CN105977511B - A kind of bionical power set of pulsed based on monoreactant chemical and its control method - Google Patents

A kind of bionical power set of pulsed based on monoreactant chemical and its control method Download PDF

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CN105977511B
CN105977511B CN201610539876.2A CN201610539876A CN105977511B CN 105977511 B CN105977511 B CN 105977511B CN 201610539876 A CN201610539876 A CN 201610539876A CN 105977511 B CN105977511 B CN 105977511B
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switch valve
entrance
pulsed
outlet
catalyst bed
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CN105977511A (en
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王卓
杨军宏
尚建忠
杨卿
冷子昊
罗佳俊
徐志伟
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National University of Defense Technology
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    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
    • H01M8/00—Fuel cells; Manufacture thereof
    • H01M8/04—Auxiliary arrangements, e.g. for control of pressure or for circulation of fluids
    • H01M8/04082—Arrangements for control of reactant parameters, e.g. pressure or concentration
    • H01M8/04201—Reactant storage and supply, e.g. means for feeding, pipes
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
    • H01M8/00—Fuel cells; Manufacture thereof
    • H01M8/04—Auxiliary arrangements, e.g. for control of pressure or for circulation of fluids
    • H01M8/04082—Arrangements for control of reactant parameters, e.g. pressure or concentration
    • H01M8/04186—Arrangements for control of reactant parameters, e.g. pressure or concentration of liquid-charged or electrolyte-charged reactants
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
    • H01M8/00—Fuel cells; Manufacture thereof
    • H01M8/04—Auxiliary arrangements, e.g. for control of pressure or for circulation of fluids
    • H01M8/04298—Processes for controlling fuel cells or fuel cell systems
    • H01M8/04694—Processes for controlling fuel cells or fuel cell systems characterised by variables to be controlled
    • H01M8/04746—Pressure; Flow
    • H01M8/04776—Pressure; Flow at auxiliary devices, e.g. reformer, compressor, burner
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02E60/30—Hydrogen technology
    • Y02E60/50—Fuel cells

Abstract

A kind of bionical power set of pulsed based on monoreactant chemical, the device are mainly made of fuel feed system and pulsed reaction system.Wherein, fuel feed system realizes monoreactant chemical storage and flow control；Monoreactant chemical order is decomposed into gaseous state by liquid under catalyst action, pressure in catalyst bed is increased rapidly by the entrance HF switch valve and catalyst bed in pulsed reaction system, fuel.Whole process is segmented into three sections：Input phase, i.e. entrance HF switch valve are opened, and outlet HF switch valve is closed；The stage of reaction, i.e. entrance, outlet HF switch valve are turned off；Injection phase, i.e. exit HF switch valve are opened, and entrance HF switch valve is closed.Device obtains the parameter value such as flow pump discharge and entrance, outlet HF switch valve PWM control signal duty cycle using thermodynamics and hydrodynamics formula, produces lasting impulse jet effect according to power output demand.The bionical power set of the pulsed have the advantages that high power density, environmental-friendly, simple in structure and high efficiency, suitable for the dynamical system of the equipment such as exoskeleton robot and jet knapsack.

Description

A kind of bionical power set of pulsed based on monoreactant chemical and its control method
Technical field
The present invention relates to a kind of bionical power set of pulsed based on monoreactant chemical and its control method to put, and is suitable for Exoskeleton robot and jet knapsack power set.
Background technology
Exoskeleton robot can follow human motion, and undertake main loads, and then strengthen function of human body, and jet knapsack It is one of effective way for realizing mankind's flight and movement power-assisted.To realize Power Autonomy, improve practical level, with HAL-5, BULC, XOS, BLEEX and Jetpack, the exoskeleton robot that Martin is representative and jet knapsack are generally using battery, gasoline Machine, which is used as power, drives motor or fluid power system.Wherein, lithium battery is relatively low as most widely used power form Energy density limits the use of its long-time；Fuel cell technology continues to develop, close with higher energy density and power Degree, but need to solve the defects of high cost and the discharge of harmful substrate；Internal combustion engine is close with highest energy Degree and power density, are optimal exoskeleton robot and jet knapsack dynamical system, still, its noise, efficiency, pollution etc. Problem is difficult to break through in a short time.In addition, above-mentioned exoskeleton robot and jet knapsack conventional power system, it is difficult to turn in energy Change and obtain balance between system complexity and fuel energy density, this, which also becomes, restricts exoskeleton robot and continue a journey with jet knapsack The principle sexual dysfunction of capability improving.Therefore, to those skilled in the art, it is necessary to develop a kind of high power density, ring Border is friendly, Novel power system simple in structure and efficient, with exoskeleton robot and with promoted in jet knapsack system Using.
The content of the invention
The technical problem to be solved in the present invention is overcome the deficiencies of the prior art and provide a kind of high power density, high efficiency, The bionical power set of simple in structure, the free of contamination pulsed based on monoreactant chemical and its control method.
In order to solve the above technical problems, the present invention includes herein below：
A kind of bionical power set of pulsed based on monoreactant chemical, including monoreactant chemical feed system and pulsed Reaction system, the monoreactant chemical feed system include storage tank, flow pump, and the pulsed reaction system includes entrance high frequency Switch valve, catalyst bed, pressure sensor, outlet HF switch valve, controller and nozzle, the storage tank is by flow pump with urging The entrance connection of agent bed, the outlet of the catalyst bed are connected with nozzle, and the entrance and exit of catalyst bed is separately installed with Entrance HF switch valve and outlet HF switch valve, the pressure of pressure change in monitoring catalyst bed is provided with the catalyst bed Force snesor, the signal end of the pressure sensor are connected with controller, signal end and the entrance HF switch of the controller Valve, outlet HF switch valve are connected with flow pump, the controller control entrance HF switch valve and outlet HF switch valve The uninterrupted of duty cycle and flow pump.
The controller is PWM controller.
Monoreactant chemical in the storage tank is H2O2, H of the preferred concentration higher than 30%2O2。
The output flow of the flow pump is 10 milliliters/seconds to 200 milliliters/seconds.
The frequency of the entrance HF switch valve and outlet HF switch valve is 1Hz to 50Hz.
Effective volume is 50 milliliters to 500 milliliters inside the catalyst bed.
The loaded pellet type catalyst of manganese base is used in the catalyst bed.
The nozzle net sectional area is 50 square millimeters to 500 square millimeters.
A kind of bionical power set control method of pulsed, includes the following steps：
A, early-stage preparations, the weight set spout thrust desired value according to loading is Fe；Choose fuel concentration ψ, fuel rubs You are number N, the PWM signal frequency f of entrance HF switch valve1, catalyst bed volume V, export HF switch valve PWM signal frequency f2, outlet HF switch valve opening radius rout, nozzle net sectional area At, spout jet coefficient Cd, atmospheric pressure P0, gas it is close Spend ρ, ideal gas constant R, temperature T, the pwm signal duty cycle ξ of entrance HF switch valve in catalyst bed1Opened with outlet high frequency Close the pwm signal duty cycle ξ of valve2；According to lower section formula：
F=P × AtFormula (1)
By FeValue substitute into formula (1) F in, use variable step numerical solution of ordinary differential equations, the preferably rank of quadravalence-five Runge-Kutta algorithms, calculate flow pump and it is expected that flow value Q is set to Qe, and set it to the flow value of present flow rate pump；
B, input phase, entrance HF switch valve is opened, and outlet HF switch valve is closed；Detected using pressure sensor Pressure is P in catalyst beda, by PaValue substitute into formula (1) P in, actual thrust F is calculateda；
As spout thrust deflexion value Δ F=| Fa-Fe| during more than 5%, the value of Δ F is substituted into the F of formula (1) and obtains P's Value, then brings formula (2) into, calculates flow rate fine-tuning amount Q and is set to Δ Q, set next circulation flow pump optimization flow as Qo=Qe±ΔQ；
As spout thrust deflexion value Δ F=| Fa-Fe| during less than 5%, the value of Δ F is substituted into the F of formula (1) and obtains P's Value, and bring P into lower section formula：
Using variable step numerical solution of ordinary differential equations, the preferably rank of quadravalence-five Runge-Kutta algorithms, entrance is calculated HF switch valve duty cycle trimmer amount ξ1It is set to Δ ξ1, set the entrance HF switch valve optimization duty cycle ξ of next circulation1o= ξ1±Δξ1；
C, the stage of reaction, after catalyst bed enters sufficient fuel, by entrance HF switch valve and outlet HF switch valve It is turned off being reacted；
D, injection phase, after the completion of fuel reacts under catalyst action, opens outlet HF switch valve, closes entrance HF switch valve；
E, repeat step b, c, d, continuous corrected thrust deviation Δ F, until spout thrust deflexion value Δ F is less than 1%, so The duty cycle of the flow of flow pump at this time and entrance HF switch valve is kept to keep the stabilization of spout thrust afterwards.
The above-mentioned technical proposal of the present invention is mainly based upon following principle：Coleopteron-jia bombardier first is by continuous injection High voltage stimulus sexual secretion defends natural enemy, finds that its defense mechanism is derived from biological work(unique in vivo with animal experiment by dissecting Can structure.Jia bombardier first is sprayed dynamical system and is made of flexible fuel room and rigid reative cell, the H of synthesis in body of gland2O2(concentration reaches To 25%) being stored in fuel chambers, and enter reative cell, H by class one-way valve structures under muscle squeezes2O2In biology enzyme Rapid decompose discharges oxygen and high-temperature vapor under catalytic action, when pressure is set more than reative cell spout class one-way valve structures Outwards sprayed after pressure, at this time fuel chambers closed check valve.Above process circulation carries out, and produces impulse jet effect.Jia bombardier first Impulse jet process (highest frequency reaches 2000Hz) can effectively reduce driving pressure needed for fuel chambers, while increase H2O2 Residence time in catalyst bed, lifts it and efficiency is catalytically decomposed, and reduces the overheat caused by tandem reaction sequence.
The present invention is real by controlling entrance HF switch valve and exporting the circulation quickly opened and closed of HF switch valve Existing impulse jet effect, utilizes H2O2High power density, high-energy-density and stabilization, nontoxic physicochemical characteristic, pass through catalyst Fast reaction (fast reaction of catalyst using manganese-based catalyst bridge joint act on, reduce catalytic reaction needed for activation energy, pole It is big to improve reaction rate, up to 10-3S, ensures the continuity of injection), particularly chemical energy is directly converted into mechanical energy by it Unique advantage, so as to guarantee to provide stable promotion, compared with prior art, has high power density, environmental-friendly, structure The advantages that simple and high efficiency, suitable for the dynamical system of the equipment such as exoskeleton robot and jet knapsack.
In addition, by this control method, it can be required according to human motion frequency and power-assisted amplitude, obtain the pump stream of optimization The systematic parameter values such as amount, pwm signal duty cycle and catalyst bed volume, and adjusted in system working stage by systematic parameter Automatic compensation output error (being less than 1%).Using this control method, while impulse jet effect is realized, can effectively drop Low upstream fuel supply pressure, reduces catalyst bed volume, lifting catalytic decomposition efficiency, and reduces tandem reaction sequence and drawn The overheat risen, ensures the continual and steady of reaction.
Brief description of the drawings
Fig. 1 is the structure diagram of the present apparatus.
Fig. 2 is entrance HF switch valve PWM signal in the embodiment of the present invention 1
Fig. 3 is 1 middle outlet HF switch valve PWM signal of the embodiment of the present invention
Fig. 4 is that power output changes over time curve in the embodiment of the present invention 1.
Fig. 5 is entrance HF switch valve PWM signal in the embodiment of the present invention 2
Fig. 6 is 2 middle outlet HF switch valve PWM signal of the embodiment of the present invention
Fig. 7 is that power output changes over time curve in the embodiment of the present invention 2.
Embodiment
Below in conjunction with Figure of description and specific embodiment, the invention will be further described.
A kind of bionical power set of pulsed based on monoreactant chemical, including monoreactant chemical feed system and pulsed Reaction system, the monoreactant chemical feed system include storage tank 1, flow pump 2, and it is high that the pulsed reaction system includes entrance Frequency switch valve 3, catalyst bed 4, pressure sensor 5, outlet HF switch valve 6, PWM controller 8 and nozzle 7, the storage tank 1 are logical Inflow-rate of water turbine pump 2 is connected with the entrance of catalyst bed 4, and the outlet of the catalyst bed 4 is connected with nozzle 7, the entrance of catalyst bed 4 Entrance HF switch valve 3 and outlet HF switch valve 6 are separately installed with outlet, being provided with monitoring in the catalyst bed 4 urges The pressure sensor 5 of pressure change in agent bed, the signal end of the pressure sensor 5 are connected with PWM controller 8, the PWM The signal end of controller 8 is connected with entrance HF switch valve 3, outlet HF switch valve 6 and flow pump 2, the PWM controller 8 Control entrance HF switch valve and export the duty cycle of HF switch valve and the uninterrupted of flow pump.
Monoreactant chemical in the storage tank is H2O2, H of the preferred concentration higher than 30%2O2.The output stream of the flow pump Measure as 10 milliliters/seconds to 200 milliliters/seconds.The frequency of the entrance HF switch valve and outlet HF switch valve arrives for 1Hz 50Hz.Effective volume is 50 milliliters to 500 milliliters inside the catalyst bed.Loaded of manganese base is used in the catalyst bed Granular catalyst.The nozzle net sectional area is 50 square millimeters to 500 square millimeters.
Embodiment 1：
A kind of bionical power set of the pulsed based on monoreactant chemical as shown in Figure 1 are specifically designed, including it is following interior Hold：
(1) device includes fuel feed system and pulsed reaction system, and fuel feed system includes storage tank, flow pump； Pulsed reaction system includes entrance HF switch valve, catalyst bed, pressure sensor, outlet HF switch valve, PWM controls Device, nozzle.Storage tank is connected by flow pump and the entrance of catalyst bed, and the outlet of catalyst bed is connected with nozzle, catalyst bed Entrance and exit be separately installed with entrance HF switch valve and outlet HF switch valve, monitoring catalysis is installed in catalyst bed The pressure sensor of pressure change in agent bed, the signal end of pressure sensor are connected with PWM controller, the signal of PWM controller End is connected with entrance HF switch valve, outlet HF switch valve and flow pump.
(2) power set fluid device is respectively mounted quick coupling, is sequentially connected by fluoroplast pipe.
(3) spout thrust desired value is set as FeFor 34N, output frequency 20Hz.
(4) concentration ψ is 90% H2O2As monoreactant chemical.
(5) the loaded pellet type catalyst of manganese base of particle mean size 2mm is used in catalyst bed.
(6) HF switch valve (includes an inlet and an outlet HF switch valve f1、f2) frequency selection purposes 20Hz.
(7) it is 50 milliliters to choose effective volume V inside catalyst bed.
(8) nozzle net sectional area A is chosentFor 50 square millimeters.
(9) entrance, outlet HF switch valve duty cycle ξ are chosen1And ξ2Respectively 0.31 and 0.3.
(10) utilize
F=P × At
Formula (1)
Calculate flow pump and it is expected flow value QeFor 200 milliliters/seconds.
(11) entrance HF switch valve is opened, outlet HF switch valve is closed；Catalyst is detected using pressure sensor Pressure in bed, actual thrust F is calculated using formula (1)aFor 35N.
(12) spout thrust deflexion value Δ F (1N) is substituted into formula (1), calculates entrance HF switch valve duty cycle：
Calculate entrance HF switch valve duty cycle trimmer amount Δ ξ1For 0.01, the entrance high frequency for setting next circulation is opened Valve closing optimization duty cycle ξ1oFor 0.3.
(13) repeat step (11)-(12), it is 34.2N to calculate actual spout thrust, meets power output error requirements.Figure 2nd, 3 entrance, outlet HF switch valve PWM signal are shown, Fig. 4 show power output and changes over time curve.
Embodiment 2：
A kind of bionical power set of the pulsed based on monoreactant chemical as shown in Figure 1 are specifically designed, including it is following interior Hold：
(1) device includes fuel feed system and pulsed reaction system, and fuel feed system includes storage tank, flow pump； Pulsed reaction system includes entrance HF switch valve, catalyst bed, pressure sensor, outlet HF switch valve, PWM controls Device, nozzle.Storage tank is connected by flow pump and the entrance of catalyst bed, and the outlet of catalyst bed is connected with nozzle, catalyst bed Entrance and exit be separately installed with entrance HF switch valve and outlet HF switch valve, monitoring catalysis is installed in catalyst bed The pressure sensor of pressure change in agent bed, the signal end of pressure sensor are connected with PWM controller, the signal of PWM controller End is connected with entrance HF switch valve, outlet HF switch valve and flow pump.
(2) power set fluid device is respectively mounted quick coupling, is sequentially connected by fluoroplast pipe.
(3) spout thrust desired value is set as FeFor 19N, output frequency 1Hz.
(4) concentration ψ is 60% H2O2As monoreactant chemical.
(5) the loaded pellet type catalyst of manganese base of particle mean size 2mm is used in catalyst bed.
(6) HF switch valve (includes an inlet and an outlet HF switch valve f1、f2) frequency selection purposes 1Hz.
(7) it is 100 milliliters to choose effective volume V inside catalyst bed.
(8) nozzle net sectional area A is chosentFor 50 square millimeters.
(9) entrance, outlet HF switch valve duty cycle ξ are chosen1And ξ2Respectively 0.3 and 0.2.
(10) calculate flow pump using formula (1) and formula (2) and it is expected flow value QeFor 18 milliliters/seconds.
(11) entrance HF switch valve is opened, outlet HF switch valve is closed；Catalyst is detected using pressure sensor Pressure in bed, actual thrust F is calculated using formula (1)aFor 17N.
(12) spout thrust deflexion value Δ F (2N) is substituted into formula (1) and formula (2),
It is 2 milliliters/seconds to calculate flow pump fine setting flow Δ Q, sets the optimization flow Q of the flow pump of next circulationo For 20 milliliters/seconds.
(13) repeat step (11)-(12), it is 18.9N to calculate actual spout thrust, meets power output error requirements.Figure 5th, 6 entrance, outlet HF switch valve PWM signal are shown, Fig. 7 show power output and changes over time curve.

Claims (8)

  1. A kind of 1. bionical power set control method of pulsed, for controlling the bionical power dress of the pulsed based on monoreactant chemical Put, the bionical power set of the pulsed based on monoreactant chemical include monoreactant chemical feed system and pulsed reaction system System, the monoreactant chemical feed system include storage tank, flow pump, and the pulsed reaction system includes entrance HF switch Valve, catalyst bed, pressure sensor, outlet HF switch valve, controller and nozzle, the storage tank pass through flow pump and catalyst The entrance connection of bed, the outlet of the catalyst bed are connected with nozzle, and the entrance and exit of catalyst bed is separately installed with entrance HF switch valve and outlet HF switch valve, the pressure that pressure change in monitoring catalyst bed is provided with the catalyst bed pass Sensor, the signal end of the pressure sensor are connected with controller, and the signal end of the controller and entrance HF switch valve, go out Mouth HF switch valve is connected with flow pump, the controller control entrance HF switch valve and the duty cycle for exporting HF switch valve And the uninterrupted of flow pump, it is characterised in that：Include the following steps：
    A, early-stage preparations, the weight set spout thrust desired value according to loading is Fe；Choose fuel concentration ψ, fuel molal quantity N, The PWM signal frequency f of entrance HF switch valve1, catalyst bed volume V, export HF switch valve PWM signal frequency f2, outlet HF switch valve opening radius rout, nozzle net sectional area At, spout jet coefficient Cd, atmospheric pressure P0, gas density ρ, reason Think gas constant R, temperature T, the pwm signal duty cycle ξ of entrance HF switch valve in catalyst bed1With outlet HF switch valve Pwm signal duty cycle ξ2；According to lower section formula：
    F=P × AtFormula (1)
    By FeValue substitute into formula (1) F in, use the variable step ODE number of the rank Runge-Kutta algorithms of quadravalence-five It is worth solution, calculates flow pump and it is expected that flow value Q is set to Qe, and set it to the flow value of present flow rate pump；
    B, input phase, entrance HF switch valve is opened, and outlet HF switch valve is closed；Detected and be catalyzed using pressure sensor Pressure is P in agent beda, by PaValue substitute into formula (1) P in, actual thrust F is calculateda；
    As spout thrust deflexion value Δ F=| Fa-Fe| during more than 5%, the value of Δ F is substituted into the F of formula (1) and obtains the value of P, Bring formula (2) into again, calculate flow rate fine-tuning amount Q and be set to Δ Q, set the optimization flow of flow pump of next circulation as Qo= Qe±ΔQ；
    As spout thrust deflexion value Δ F=| Fa-Fe| during less than 5%, the value of Δ F is substituted into the F of formula (1) and obtains the value of P, And bring P into lower section formula：
    Using the variable step numerical solution of ordinary differential equations of the rank Runge-Kutta algorithms of quadravalence-five, entrance HF switch is calculated Valve duty cycle trimmer amount ξ1It is set to Δ ξ1, set the entrance HF switch valve optimization duty cycle ξ of next circulation1o=ξ1±Δξ1；
    C, the stage of reaction, after catalyst bed enters sufficient fuel, entrance HF switch valve and outlet HF switch valve are closed Close and reacted；
    D, injection phase, after the completion of fuel reacts under catalyst action, opens outlet HF switch valve, closes entrance high frequency Switch valve；
    E, repeat step b, c, d, continuous corrected thrust deviation Δ F, until spout thrust deflexion value Δ F is less than 1%, Ran Houbao The stabilization of spout thrust can be kept by holding the duty cycle of the flow of flow pump at this time and entrance HF switch valve.
  2. 2. the bionical power set control method of pulsed according to claim 1, it is characterised in that the controller is PWM controller.
  3. 3. the bionical power set control method of pulsed according to claim 2, it is characterised in that the list in the storage tank Constituent element fuel is higher than 30% H for concentration2O2。
  4. 4. the bionical power set control method of pulsed according to claim 3, it is characterised in that the flow pump it is defeated Outflow is 10 milliliters/seconds to 200 milliliters/seconds.
  5. 5. the bionical power set control method of pulsed according to claim 4, it is characterised in that the entrance high frequency is opened The frequency for closing valve and outlet HF switch valve is 1Hz to 50Hz.
  6. 6. according to the bionical power set control method of pulsed described in claim 5, it is characterised in that inside the catalyst bed Effective volume is 50 milliliters to 500 milliliters.
  7. 7. the bionical power set control method of pulsed according to claim 6, it is characterised in that in the catalyst bed Use the loaded pellet type catalyst of manganese base.
  8. 8. the bionical power set control method of pulsed according to claim 7, it is characterised in that the nozzle is effectively cut Area is 50 square millimeters to 500 square millimeters.
CN201610539876.2A 2016-07-11 2016-07-11 A kind of bionical power set of pulsed based on monoreactant chemical and its control method Expired - Fee Related CN105977511B (en)

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CN205846114U (en) * 2016-07-11 2016-12-28 中国人民解放军国防科学技术大学 A kind of bionical power set of pulsed based on monoreactant chemical

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Publication number Priority date Publication date Assignee Title
CN106134393B (en) * 2010-12-15 2014-03-19 上海空间推进研究所 Low thrust list constituent element peroxide rocket
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