | A kind of drainage engine kerosene servo control mechanism ground experiment method |
| CN106500992B (en) * | 2016-09-21 | 2018-10-09 | 北京精密机电控制设备研究所 | A kind of drainage engine kerosene servo mechanism ground experiment method |
| CN106894918A (en) * | 2017-03-13 | 2017-06-27 | 西北工业大学 | A kind of mode pre-cooling cycle system suitable for assembly power cycle engine |
| CN106894918B (en) * | 2017-03-13 | 2018-04-10 | 西北工业大学 | The mode pre-cooling cycle system and its working method of assembly power cycle engine |
| CN108536004A (en) * | 2018-03-29 | 2018-09-14 | 北京精密机电控制设备研究所 | A kind of dual redundant electromechanical coupling system remaining switching method |
| CN109681347A (en) * | 2018-12-13 | 2019-04-26 | 西安航天动力研究所 | A kind of liquid-propellant rocket engine thrust adjusting servo-system fault protecting method |
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Application publication date: 20140326 |