CN104358625A - Method for closed-loop control of thrust of thrust-variable engine - Google Patents
Method for closed-loop control of thrust of thrust-variable engine Download PDFInfo
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- CN104358625A CN104358625A CN201410348396.9A CN201410348396A CN104358625A CN 104358625 A CN104358625 A CN 104358625A CN 201410348396 A CN201410348396 A CN 201410348396A CN 104358625 A CN104358625 A CN 104358625A
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Abstract
The invention discloses a method for closed-loop control of thrust of a thrust-variable engine. The method is characterized by comprising the following steps: according to the sequence and the trust variable quantity, flow regulator opening degree corresponding to different thrust of the engine is formulated to a comparison list; a control system collects the current working parameters of the engine, converts the current working parameters into the current thrust, and compares the current thrust with command thrust; if the D-value of the current thrust and the command thrust exceeds a set franchise, the control system regulates the thrust of the engine according to a trust regulation data table; if the D-value of the current thrust and the command thrust is smaller than the set franchise, the current thrust is equal to the command thrust, and thrust regulation is not needed. With adoption of the method, the working condition regulating accuracy of a pumping pressure type thrust-variable engine is effectively improved, and the working condition accuracy deviation of the engine is verified to be less than 1%.
Description
Technical field
The invention belongs to Aeronautics and Astronautics technical field of engines, relate to a kind of controlling method of Variable Thrust Engine thrust, be specifically related to the method for a kind of Variable Thrust Engine thrust closed loop control.
Background technique
Variable Thrust Engine is the liquid propellant rocket engine that a kind of thrust can carry out regulating continuously, is with a wide range of applications at space industry.But for Variable Thrust Engine on a large scale, due to working conditions change wider range, there is certain difference in the unavoidable and design point of the performance under different operating mode, precision in whole condition range is comparatively difficult to ensure card, the existing operating mode of Variable Thrust Engine on a large scale precision generally can only control in 80% ~ 90% scope, simultaneously, because Variable Thrust Engine is on a large scale in practical work process, thrust variation scope is larger, the aperture size that thrust regulation and control system cannot control flow regulator timely controls in real time to motor power, therefore, based on synthtic price index, existing motor power controlling method is difficult to the usage requirement meeting current Variable Thrust Engine on a large scale.
Summary of the invention
In order to solve the problem in background technique, the invention provides a kind of method that control accuracy is high, can realize carrying out motor power the Variable Thrust Engine thrust closed loop control regulated in real time.
Concrete technological scheme of the present invention is:
A method for Variable Thrust Engine thrust closed loop control, is characterized in that, comprise the following steps:
1) the contrast list of the corresponding flow regulator opening value of engine thrust value is formulated:
1.1) initial engine thrust and motor power variable quantity is set; The basis of initial engine thrust increase progressively successively in units of described motor power variable quantity or successively decreases, drawing several thrust magnitudes, forming thrust command collection;
1.2) according to thrust command collection, by liquid flow test, the flow regulator opening value that each thrust magnitude is corresponding is obtained; Draw the contrast list of engine thrust value one_to_one corresponding flow regulator opening value;
2) according to control accuracy and minimum engine thrust magnitude setting tolerance;
3) control of target engine:
3.1) instruction thrust is sent to motor, engine operation; The value of described instruction thrust is selected from step 1.1) described in thrust command collection;
3.2) gather present engine running parameter, be converted into present engine thrust;
3.3) adjustment of motor power:
If the difference of present engine thrust and instruction thrust is within tolerance; Then think that present engine thrust and instruction thrust is equal, flow regulator does not regulate;
If the difference of present engine thrust and instruction thrust exceeds tolerance; Then according to the opening value of above-mentioned contrast list according to the mode adjust flux regulator increased progressively or successively decrease, and then perform step 3.2), until the difference of present engine thrust and instruction thrust is within tolerance;
4) control to terminate.
Above-mentioned steps 3.2) in engine operating parameter adopt pressure or secondary speed before motor power chamber pressure or spray.
Above-mentioned engine operating parameter adopts the sensor of multiple redundancy each other to gather.
The present invention's beneficial effect is compared with prior art:
(1) the method cost of the present invention's employing is low, and the cycle is short, realization is comparatively easy.Just can be realized by the shirtsleeve operation such as contrast list, collection motor real-time working parameter of formulating the corresponding flow regulator opening value of engine thrust value, not need the spare part of production, processed complex;
(2) the present invention adopts the method for closed loop control, and when carrying out thrust for Variable Thrust Engine on a large scale and controlling, departure can control in 1% scope, and control accuracy is higher, accuracy rate is higher.
(3) the present invention is not only applicable to the thrust precision controlling of pump pressure type Variable Thrust Engine, also can be applied to the thrust precision controlling of extruding type Variable Thrust Engine and various types of fixing trust engine.
Accompanying drawing explanation
Fig. 1 is workflow block diagram of the present invention.
Embodiment
The method of Variable Thrust Engine thrust provided by the invention closed loop control, comprises the following steps:
A method for Variable Thrust Engine thrust closed loop control, is characterized in that, comprise the following steps:
1) the contrast list of the corresponding flow regulator opening value of engine thrust value is formulated:
1.1) initial engine thrust and motor power variable quantity is set; The basis of initial engine thrust increase progressively successively in units of described motor power variable quantity or successively decreases, drawing several thrust magnitudes, forming thrust command collection;
1.2) according to thrust command collection, by liquid flow test, the flow regulator opening value that each thrust magnitude is corresponding is obtained; Draw the contrast list of engine thrust value one_to_one corresponding flow regulator opening value;
Step 2) according to control accuracy and minimum engine thrust magnitude setting tolerance;
Specifically: if desired control accuracy is e, Fmin is minimum engine thrust magnitude, then tolerance at ± (1-e) Fmin;
Step 3) control of target engine:
3.1) instruction thrust is sent to motor, engine operation; The value of described instruction thrust is selected from step 1.1) described in thrust command collection;
3.2) gather present engine running parameter, be converted into present engine thrust;
Described conversion method is according to linear relation: (for work as forward thrust, a is constant to F to F=aX+b, and X is running parameter, and b is constant, and wherein, a and b is empirical value, for being obtained by test of many times.
3.3) adjustment of motor power:
If the difference of present engine thrust and instruction thrust is within tolerance; Then think that present engine thrust and instruction thrust is equal, flow regulator does not regulate;
If the difference of present engine thrust and instruction thrust exceeds tolerance; Then according to the opening value of above-mentioned contrast list according to the mode adjust flux regulator increased progressively or successively decrease, and then perform step 3.2), until the difference of present engine thrust and instruction thrust is within tolerance;
Step 4) control to terminate.
Further, above-mentioned steps 3.2) middle engine operating parameter is specially motor power chamber pressure or motor sprays front pressure or secondary speed.
Specialization is also: in order to obtain engine operating parameter accurately in this method, and inventor adopts the sensor of multiple redundancy each other to gather engine operating parameter.
Because engine operating parameter comprises motor power chamber pressure, spray front pressure, secondary speed etc.; Inventor makes following different test according to different running parameters according to the method that the present invention proposes, and concrete performance is as follows:
Embodiment 1 (gathering motor power chamber pressure is engine operating parameter)
(1) setting initial engine thrust is 6kN and motor power variable quantity is 100N, obtain multiple engine thrust value, and obtain multiple flow regulator opening value by engine thrust value, then respectively by multiple engine thrust value and multiple flow regulator opening value one_to_one corresponding thereof, by sequentially enumerating from large to small, final formation contrasts list;
The contrast list of engine thrust value and flow regulator opening value
Note: in table, flow regulator regulator opening value is determined by two parameters, respectively: oxygenant regulator opening value and fuel trimmer opening value; Namely be exactly that a corresponding oxygenant regulator opening value and fuel trimmer opening value could meet use to each engine thrust value respectively.
(2) control accuracy is 99%, and minimum engine thrust magnitude is 6kN; Then tolerance ± 30N;
(3) engine thrust value that thrust regulation and control system is chosen in above-mentioned contrast list is started to motor as instruction thrust; Pressure transducer gathers present engine thrust chamber pressure parameter (the present invention adopts the pressure transducer of multiple redundancy each other to carry out parameter acquisition, then averages) and is converted into present engine thrust;
Concrete conversion process:
(F is present engine thrust to F=aX+b, and unit is kN, a is constant, and X is motor power chamber pressure, and unit is MPa, b is constant, and wherein a=2.486 and b=0.143 is empirical value.
Then, present engine thrust and instruction thrust is utilized to compare;
If when the difference of forward thrust and instruction thrust is less than or equal to franchise, then thinks when forward thrust and instruction thrust is equal, do not regulate.
If when the difference of forward thrust and instruction thrust is greater than franchise, then flow regulator regulates motor power according to from the order under upper successively according to flow regulator opening value in above-mentioned contrast list; Until the difference of present engine thrust and instruction thrust within tolerance, think that present engine thrust and instruction thrust is equal, then flow regulator stop regulate.
Embodiment 2 (gathering the front pressure of motor spray is engine operating parameter)
(1) setting initial engine thrust is 20kN and motor power variable quantity is 200N, obtain multiple engine thrust value, and obtain multiple flow regulator opening value by engine thrust value, then respectively by multiple engine thrust value and multiple flow regulator opening value one_to_one corresponding thereof, by sequentially enumerating from large to small, final formation contrasts list;
The contrast list of engine thrust value and flow regulator opening value
Note: in table, flow regulator regulator opening value is determined by two parameters, respectively: oxygenant regulator opening value and fuel trimmer opening value; Namely be exactly that a corresponding oxygenant regulator opening value and fuel trimmer opening value could meet use to each engine thrust value respectively.
(2) control accuracy is 99%, and minimum engine thrust magnitude is 20kN; Then tolerance ± 100N;
(3) engine thrust value that thrust regulation and control system is chosen in above-mentioned contrast list is started to motor as instruction thrust; Pressure (the present invention adopts the pressure transducer of multiple redundancy each other to carry out parameter acquisition, then averages) before pressure transducer gathers present engine spray is also converted into present engine thrust;
Concrete conversion process:
(F is present engine thrust to F=aX+b, and unit is kN, a=8.17, X is pressure before motor spray, and unit is MPa, b=-45.4, and wherein a and b is empirical value.
Then, present engine thrust and instruction thrust is utilized to compare;
If when the difference of forward thrust and instruction thrust is less than or equal to franchise, then thinks when forward thrust and instruction thrust is equal, do not regulate.
If when the difference of forward thrust and instruction thrust is greater than franchise, then flow regulator regulates motor power according to from the order under upper successively according to flow regulator opening value in above-mentioned contrast list; Until the difference of present engine thrust and instruction thrust within tolerance, think that present engine thrust and instruction thrust is equal, then flow regulator stop regulate.
Embodiment 3 (collection secondary speed is engine operating parameter)
(1) setting initial engine thrust is 5kN and motor power variable quantity is 50N, obtain multiple engine thrust value, and obtain multiple flow regulator opening value by engine thrust value, then respectively by multiple engine thrust value and multiple flow regulator opening value one_to_one corresponding thereof, by sequentially enumerating from large to small, final formation contrasts list;
The contrast list of engine thrust value and flow regulator opening value
Note: in table, flow regulator regulator opening value is determined by two parameters, respectively: oxygenant regulator opening value and fuel trimmer opening value; Namely be exactly that a corresponding oxygenant regulator opening value and fuel trimmer opening value could meet use to each engine thrust value respectively.
(2) control accuracy is 99%, and minimum engine thrust magnitude is 5kN; Then tolerance ± 25N;
(3) engine thrust value that thrust regulation and control system is chosen in above-mentioned contrast list is started to motor as instruction thrust; Pressure transducer gathers present engine secondary speed (the present invention adopts the speed probe of multiple redundancy each other to carry out parameter acquisition, then averages) and is converted into present engine thrust;
Concrete conversion process:
(F is present engine thrust to F=aX+b, and unit is kN, a=1.93 × 10
-4, X is engine turbine rotating speed, and unit is r/min, b=-2.86, and wherein a and b is empirical value.
Then, present engine thrust and instruction thrust is utilized to compare;
If when the difference of forward thrust and instruction thrust is less than or equal to franchise, then thinks when forward thrust and instruction thrust is equal, do not regulate.
If when the difference of forward thrust and instruction thrust is greater than franchise, then flow regulator regulates motor power according to from the order under upper successively according to flow regulator opening value in above-mentioned contrast list; Until the difference of present engine thrust and instruction thrust within tolerance, think that present engine thrust and instruction thrust is equal, then flow regulator stop regulate.
Repeatedly test run through above-mentioned 3 embodiments is verified, method of the present invention comparatively before controlling method motor in the course of the work control accuracy greatly improve, and working stability, operational excellence.
Claims (3)
1. a method for Variable Thrust Engine thrust closed loop control, is characterized in that, comprises the following steps:
1) the contrast list of the corresponding flow regulator opening value of engine thrust value is formulated:
1.1) initial engine thrust and motor power variable quantity is set; The basis of initial engine thrust increase progressively successively in units of described motor power variable quantity or successively decreases, drawing several thrust magnitudes, forming thrust command collection;
1.2) according to thrust command collection, by liquid flow test, the flow regulator opening value that each thrust magnitude is corresponding is obtained; Draw the contrast list of engine thrust value one_to_one corresponding flow regulator opening value;
2) according to control accuracy and minimum engine thrust magnitude setting tolerance;
3) control of target engine:
3.1) instruction thrust is sent to motor, engine operation; The value of described instruction thrust is selected from step 1.1) described in thrust command collection;
3.2) gather present engine running parameter, be converted into present engine thrust;
3.3) adjustment of motor power:
If the difference of present engine thrust and instruction thrust is within tolerance; Then think that present engine thrust and instruction thrust is equal, flow regulator does not regulate;
If the difference of present engine thrust and instruction thrust exceeds tolerance; Then according to the opening value of above-mentioned contrast list according to the mode adjust flux regulator increased progressively or successively decrease, and then perform step 3.2), until the difference of present engine thrust and instruction thrust is within tolerance;
4) control to terminate.
2. the method for pump pressure type Variable Thrust Engine thrust according to claim 1 closed loop control, is characterized in that: described step 3.2) in engine operating parameter adopt pressure or secondary speed before motor power chamber pressure or spray.
3. the method for pump pressure type Variable Thrust Engine thrust according to claim 2 closed loop control, is characterized in that: described engine operating parameter adopts the sensor of multiple redundancy each other to gather.
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| CN201410348396.9A CN104358625B (en) | 2014-07-11 | 2014-07-21 | The method of a kind of Variable Thrust Engine thrust closed-loop control |
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| CN201410330644 | 2014-07-11 | ||
| CN201410348396.9A CN104358625B (en) | 2014-07-11 | 2014-07-21 | The method of a kind of Variable Thrust Engine thrust closed-loop control |
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| CN104358625B CN104358625B (en) | 2016-05-18 |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107607325A (en) * | 2017-09-04 | 2018-01-19 | 西安航天动力研究所 | Pin fastens formula ejector filler Variable Thrust Engine System Operating condition adjustment method |
| CN110968103A (en) * | 2019-12-12 | 2020-04-07 | 北京中科宇航探索技术有限公司 | Boosting variable-thrust attitude adjusting method and device |
| CN111043042A (en) * | 2019-12-17 | 2020-04-21 | 北京深蓝航天科技有限公司 | Electric pump device of liquid rocket |
| CN111498149A (en) * | 2020-04-28 | 2020-08-07 | 北京控制工程研究所 | Soft landing attitude and orbit integrated control method based on parallel variable thrust engine |
| CN112112745A (en) * | 2020-11-23 | 2020-12-22 | 蓝箭航天空间科技股份有限公司 | Self-adaptive zero-returning control method and device for engine after shutdown of spacecraft |
| CN112304169A (en) * | 2020-10-28 | 2021-02-02 | 北京星际荣耀空间科技有限公司 | Carrier rocket guidance method and system based on thrust adjustment |
| CN113157010A (en) * | 2021-04-25 | 2021-07-23 | 北京航空航天大学 | Depth variable thrust engine thrust regulation and control method and device and electronic equipment |
| CN114370355A (en) * | 2022-01-07 | 2022-04-19 | 中国人民解放军63921部队 | Differential variable thrust method and device, electronic equipment and storage medium |
| CN114607527A (en) * | 2022-03-23 | 2022-06-10 | 北京航天雷特机电工程有限公司 | Temperature control conveying system for propellant of space engine |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107607325A (en) * | 2017-09-04 | 2018-01-19 | 西安航天动力研究所 | Pin fastens formula ejector filler Variable Thrust Engine System Operating condition adjustment method |
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| CN112304169B (en) * | 2020-10-28 | 2023-05-02 | 北京星际荣耀空间科技股份有限公司 | Carrier rocket guidance method and system based on thrust adjustment |
| CN112304169A (en) * | 2020-10-28 | 2021-02-02 | 北京星际荣耀空间科技有限公司 | Carrier rocket guidance method and system based on thrust adjustment |
| CN112112745A (en) * | 2020-11-23 | 2020-12-22 | 蓝箭航天空间科技股份有限公司 | Self-adaptive zero-returning control method and device for engine after shutdown of spacecraft |
| CN112112745B (en) * | 2020-11-23 | 2021-06-01 | 蓝箭航天空间科技股份有限公司 | Self-adaptive zero-returning control method and device for engine after shutdown of spacecraft |
| CN113157010A (en) * | 2021-04-25 | 2021-07-23 | 北京航空航天大学 | Depth variable thrust engine thrust regulation and control method and device and electronic equipment |
| CN113157010B (en) * | 2021-04-25 | 2023-11-21 | 北京航空航天大学 | Method and device for regulating and controlling thrust of deep variable thrust engine and electronic equipment |
| CN114370355A (en) * | 2022-01-07 | 2022-04-19 | 中国人民解放军63921部队 | Differential variable thrust method and device, electronic equipment and storage medium |
| CN114370355B (en) * | 2022-01-07 | 2023-01-17 | 中国人民解放军63921部队 | Differential variable thrust method and device, electronic equipment and storage medium |
| CN114607527A (en) * | 2022-03-23 | 2022-06-10 | 北京航天雷特机电工程有限公司 | Temperature control conveying system for propellant of space engine |
| CN114607527B (en) * | 2022-03-23 | 2023-09-05 | 北京航天雷特机电工程有限公司 | Temperature control conveying system for propellant of space engine |
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