CN108915900B - Liquid rocket engine fault diagnosis method based on time invariant information of mathematical model - Google Patents
Liquid rocket engine fault diagnosis method based on time invariant information of mathematical model Download PDFInfo
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- CN108915900B CN108915900B CN201810788596.4A CN201810788596A CN108915900B CN 108915900 B CN108915900 B CN 108915900B CN 201810788596 A CN201810788596 A CN 201810788596A CN 108915900 B CN108915900 B CN 108915900B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02K—JET-PROPULSION PLANTS
- F02K9/00—Rocket-engine plants, i.e. plants carrying both fuel and oxidant therefor; Control thereof
- F02K9/96—Rocket-engine plants, i.e. plants carrying both fuel and oxidant therefor; Control thereof characterised by specially adapted arrangements for testing or measuring
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05D—INDEXING SCHEME FOR ASPECTS RELATING TO NON-POSITIVE-DISPLACEMENT MACHINES OR ENGINES, GAS-TURBINES OR JET-PROPULSION PLANTS
- F05D2260/00—Function
- F05D2260/80—Diagnostics
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05D—INDEXING SCHEME FOR ASPECTS RELATING TO NON-POSITIVE-DISPLACEMENT MACHINES OR ENGINES, GAS-TURBINES OR JET-PROPULSION PLANTS
- F05D2260/00—Function
- F05D2260/81—Modelling or simulation
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- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
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Abstract
The invention provides a liquid rocket engine fault diagnosis method based on mathematical model time invariant information, which comprises the steps of firstly establishing mathematical models of main components of a liquid rocket engine and establishing time invariant coefficients representing the working state of the components; analyzing a change rule of a time invariant coefficient representing the state of each component influenced by the working state of the engine, and defining a threshold value of each component according to the change rule; for the liquid rocket engine to be detected, state data of all parts in the working state of the liquid rocket engine are collected, the time invariant coefficient of all the parts is calculated according to the collected state data and is compared with the threshold value determined in the front, and engine fault detection and diagnosis are carried out. The method solves the problem that the liquid rocket engine is difficult to detect and diagnose under the conditions of lack of prior knowledge, insufficient fault samples, incomplete fault modes and the like, and can effectively realize the fault detection and diagnosis of the liquid rocket engine under the difficult conditions.
Description
Technical field
The present invention relates to liquid-propellant rocket engine field of fault detection, and in particular to fixed information when based on mathematical model
Liquid Propellant Rocket Engine Fault Diagnosis method.
Background technique
Liquid-propellant rocket engine is the major impetus device and key components of Vehicle, but simultaneously,
Liquid-propellant rocket engine is an extremely complex fluid-thermal power system, is not only worked in high temperature, high pressure, strong motion and strong corruption
Under the adverse circumstances such as erosion, and the release of working stage energy is concentrated very much, thus is the multiple position of failure.So far, full generation
The research of bound pair liquid-propellant rocket engine has last 100 years, and every fault detection and isolation technology also reach its maturity, but in reality
Launch mission in, not can avoid due to engine failure bring loss and disaster still.Event once occurs for rocket engine
Barrier, gently then influences the working performance of engine, heavy then lead to space tasks failure or even jeopardize the life of spacefarer, causes to be difficult to
The loss of estimation.On July 26th, 2006, one piece of carrier rocket by RS-20 heavy type intercontinental ballistic missile made in Russia transformation carry 18
Satellite just crashes because of engine failure shortly after in the domestic Bei Kangnuo space center transmitting in Kazak, lift-off；2010 12
The moon 25, the GSLV-F06 carrier rocket of the domestic GSAT-5P satellite of India is carried, since serious skill occurs in the first stage motor
Art failure, started to smolder simultaneously offset track after launching less than 1 minute, and after about 19 minutes, this piece of rocket is in the sky
High-explosive, the satellite and the rocket are all ruined；On August 24th, 2011, " alliance-U " rocket for carrying " progress M-12M " cargo ship are going up to the air not
It just explodes long afterwards, by investigation, is the discovery that the power-equipment of the rocket third level breaks down；On December 23rd, 2011, Russia
" alliance -2.1B " rocket for carrying " meridian " telecommunication satellite of Ross transmitting, since event occurs in third stage rocket engine
Barrier, not can enter planned orbit；On July 2nd, 2013, in Russia " proton M/DM3 " carrier rocket of Baykonur Cosmodrome transmitting
17 seconds after firing, level-one boost motor abruptly entered fault mode and closes, 600 tons of toxic fuel for causing arrow to be loaded with
(uns-dimethylhydrazine) leakage, causes local large area environmental pollution；On May 22nd, 2014, this Tanis space center of the U.S. into
The AJ-26 type oxygen kerosene engine of row test, breaks down when lighting a fire 30 seconds, engine is caused to damage on a large scale, tests quilt
Compel to stop；On October 28th, 2014, when the U.S. flight center Wo Luopusi emits " Antares " number carrier rocket, since rocket is sent out
Motivation breaks down, and is fallen after blasting off 6 seconds at launching site, rocket " Cygnus " cargo ship loss mounted is miserable
Weight；Russia " proton-M " carrier rocket of Mexico's telecommunication satellite is carried after launching 500 seconds on May 16th, 2015,
Since rocket third level engine failure causes rocket to crash；On June 28th, 2015 plan to transport a large amount of objects to international space station
" dragon " airship of money, by " the falcon No. 9 " carrier rocket of SpaceX company, U.S. development from Cape Canaveral, Florida
Air base is launched, but only after airship launches several minutes, since rocket engine failure causes to explode in the sky,
Another secondary transmitting accident of " falcon No. 9 " is to be also due to one engine failure of rocket on October 7th, 2012, cause it
The OG2 prototype telecommunication satellite carried fails to reach planned orbit.According to statistics, spacefaring nation (such as Russia, the U.S., China)
Although there are many number fired a rocket, the number of failure is quite a few, and success rate highest also only has 96.1%, and relatively low is India
And Israel, success rate only have six or seven ten percent.Therefore, carry out liquid-propellant rocket engine fault detection and diagnosis technique study
With highly important theory significance and engineering practical value.
Current liquid rocket engine fault detection and diagnosis technique study mainly includes three classes: being based on data test signal
The method of statistics, the method based on mathematical model and the method based on artificial intelligence.Method based on data statistics is dependent on foot
Enough data samples, by obtaining the related law of engine behavior to the analysis of data sample statistics, so that it is determined that going out
The decision threshold of measurement of correlation parameter, then judges whether engine or component event occur according to certain threshold test rule
Barrier；Unique advantage based on the method for artificial intelligence in terms of handling complication system fault detection and diagnosis, but premise is also to need
Mass data sample is wanted to be trained, the liquid-propellant rocket engine few for fault sample or all few novel of normal sample
Liquid-propellant rocket engine, these two kinds of methods can not adapt to.Method based on mathematical model mainly has based on quantitative math-model
Be based on two class of qualitative mathematics model.Method processing linear system effect based on quantitative math-model is good, using wide, but for
Complicated all-liquid system, is generally difficult to establish accurate mathematical model, limits the method in engine failure
Detection and the application in diagnosis；Method based on qualitative mathematics model can generate a large amount of false letters while really being solved
Breath, so the accuracy of fault diagnosis is not very high.
Therefore, up for developing a kind of fault detection and diagnosis method suitable for all-liquid system.
Summary of the invention
The present invention be directed to priori lack of knowledge, fault sample is insufficient and fault mode is incomplete etc. under the conditions ofs, especially
It is the new liquid rocket engine still in pilot stage, because not only fault sample lacks for it, normal sample is also very limited
The problem of caused fault detection and diagnosis difficulty, propose it is a kind of based on mathematical model when fixed information liquid-propellant rocket engine
Method for diagnosing faults, this method be it is a kind of using in engine system mathematical model when fixed information as the envelope side of statistical indicator
Method.
To realize the above-mentioned technical purpose, the technical scheme is that
It is a kind of based on mathematical model when fixed information Liquid Propellant Rocket Engine Fault Diagnosis method, comprising the following steps:
S1: it is directed to liquid-propellant rocket engine, establishes the mathematical model of its each main building block.
S2: the mathematical model based on each building block of liquid-propellant rocket engine, this can be characterized by constructing in each mathematical model
Component is normal or the when constant coefficient of malfunction.
S3: the changing rule that the when constant coefficient of each unit status is influenced by engine behavior, and root are analyzed and characterized
The threshold value of constant coefficient when defining each according to the changing rule.
S4: for liquid-propellant rocket engine to be detected, acquiring the status data of each component under its working condition, according to adopting
When the status data collected calculates each component constant coefficient and by itself and in S3 determine threshold value compare, carry out engine
Fault detection and diagnosis.If institute sometimes constant coefficient all in threshold range, judging that engine is normal；If there is characterization
When constant coefficient continuous w times of some unit status exceeds threshold value, then it is assumed that the engine component malfunction, to realize hair
Motivation fault detection and diagnosis.
For liquid-propellant rocket engine, its main building block includes pump, gas turbine, heating power component and liquid line；Its
Middle pump includes oxidant pump, petrolift；Gas turbine includes fueled turbine, oxidant turbine；Heating power component includes combustion gas
Device, combustion chamber and gas conduct pipe；Liquid line includes propellant energy properties pipeline etc..
Therefore, it in S1, is constructed respectively for the pump of liquid-propellant rocket engine, gas turbine, heating power component and liquid line
Its corresponding mathematical model.
For liquid-propellant rocket engine pump construct its corresponding mathematical model for pump model, it is as follows:
Wherein, Δ P is the lift of pump, Ppe、PpiRespectively indicate the outlet and inlet pressure of pump, npFor the revolving speed of pump, qpFor
The flow of pump, μp1、μp2、μp3Respectively indicate the empirical coefficient of pump lift.
For liquid-propellant rocket engine gas turbine construct its corresponding mathematical model be gas turbine model, it is as follows:
Gas turbine power equation:
Wherein turbine efficiency η:
Wherein, n is gas turbine revolving speed, b1, b2, b3For empirical coefficient.
Gas turbine flow qt:
Wherein, k, R, T are respectively the adiabatic exponent, gas constant, temperature of combustion gas；(RT)iIn subscript i indicate entrance,
It is herein the entrance of gas turbine；qtRepresent the gas flow for flowing through gas turbine, Pt0For gas turbine entrance gaseous-pressure,
PteFor gas turbine outlet gas pressure, PtiFor the gaseous-pressure between gas turbine stator and rotor, θ is reaction degree, and μ is combustion
The discharge coefficient of air turbine nozzle；AtFor the area of gas turbine nozzle.
Gas turbine theory jet velocity Ve:
Gas turbine power equilibrium equation:
Wherein N is gas turbine power；∑NpIndicate that the sum of the pump power driven by gas turbine, J indicate gas turbine
The rotary inertia of pump rotor.
It is heating power component model for its corresponding mathematical model of the heating power component construction of liquid-propellant rocket engine, as follows:
Mass-conservation equation in heating power component:
Combustion gas density change calculating formula in heating power component:
The change rate of combustion gas mixing ratio in heating power component:
Wherein, qoRepresent oxidizer flow rate, qfRepresent fuel flow rate.
Fuel gases calorific value carries out difference calculating according to mixing ratio:
RT=RT (r)
Wherein, T (r) indicates that T is the function of combustion gas mixing ratio r, as combustion gas mixing ratio r changes.
According to The Ideal-Gas Equation
PV=mgRT
Derivation processing is carried out, can be obtained
And then it can analyze rate of discharge equation
Wherein, mg, ρ, V, P and r be respectively combustion gas quality, density, volume, pressure and mixing ratio in heating power component；qig、
qloAnd qlfRespectively flow into combustion gas quality flow, liquid oxidizer mass flow and the liquid fuel mass flow of heating power component；
qegFor the rate of discharge of heating power component；ζ is the discharge coefficient of the throat of heating power component；A is the throat opening area of heating power component.
For liquid-propellant rocket engine liquid line construct its corresponding mathematical model be liquid line model, it is as follows:
The flow equation of liquid propellant such as formula in liquid line:
The continuity equation of propellant constituent element such as formula in liquid line:
Wherein α, ξ and L are respectively the inertia flow resistance coefficient of the flow resistance coefficient of liquid line, fluid capacitance coefficient and liquid；qli、
Pli、qleAnd PelRespectively indicate the entrance of liquid line, the mass flow of outlet and pressure；VlFor liquid line body
Product；A indicates the velocity of sound in liquid line in liquid.
In S2 of the invention, the when constant coefficient of the characterization pump work state of building are as follows:
The when constant coefficient of the characterization gas turbine operation state of building are as follows:
The when constant coefficient of the characterization heating power component operation state of building are as follows:
The when constant coefficient of the characterization liquid line working condition of building are as follows:
Wherein, PleAnd PliThe respectively outlet and inlet pressure of liquid line, qlFor liquid line flow.
In S3 of the present invention, sample database is first established, acquires the work of same more liquid-propellant rocket engines of model in a period of time
The status data for making each component under state calculates each component of model liquid-propellant rocket engine according to collected status data
When constant coefficient, statistics obtains what the when constant coefficient of each unit status of liquid-propellant rocket engine was influenced by engine behavior
Changing rule, and when defining each according to the changing rule constant coefficient threshold value.
It is more for the sample data volume in sample database, finally count obtained its each portion of the model liquid-propellant rocket engine
The changing rule that the when constant coefficient of part state is influenced by engine behavior will be more accurate.
In engine work, when constant coefficient corresponding one of each unit status is worth or a section；
When engine, which is in different malfunction or fault degree, to become larger or become smaller, the when constant coefficient meeting phase of each unit status
That answers changes and deviates normal value or normal interval, these changing rules i.e. present invention is obtained each by statistical method
The changing rule that the when constant coefficient of its each unit status of liquid-propellant rocket engine is influenced by engine behavior.According to statistics
The method that obtained above-mentioned changing rule defines threshold value, including the commonly numerical characteristics such as expectation, variance or point in mathematical statistics
The various estimation methods such as estimation, interval estimation.
In S4 of the present invention, w be it is pre-set be greater than 1 integer, specific value generally according to the actual situation and warp
It tests and is configured, generally 3 times.
Compared with prior art, the present invention can generate following technical effect:
Under the conditions of the present invention lacks for priori knowledge, fault sample is insufficient and fault mode is incomplete etc., liquid fire
The problem of arrow engine failure detection and difficult diagnosis, provides convenience reliable method, can effectively realize aforementioned difficulties item
The fault detection and diagnosis of liquid-propellant rocket engine under part.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is fluid present invention rocket engine outside drawing；
Fig. 2 is all-liquid system stratification exploded view of the invention；
Fig. 3 is fault detection and diagnosis embodiment of the present invention and block diagram；
Fig. 4 is the fault detection and diagnosis result of the embodiment of the present invention；
Specific embodiment
The embodiment of the present invention is described in detail below in conjunction with attached drawing, but the present invention can be defined by the claims
Implement with the multitude of different ways of covering.
Basic ideas of the invention are: carrying out modularization decomposition to liquid-propellant rocket engine, and establish each component respectively
Mathematical model constructs and characterizes that component is normal or the when constant coefficient of malfunction in each modular mathematical models, and analyzes these
When constant coefficient with system mode changing rule；When engine pack breaks down, these components correspond to mathematical model
When constant coefficient can change, thus influence its output state variation；It thus can be by each modular mathematical models
The when constant coefficient for characterizing the component states is measured in real time, according to whether exceeding the statistical threshold of its changing rule
It realizes to liquid-propellant rocket engine fault detection and diagnosis.
In order to illustrate technical solutions according to the invention, it is illustrated below by specific embodiment combination attached drawing.
The technical solution of the present embodiment is: fixed information event when a kind of mathematical model based on all-liquid system
Barrier detection and diagnostic method start liquid-propellant rocket engine distinguishing hierarchy according to shown in Fig. 2 for engine shown in Fig. 1
Machine grade, subsystem irrespective of size and component-level etc. establish each package count model.Then following step is carried out: one by one to each building block
Mathematical model is analyzed, and building can characterize that the building block is normal or the when constant coefficient of malfunction, is analyzed it and is being sent out
The changing rule influenced in the motivation course of work by engine condition.This layered structure is conducive to distinguish unit failure, starts
When machine failure, the malfunction that can be showed according to engine, detection is out of order, then be successively analyzed and characterized each component it is normal or therefore
The when constant coefficient of barrier state changes, and finds out trouble unit, finds out failure cause, completes fault detection and diagnosis.
As depicted in figs. 1 and 2, this method is suitable for liquid-propellant rocket engine fault detection and diagnosis.Liquid rocket starts
Machine is made of components such as thrust chamber, gas generator, turbine pump, propellant feed system, valve and adjusting components, engine
System is divided into engine level, subsystem irrespective of size and component-level etc. by level.Wherein subsystem irrespective of size includes thrust chamber system, turbine pump system
System, pipe-line system and gasifier system.Subsystem can further be sub-divided into component-level, and thrust chamber system can be subdivided into spray
Pipe, combustion chamber, ejector filler head etc.；Turbine pumping system can be further divided into fueled turbine and petrolift, oxidant turbine and
Oxidant pump；Pipeline subsystem can be further divided into liquid line, gas piping, throttle valve, flow regulator, band valve pipe
Road etc..Due to each similar component of engine mathematical form having the same, provided in modeling with modular form, for not
Same engine, calling module can be analyzed.
Referring to Fig. 3, the following detailed description of it is provided by the invention it is a kind of based on mathematical model when fixed information liquid rocket
Fault Diagnosis of Engine, comprising the following steps:
S1: it is directed to liquid-propellant rocket engine, establishes the mathematical model of its each main building block.
S2: the mathematical model based on each building block of liquid-propellant rocket engine engine, constructing can in each mathematical model
Characterize that the component is normal or the when constant coefficient of malfunction；
Different liquid-propellant rocket engines has many similar main building blocks, including pump, turbine, heating power component,
Liquid line etc..Wherein pump includes oxidant pump, petrolift；Turbine includes fueled turbine, oxidant turbine；Heating power component includes
Gas generator, combustion chamber and gas conduct pipe；Liquid line includes propellant energy properties pipeline etc..
Similar component has many differences in detail, but general mathematical form having the same, thus in modeling with
Modular form provides, and for different liquids rocket engine, the component models for calling it to have can be analyzed.Below
The mathematical model of main building block is established, and constructs the when constant coefficient for characterizing the component.
(1) model, the various pumps being adapted in liquid-propellant rocket engine, such as oxidant pump and petrolift are pumped.
The parameter for characterizing the main performance of pump has flow, lift, revolving speed, power and efficiency.
The lift of pump: the propellant of per unit quality is known as the lift pumped by the value added of its energy after pump.
Wherein, Δ P is the lift of pump, Ppe、PpiRespectively indicate the outlet and inlet pressure of pump, npFor the revolving speed of pump, qpFor
The flow of pump, μp1、μp2、μp3The empirical coefficient of pump lift is respectively indicated, is known parameters, by producer's unit of production pump in life
The empirical parameter of the batch products is determined after producing by the methods of test.
Constant coefficient when so-called, herein means under normal operation, which does not change over time, this when constant coefficient begin
A corresponding constant or a section eventually, when system jam or deviation nominal situation, which will deviate from the constant
Or section.
By analysis, the when constant coefficient of building characterization pump work state are as follows:
Oxidant pump is identical as petrolift.
(2) gas turbine model
Gas turbine model is constructed below.
Gas turbine power equation:
The power of turbine is by the power decision needed for pumping.
Turbine efficiency equation:
Wherein, b1, b2, b3Be known parameters for empirical coefficient, by production gas turbine producer's unit after manufacturing
The empirical parameter of the batch products is determined by the methods of test.
Gas turbine flow equation:
Wherein, k, R, T are respectively the adiabatic exponent, gas constant, temperature of combustion gas；qtRepresent the combustion gas for flowing through gas turbine
Flow, Pt0For gas turbine entrance gaseous-pressure, PteFor gas turbine outlet gas pressure, PtiFor gas turbine stator and turn
Gaseous-pressure between son, θ are reaction degree, and μ is the discharge coefficient of gas turbine nozzle；AtFor the area of gas turbine nozzle.
Gas turbine theory jet velocity:
Gas turbine power equilibrium equation:
Wherein N is gas turbine power；∑NpIndicate that the sum of the pump power driven by gas turbine, J indicate gas turbine
The rotary inertia of pump rotor, n are gas turbine revolving speed.
By analysis, the when constant coefficient of building characterization gas turbine operation state are as follows:
Oxidant turbine and fueled turbine belong to gas turbine.The gas turbine model of above-mentioned building and characterization combustion gas
The when constant coefficient of turbo operating state is suitable for oxidant turbine and fueled turbine
(3) heating power component model
Heating power component includes gas generator, combustion chamber and gas conduct pipe.
Mass-conservation equation in heating power component:
Combustion gas density change calculating formula in heating power component:
The change rate of combustion gas mixing ratio in heating power component:
Wherein, qoRepresent oxidizer flow rate, qfRepresent fuel flow rate.
Fuel gases calorific value carries out difference calculating according to mixing ratio:
RT=RT (r)
Wherein, T (r) indicates that T is the function of combustion gas mixing ratio r, as combustion gas mixing ratio r changes.Known to the function is used as
Function provides, and the producer that the function of the variation generally produces the heating power component rule of thumb obtains with fitting experimental data.
According to The Ideal-Gas Equation
PV=mgRT
Derivation processing is carried out, can be obtained
And then it can analyze rate of discharge equation
Wherein, mg, ρ, V, P and r be respectively combustion gas quality, density, volume, pressure and mixing ratio in heating power component；qig、
qloAnd qlfRespectively flow into combustion gas quality flow, liquid oxidizer mass flow and the liquid fuel mass flow of heating power component；
qegFor the rate of discharge of heating power component；ζ is the flow of the throat (i.e. the smallest position in its cross section of heating power component) of heating power component
Coefficient；A is the throat opening area of heating power component.
The when constant coefficient of building characterization heating power component operation state in the present invention are as follows:
The heating power component model of above-mentioned building and the when constant coefficient of characterization heating power component operation state are suitable for combustion gas
Generator, combustion chamber and gas conduct pipe.
(4) liquid line model
The flow equation of liquid propellant such as formula in liquid line:
The continuity equation of propellant constituent element such as formula in liquid line:
Wherein α, ξ and L are respectively the inertia flow resistance coefficient of the flow resistance coefficient of liquid line, fluid capacitance coefficient and liquid；qli、
Pli、qleAnd PelRespectively indicate the entrance of liquid line, the mass flow of outlet and pressure.VlFor liquid line body
Product；A indicates the velocity of sound in liquid line in liquid.
The when constant coefficient of building characterization liquid line working condition are as follows:
Wherein, PleAnd PliThe respectively outlet and inlet pressure of pipeline, qlFor piping flow.
The liquid line model of above-mentioned building and the when constant coefficient of characterization liquid line working condition are suitable for all
Propellant energy properties pipeline, including band valve pipeline.
S3: the changing rule that the when constant coefficient of each unit status is influenced by engine behavior, and root are analyzed and characterized
The threshold value of constant coefficient when defining each according to the changing rule；
For S3, sample database should be first established, the work shape of more liquid-propellant rocket engines of the model in acquisition a period of time
The status data of each component under state, according to collected status data, when calculating each component of the model liquid-propellant rocket engine not
Variable coefficient, statistics obtain the variation that the when constant coefficient of each unit status of liquid-propellant rocket engine is influenced by engine behavior
Rule, and when defining each according to the changing rule constant coefficient threshold value.
Sample data volume in sample database is more, finally counts the obtained model liquid-propellant rocket engine its each component shape
The changing rule that the when constant coefficient of state is influenced by engine behavior will be more accurate.
In engine work, when constant coefficient corresponding one of each unit status is worth or a section；
When engine, which is in different malfunction or fault degree, to become larger or become smaller, the when constant coefficient meeting phase of each unit status
That answers changes and deviates normal value or normal interval, these changing rules i.e. present invention is obtained each by statistical method
The changing rule that the when constant coefficient of its each unit status of liquid-propellant rocket engine is influenced by engine behavior.According to statistics
The method that obtained above-mentioned changing rule defines threshold value, including the commonly numerical characteristics such as expectation, variance or point in mathematical statistics
The various estimation methods such as estimation, interval estimation.
S4: for liquid-propellant rocket engine to be detected, acquiring the status data of each component under its working condition, according to adopting
When the status data collected calculates each component constant coefficient and by itself and in S3 determine threshold value compare, carry out engine
Fault detection and diagnosis.If institute sometimes constant coefficient all in threshold range, judging that engine is normal；If there is characterization
When constant coefficient continuous w times of some unit status exceeds threshold value, then it is assumed that the engine component malfunction, to realize hair
Motivation fault detection and diagnosis.Wherein w be it is pre-set be greater than 1 integer, carried out with specific reference to actual conditions and experience
Setting, generally 3 times.
It is illustrated below with reference to certain cold row's cavitating venturi fault detection and diagnosis of type liquid-propellant rocket engine fuel.
According to each component composition of engine system, constant coefficient when characterizing each component is constructed by the method for the present invention, and analyze
Its changing rule.Its threshold value is defined, then carries out fault detection and diagnosis.
Fig. 4 gives fault detection and diagnosis result.Figure 4, it is seen that the cold steam discharge erosion tubulose state of characterization fuel
When constant coefficient 430s or so exceed threshold value, and it is other when constant coefficient do not vary widely, therefore can detecte with
The cold row's cavitating venturi of fuel is diagnosed to be to break down.
The foregoing is merely a preferred embodiment of the present invention, are not intended to restrict the invention, for this field
For technical staff, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any
Modification, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (8)
1. it is a kind of based on mathematical model when fixed information Liquid Propellant Rocket Engine Fault Diagnosis method, it is characterised in that: including
Following steps:
S1: it is directed to liquid-propellant rocket engine, establishes the mathematical model of its each main building block；
S2: the mathematical model based on each building block of liquid-propellant rocket engine, the component can be characterized by constructing in each mathematical model
Normal or malfunction when constant coefficient；
S3: it is analyzed and characterized the changing rule that the when constant coefficient of each unit status is influenced by engine behavior, and according to institute
State the threshold value of constant coefficient when changing rule defines each；Constant coefficient refers to when liquid-propellant rocket engine normal operation when described
Under, the when constant coefficient for characterizing each unit status does not change over time, and the when constant coefficient for characterizing each unit status corresponds to always
One constant or a section characterize each unit status when liquid-propellant rocket engine breaks down or deviates nominal situation
When constant coefficient will deviate from the constant or section；
S4: for liquid-propellant rocket engine to be detected, acquiring the status data of each component under its working condition, according to collecting
Status data constant coefficient and itself and the threshold value that determines in S3 are compared when calculating each component, carry out engine failure
Detection and diagnosis；If institute sometimes constant coefficient all in threshold range, judging that engine is normal；If there is characterize some
When constant coefficient continuous w times of unit status exceeds threshold value, then it is assumed that the engine component malfunction, to realize engine
Fault detection and diagnosis.
2. it is according to claim 1 based on mathematical model when fixed information Liquid Propellant Rocket Engine Fault Diagnosis method,
It is characterized by:
Its main building block of liquid-propellant rocket engine includes pump, gas turbine, heating power component and liquid line；Wherein pump includes
Oxidant pump, petrolift；Gas turbine includes fueled turbine, oxidant turbine；Heating power component includes gas generator, combustion chamber
And gas conduct pipe；Liquid line includes propellant energy properties pipeline；
In S1, its corresponding number is constructed respectively for the pump of liquid-propellant rocket engine, gas turbine, heating power component and liquid line
Learn model.
3. it is according to claim 2 based on mathematical model when fixed information Liquid Propellant Rocket Engine Fault Diagnosis method,
It is characterized by:
In S1, for liquid-propellant rocket engine pump construct its corresponding mathematical model for pump model, it is as follows:
Wherein, Δ P is the lift of pump, Ppe、PpiRespectively indicate the outlet and inlet pressure of pump, npFor the revolving speed of pump, qpFor pump
Flow, μp1、μp2、μp3Respectively indicate the empirical coefficient of pump lift；
In S1, for liquid-propellant rocket engine gas turbine construct its corresponding mathematical model be gas turbine model, it is as follows:
Gas turbine power equation:
Wherein turbine efficiency η:
Wherein, n is gas turbine revolving speed, b1, b2, b3For empirical coefficient；
Gas turbine flow qt:
Wherein, k, R, T are respectively the adiabatic exponent, gas constant, temperature of combustion gas；qtThe gas flow for flowing through gas turbine is represented,
Pt0For gas turbine entrance gaseous-pressure, PteFor gas turbine outlet gas pressure, PtiBetween gas turbine stator and rotor
Gaseous-pressure, θ are reaction degree, and μ is the discharge coefficient of gas turbine nozzle；AtFor the area of gas turbine nozzle；
Gas turbine theory jet velocity Ve:
Gas turbine power equilibrium equation:
Wherein N is gas turbine power；∑NpIndicate that the sum of the pump power driven by gas turbine, J indicate gas turbine pump rotor
Rotary inertia；
It is heating power component model for its corresponding mathematical model of the heating power component construction of liquid-propellant rocket engine in S1, as follows:
Mass-conservation equation in heating power component:
Combustion gas density change calculating formula in heating power component:
The change rate of combustion gas mixing ratio in heating power component:
Wherein, qoRepresent oxidizer flow rate, qfRepresent fuel flow rate；
Fuel gases calorific value carries out difference calculating according to mixing ratio:
RT=RT (r)
Wherein, T (r) indicates that T is the function of combustion gas mixing ratio r, as combustion gas mixing ratio r changes；
According to The Ideal-Gas Equation
PV=mgRT
Derivation processing is carried out, can be obtained
And then it can analyze rate of discharge equation
Wherein, mg, ρ, V, P and r be respectively combustion gas quality, density, volume, pressure and mixing ratio in heating power component；qig、qloWith
qlfRespectively flow into combustion gas quality flow, liquid oxidizer mass flow and the liquid fuel mass flow of heating power component；qegFor
The rate of discharge of heating power component；ζ is the discharge coefficient of the throat of heating power component；A is the throat opening area of heating power component；
In S1, for liquid-propellant rocket engine liquid line construct its corresponding mathematical model be liquid line model, it is as follows:
The flow equation of liquid propellant such as formula in liquid line:
The continuity equation of propellant constituent element such as formula in liquid line:
Wherein α, ξ and L are respectively the inertia flow resistance coefficient of the flow resistance coefficient of liquid line, fluid capacitance coefficient and liquid；qli、Pli、
qleAnd PelRespectively indicate the entrance of liquid line, the mass flow of outlet and pressure；VlFor liquid line volume；a
Indicate the velocity of sound in liquid line in liquid.
4. it is according to claim 3 based on mathematical model when fixed information Liquid Propellant Rocket Engine Fault Diagnosis method,
It is characterized by: in S2, the when constant coefficient of the characterization pump work state of building are as follows:
In S2, the when constant coefficient of the characterization gas turbine operation state of building are as follows:
In S2, the when constant coefficient of the characterization heating power component operation state of building are as follows:
In S2, the when constant coefficient of the characterization liquid line working condition of building are as follows:
Wherein, PleAnd PliThe respectively outlet and inlet pressure of liquid line, qlFor piping flow.
5. it is according to claim 4 based on mathematical model when fixed information Liquid Propellant Rocket Engine Fault Diagnosis method,
It is characterized by: first establishing sample database in S3, the work shape of more liquid-propellant rocket engines of same model in a period of time is acquired
The status data of each component under state, according to collected status data, when calculating each component of the model liquid-propellant rocket engine not
Variable coefficient, statistics obtain the variation that the when constant coefficient of each unit status of liquid-propellant rocket engine is influenced by engine behavior
Rule, and when defining each according to the changing rule constant coefficient threshold value.
6. it is according to claim 5 based on mathematical model when fixed information Liquid Propellant Rocket Engine Fault Diagnosis method,
It is characterized by: in S3, it is more for the sample data volume in sample database, it finally counts the obtained model liquid rocket and starts
The changing rule that the when constant coefficient of each unit status of machine is influenced by engine behavior will be more accurate；
In engine work, when constant coefficient corresponding one of each unit status is worth or a section；Work as hair
When motivation is in different malfunction or fault degree and becomes larger or become smaller, each unit status when constant coefficient can be corresponding
It changes and deviates normal value or normal interval, these count obtained each liquid-propellant rocket engine its each unit status
When the changing rule that is influenced by engine behavior of constant coefficient.
7. it is according to claim 1 based on mathematical model when fixed information Liquid Propellant Rocket Engine Fault Diagnosis method,
It is characterized by: in S4, w be it is pre-set be greater than 1 integer.
8. it is according to claim 7 based on mathematical model when fixed information Liquid Propellant Rocket Engine Fault Diagnosis method,
It is characterized by: w is set as 3 in S4.
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