CN109681347A - A kind of liquid-propellant rocket engine thrust adjusting servo-system fault protecting method - Google Patents
A kind of liquid-propellant rocket engine thrust adjusting servo-system fault protecting method Download PDFInfo
- Publication number
- CN109681347A CN109681347A CN201811527847.XA CN201811527847A CN109681347A CN 109681347 A CN109681347 A CN 109681347A CN 201811527847 A CN201811527847 A CN 201811527847A CN 109681347 A CN109681347 A CN 109681347A
- Authority
- CN
- China
- Prior art keywords
- servo
- motor
- fault
- software
- failure
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
- F02K9/42—Rocket-engine plants, i.e. plants carrying both fuel and oxidant therefor; Control thereof using liquid or gaseous propellants
- F02K9/44—Feeding propellants
- F02K9/56—Control
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The present invention relates to a kind of liquid-propellant rocket engine thrusts to adjust servo-system fault protecting method, and this method has formulated the protection philosophy that Operation Process of Liquid Rocket Engine flow adjusts servo-system；It starts in conjunction with engine, turn grade, operating condition adjusting and shutdown different operating stage, determining Preservation tactics and engine operating condition sequential relationship；The concrete methods of realizing of fault diagnosis and every defencive function; by hardware detection and software interpretation combine in the way of; the failure for diagnosing servo-system is divided into 6 failure protection functions, and software is judged automatically by preset Preservation tactics and protection threshold value to be obtained Disposal Measures and drive hardware realization.The present invention adjusts servo mechanism to flow in engine working process and carries out fault diagnosis, safe disposal, is the important means for guaranteeing all-liquid system safety, improves engine on-line checking and trouble diagnosibility.
Description
Technical field
The invention belongs to liquid-propellant rocket engine thrusts to adjust control technology field, be related to a kind of liquid-propellant rocket engine and push away
Power adjusts servo-system fault protecting method.
Background technique
Certain heavy liquid oxygen/kerosene rocket engine dynamical system realizes that engine quickly rises using electromechanical servo control system
It moves, turn grade, the adjusting of a wide range of thrust, pass through servo motor and flow regulator is driven to realize that thrust is adjusted, servo controller conduct
The core measurement and control unit that the control of heavy-duty engine servo mechanism, flow are adjusted, completes the starting of engine, turns grade and shutdown process
Control.After servo controller receives enabling signal instruction, real-time reception is instructed or is being advised by preset control sequential control motor
Reach nominal position, on-line checking motor operation index and state in fixing time, carries out fault diagnosis and system protection, and according to
Different work phases are implemented by distinct principle.What the reliability of control process all directly affected engine working process can
By property, safety.Previous liquid oxygen/kerosene rocket engine mainly uses stepper motor opened loop control, and system is simpler, acquisition
Parameter without participating in closed-loop control, and servo-control system is different from the opened loop control of previous stepper motor, and motor control is adopted
It is controlled with sine wave vector, electric current, speed and position-force control is carried out to permanent-magnet alternating current servo motor by servo controller,
Realize motor quickly, stable regulation, so motor driven, feedback measurement links and servo mechanism (flow regulator, servo
Unit) operating status determine the reliability of function of the engine and the course of work, safety.
Although servo-control system and its control technology at home and abroad quickly grow and have a large amount of mature applications, servo control
System processed still belongs to the first time at home for liquid-propellant rocket engine flow control system, adjusts in engine working process to flow
The important means that servo mechanism carries out fault diagnosis, safe disposal is Guarantee control system and dynamical system safety, it is necessary to send out
Motivation development initial stage carries out parallel.
Summary of the invention
In order to liquid-propellant rocket engine thrust adjust servo-system carry out error protection, guarantee function of the engine and
The reliability of the course of work, safety, the present invention provide a kind of liquid-propellant rocket engine thrust adjusting servo-system error protection
Method.
Technical solution of the invention is as follows:
A kind of liquid-propellant rocket engine thrust adjusting servo-system fault protecting method, is characterized in that, including under
Column step:
1) in rocket engine prestart, thrust adjusts servo-system and powers on, and carries out sensor burn out detection, if detection
To broken string, forbids servo controller operation, forbid motor action, send alarm signal；If not detecting broken string, walked
It is rapid 2)；
It includes servo controller and by motor, retarder, electricity loss brake and sensor that the thrust, which adjusts servo-system,
The servo unit of composition；The sensor includes motor position sensor, unit position sensor and unit limit sensors, institute
It states motor position sensor and subtracts for detecting the rotational angle Position And Velocity of motor, the unit position sensor for detecting
The position of fast device output shaft；The unit limit sensors are for detecting whether servo unit retarder location exceeds operating model
Enclose: the electricity loss brake is for locking motor position；
2) Timing Signal detection is carried out
Preparation stage before engine ignition starting, engine control system send Timing Signal, hair to servo controller
Whether motivation control system detection servo controller receives the state feedback of Timing Signal, if so, carrying out step 3)；If
No, engine control system executes program of stopping in emergency, stops this igniting starting；
3) servo controller starts execution thrust adjusting timing, in thrust adjusting, carries out thrust and adjusts servo-system event
Barrier detection and protection:
3.1) in engine working process, servo-system is adjusted to thrust by some cycles and carries out fault detection, detection
Means are as follows:
3.1.1a the position of reducer output shaft, i.e. servo unit current location) are detected by unit position sensor, are led to
It crosses software and judges whether unit moves to software limit, if it is, software limit failure has occurred；
3.1.1b) detect whether servo unit moves at electric machine spacing by unit limit sensors, if it is, occurring
Hardware limit failure；
3.1.2 motor driven voltage) is acquired by A/D data acquisition channel all the way, whether motor is judged by software
Under-voltage fault occurs, if it is, under-voltage fault has occurred；
3.1.3 the temperature that motor-drive circuit) is acquired by another way A/D data acquisition channel, is judged by software
Whether motor-drive circuit is more than first threshold, and temperature rise is more than a certain range within a certain period of time, if it is, occurring the
A kind of overtemperature failure；If motor-drive circuit is more than first threshold, but temperature rise is not above setting model within a certain period of time
It encloses, then second of overtemperature failure occurs；If motor-drive circuit is more than second threshold, the third overtemperature failure occurs；It is described
Second threshold is greater than first threshold；
3.1.4 motor drive current) is detected by current detection circuit, is by comparing circuit judges motor drive current
No generation overcurrent, if it is, the first over current fault has occurred；
Meanwhile motor drive current is acquired by A/D data acquisition channel all the way, motor driven electricity is judged by software
Whether stream occurs overcurrent, if it is, second of over current fault has occurred；
The threshold value of the comparison circuit is greater than the threshold value of software set；
3.1.5) in the pid control algorithm of servo controller operation that thrust adjusts servo-system, by the anti-of electric current loop
Feedback input carries out threshold test, threshold range is seen if fall out, if it is, overload fault has occurred；
3.2) troubleshooting
Judge whether engine is in primary following operating condition, if so, executing step A)-D)；If it is not, then at engine
In the primary and primary above operating condition, E-G is executed)；
A) forbid the function of being protected to the first over current fault；
B) whether the detected failure of judgement belongs to software limit failure or overload fault, if it is limit switch fault, holds
Row step C1), if it is overload fault, execute step C2；If not being limit switch fault, nor overload fault, then execute
Step D)；
C1 software limit protection) is carried out, alarm signal is sent, does not execute brake application stoping；
C2 overload protection) is carried out, alarm signal is sent, does not execute brake application stoping；
D alarm signal) is sent, brake application stoping is not executed；
E the function of being protected to the first over current fault) is opened；
F) the detected fault type of judgement executes step G1 if it is software limit failure)；If it is overload event
Barrier executes step G2；If it is hardware limit failure, G3 is executed)；If it is under-voltage fault, G4 is executed)；If it is the first
Overtemperature failure executes G4)；If it is second of overtemperature failure, G5 is executed)；If it is the third overtemperature failure, G4 is executed；Such as
Fruit is the first over current fault and second of over current fault, executes G4)；
G1 software limit protection) is carried out, alarm signal is sent, but do not execute brake application stoping, returns to step 3.1)；
G2 overload protection) is carried out, alarm signal is sent, does not execute brake application stoping, return to step 3.1)；
G3) limit sensors triggering limiting detection circuit outputs level signals, the validity of decision level signal, if there is
Effect executes braking shutdown；If executing step 3.1) in vain；
G4 braking shutdown) is executed；
G5) in the pid control algorithm of servo controller operation, limitation IQ electric current loop setting value is in motor driver maximum
Export the 50% of electric current.
Further, in step 3.2) braking shutdown the following steps are included:
H1) whether the detected failure of judgement occurs for the first time, if so, executing step H2), if not, executing step
Rapid H3)；
H2 actuator drive signal) is turned off, driver output is stopped；Brake electricity loss brake power down；In one section of delay
After time, it is again started up actuator drive signal, thrust is executed and adjusts control, Reflector set；
H3 actuator drive signal) is turned off, driver output is stopped；Brake electricity loss brake power down；Send alarm signal
Number.
Further, step C1) and step G1) in software limit protection, it is specific as follows:
When the current motor angle position for detecting thrust adjusting servo-system reaches software limit, then software limitation is electric
Machine maintains current location adjusting, and can not transfinite work.
Further, step 3.1.2) in software judge whether motor occurs the under-voltage protection threshold value of under-voltage fault and be set as
The 60%~65% of motor driven voltage.
Further, step 3.1.3) in first threshold be 120 DEG C, limit of temperature rise be 1s in 3 DEG C of temperature rise；Second threshold
It is 130 DEG C.
Further, step 3.1.4) in software threshold value be motor driver maximum output current 80%.
Further, step 3.1.5) in threshold value be 2 times of Rated motor operating current.
Further, step 1) sensor burn out detection specifically:
Sensor burn out detection is carried out in servo controller power-on self-test process, automatically to motor and unit position sensing
Device line status inspection shows that position sensor is disconnected if detection motor or unit location information consecutive variations, position are not fixed
Line is not connected, and servo unit is forbidden to act at this time, specific implementation are as follows:
After servo controller powers on, the position letter of motor and unit position transformer is read and detected within a certain period of time
Breath, if detecting that position changes twice in the case where motor does not start, and fluctuation range is greater than allowable fluctuation range, then
The route is thought there are failure, and servo unit is forbidden to act and issues rotation change failure alarm signal.
Compared with prior art, the present invention beneficial effect is:
1) liquid-propellant rocket engine thrust provided by the present invention adjusts servo-control system fault protecting method, can send out
The motivation course of work adjusts servo mechanism to flow and carries out fault diagnosis, safe disposal, promotes motor power and adjusts reliability,
To guarantee that all-liquid system is safe and reliable.
2) liquid-propellant rocket engine thrust provided by the present invention adjusts servo-control system fault protecting method, for hair
Motivation working characteristics proposes, by adjusting servo controller software and configuration parameter, can expand and send out applied to different liquids rocket
Motivation thrust, mixing ratio adjusts and other regulating systems, improves rocket engine on-line checking and trouble diagnosibility.
Detailed description of the invention
Fig. 1 liquid-propellant rocket engine engine operating condition adjusts variation schematic diagram.
Fig. 2 liquid-propellant rocket engine working stage defencive function executes flow diagram.
Specific embodiment
The present invention is directed to engine operating characteristics, proposes that a kind of liquid-propellant rocket engine thrust adjusts servo-control system event
Hinder guard method, by engine start, turn grade, operating condition is adjusted and the shutdown different operating stage, it is former to formulate corresponding protection
Then and implementation method, it ensure that engine operation safety, meet rocket control system to engine operating demands.
The technical solution of the invention is as follows: liquid-propellant rocket engine thrust adjusts servo-control system error protection strategy
And implementation method, including following sections content.
One, flow adjusts the formulation of servo-control system error protection principle.
1. defencive function is arranged premised on guaranteeing engine work；2. playing servo unit work energy to greatest extent
Power (such as overload work) guarantees engine work；3. in engine working process, if soft and hardware is detected beyond setting threshold
Value, and failure can not be restored, to protect product, braking is optionally taken, protection sequence is first to start software protection, carry out again firmly
Part protection；4. servo-control system does not take braking safeguard measure below engine primary operating condition；In engine working process
Detect that flow adjusts servo-control system presence and can not repair failure, it is necessary to while taking braking to protect, try to engine
Ride fault diagnosis system sends alarm signal, executes emergency shutdown.
Two, the relationship of Preservation tactics and engine operating condition timing.
Preservation tactics mainly formulate different guarantors from the relationship of engine operating condition timing according to different work phases
Shield strategy.Include:
1, servo-system after the engine is started up, into primary before (t0-t1 period, machine in Fig. 1 below i.e. primary operating condition
Group angle of operation < δ 1), software limit protection and overload protection are only carried out, sends alarm signal, but do not execute brake application stoping；To the greatest extent
System peak work capacity may be played, ensures success rate.
2, engine enters the course of work (t1-t period in Fig. 1) after primary, and servo-control system detects needs
Following strategy is executed when brake application stoping failure in order:
A. actuator drive signal is turned off first, is closed power conversion circuit, is stopped motor work, synchronism output power loss system
Dynamic control signal, makes motor braking band-type brake；B. after brake duration Tb (50ms), trial is again started up motor, if still detecting
To fault-signal, then controls motor and brake again；Engine protects result at this time are as follows: the shutdown of engine emergency failure or thrust
It works normally or keeps in short-term low operating condition to work or work in declared working condition after fuctuation within a narrow range but thrust can not adjust or nothing
Operating condition shutdown drops in method.
Three, the concrete methods of realizing of Fault diagnosing and protecting function.
The specific implementation of Fault diagnosing and protecting function be by hardware detection and software interpretation combine in the way of diagnose
The failure of servo-control system, software judge automatically by preset Preservation tactics and protection threshold value and obtain corresponding Disposal Measures
And hardware realization is driven, servo-control system protection includes position limitation protection, overload protection, under-voltage protection, overcurrent protection, overtemperature guarantor
Shield and sensor burn out detection totally 6 defencive functions.
The step of servo-control system position limitation protection and specific method are, it is first determined control range relationship are as follows: flow tune
Save device adjuster mechanical position limitation > servo motor hardware limit > software limit.Design of Servo Controller double protection, i.e. software
Position limitation protection and hardware limit protect circuit, and when detecting that current motor angle position reaches software limit, then software limits
Motor maintains current location adjusting, and can not transfinite movement；When software limit is not had an effect, motor will exceed software range
It moves at electric machine spacing, triggers limiting detection circuit work and outputs level signals, software detection to the limit signal at this time
Control motor is out of service after effectively and issues alarm signal；When because of hardware detecting circuit failure or servo motor Hall sensor
When failure, when software can not normally detect limit signal, motor can be beyond electricity limit range motion to flow regulator machinery
Spacing place, it will because phenomena such as overcurrent, overtemperature occurs in motor rotation blockage, servo controller will start bus mistake according to detection case
Stream, overheat protection function, wherein software upper and lower limits protection threshold value covers engine highest operating condition down-off adjuster operating angle
Degree and minimum operating condition down-off adjuster angle of operation, are respectively set value are as follows: (transport maximum angle+5) °, (minimum operating angle
Degree -5) °.
The step of servo-control system overload protection and specific method are, in servo controller operation servo motor PID control
In algorithm processed, the setting by the output of der Geschwindigkeitkreis PID as IQ electric current loop is inputted, and is located in advance before participating in control to this input
Reason, if feeding back to the IQ feedback current after the actual measurement phase current conversion of servo controller beyond threshold range, with max-thresholds
Setting as IQ electric current loop inputs, and the given threshold of IQ electric current loop is 2 times of Rated motor operating current, the acquisition of phase current
It is DSP with some cycles (10kHz) while starts multi-channel A/D data acquisition channel, and carry out average mode, smoothly acquires
The electric machine phase current arrived improves acquisition precision.
The step of servo-control system under-voltage protection and specific method are, using motor driven voltage hardware detection and software
Interpretation combination, DSP start A/D data acquisition channel all the way with some cycles (10kHz) and acquire motor driven voltage value,
When monitoring that motor driven voltage is less than given threshold, then brake application stoping safeguard measure is started, it is concurrent to leave the motor off operation
Under-voltage caution signal out, under-voltage protection threshold value are set as the 60%~65% of motor driven voltage.
The step of servo-control system overtemperature prote and specific method are, using drive module temperature hardware detection and software
Interpretation combination, DSP start A/D data acquisition channel all the way with some cycles (10kHz) and acquire driving chip temperature, when
When software detection temperature is more than first threshold (being set as 120 DEG C), temperature rise is more than that (temperature rise is super in 1s for a certain range within a certain period of time
Cross 3 DEG C), then it is out of service to control motor, issues over temperature alarm signal；Otherwise limitation IQ electric current loop setting value is in secure threshold
(being set as phase current full scale 50%)；If constant temperature rises and is more than second threshold (being set as 130 DEG C), brake application stoping is started
Safeguard measure, control motor is out of service, and issues over temperature alarm signal.Temperature detection range: -23 DEG C~127 DEG C (corresponding A/
D inputs 0~3V).
The step of servo-control system sensor burn out detection overtemperature prote and specific method are believed using position transformer
Number hardware detection and software interpretation combination are carried out in servo controller power-on self-test process, and method is on servo controller
Become output signal to motor and unit rotation automatically after electricity to be decoded and acquire, to detect line status, if detection motor or machine
Group location information consecutive variations, position are not fixed, then show position transformer broken string or not connected, forbid servo unit dynamic at this time
Make, specific implementation are as follows: after servo controller powers on, (400ms) reads and detect motor and the change of unit position within a certain period of time
The location information of depressor, detection cycle 20ms, if detect that position changes twice in the case where motor does not start, and
Variation range is greater than allowable fluctuation range, then it is assumed that the route forbids servo unit to act and issue rotation accident barrier there are failure
Alarm signal.
Servo-control system overcurrent protection is divided into hardware protection and software protection, executes in order, common to realize bus mistake
Flow defencive function, protection philosophy be first carry out software protection, execute hardware protection afterwards, and engine start, turn the grade stage close
Close hardware protection function.
Servo-control system bus overcurrent method for protecting software is that DSP starts A/D number all the way with some cycles (10kHz)
Motor drive current conditioning circuit output signal is acquired according to acquisition channel, is used for motor drive current monitoring and threshold decision,
When judge motor drive current be more than threshold value (be set as 40A, be motor rotation blockage current design value 80%) and continue for one timing
Between after (40ms) startup separator shutdown programm is stopped motor operation and simultaneously issues motor drive current alarm signal.Motor driven
Current detection range is 0~+50A.
The hardware protection method of servo-control system bus overcurrent is that design motor drive current detection circuit, comparison are electric
Road and enabled control circuit generate over current fault alarm signal by motor drive current detection circuit and comparison circuit, and one
Divide and be input to DSP D/I interface, carry out police instruction, another part, which generates PWM by NAND gate, to be made to can control signal, is directly controlled
The output state of actuator drive signal processed realizes hardware protection, and it is that 42A (is greater than software that wherein hardware D/I, which protects threshold design,
Threshold value 40A), with software protection Parallel Implementation；The D/O signal control simulation exported by DSP that makes can control of hardware protection is opened
The on-off of pass guarantees whether hardware fault protection logic comes into force.
Claims (8)
1. a kind of liquid-propellant rocket engine thrust adjusts servo-system fault protecting method, characterized in that it comprises the following steps:
1) in rocket engine prestart, thrust adjusts servo-system and powers on, and sensor burn out detection is carried out, if detected disconnected
Line forbids servo controller operation, forbids motor action, sends alarm signal；If not detecting broken string, step is carried out
2)；
The thrust adjusts servo-system and includes servo controller and be made of motor, retarder, electricity loss brake and sensor
Servo unit；The sensor includes motor position sensor, unit position sensor and unit limit sensors, the electricity
Machine position sensor is used to detect the rotational angle Position And Velocity of motor, and the unit position sensor is for detecting retarder
The position of output shaft；The unit limit sensors are for detecting whether servo unit retarder location exceeds operating range: institute
Electricity loss brake is stated for locking to motor position；
2) Timing Signal detection is carried out
Preparation stage before engine ignition starting, engine control system send Timing Signal, engine to servo controller
Whether control system detection servo controller receives the state feedback of Timing Signal, if so, carrying out step 3)；If not,
Engine control system executes program of stopping in emergency, stops this igniting starting；
3) servo controller starts to execute thrust adjusting timing, in thrust adjusting, carries out thrust and adjusts the inspection of servo-system failure
It surveys and protects:
3.1) in engine working process, servo-system is adjusted to thrust by some cycles and carries out fault detection, detection means
It is as follows:
3.1.1a the position of reducer output shaft, i.e. servo unit current location) are detected by unit position sensor, by soft
Part judges whether unit moves to software limit, if it is, software limit failure has occurred；
3.1.1b) detect whether servo unit moves at electric machine spacing by unit limit sensors, if it is, having occurred hard
Part limit switch fault；
3.1.2 motor driven voltage) is acquired by A/D data acquisition channel all the way, judges whether motor occurs by software
Under-voltage fault, if it is, under-voltage fault has occurred；
3.1.3 the temperature that motor-drive circuit) is acquired by another way A/D data acquisition channel, judges motor by software
Whether driving circuit is more than first threshold, and temperature rise is more than a certain range within a certain period of time, if it is, the first occurs
Overtemperature failure；If motor-drive circuit is more than first threshold, but temperature rise is not above setting range within a certain period of time, then
Second of overtemperature failure occurs；If motor-drive circuit is more than second threshold, the third overtemperature failure occurs；Second threshold
Value is greater than first threshold；
3.1.4 motor drive current) is detected by current detection circuit, whether is sent out by comparing circuit judges motor drive current
Raw overcurrent, if it is, the first over current fault has occurred；
Meanwhile motor drive current is acquired by A/D data acquisition channel all the way, judge that motor drive current is by software
No generation overcurrent, if it is, second of over current fault has occurred；
The threshold value of the comparison circuit is greater than the threshold value of software set；
3.1.5) in the pid control algorithm of servo controller operation that thrust adjusts servo-system, the feedback of electric current loop is defeated
Enter to carry out threshold test, see if fall out threshold range, if it is, overload fault has occurred；
3.2) troubleshooting
Judge whether engine is in primary following operating condition, if so, executing step A)-D)；If it is not, then engine is in just
Grade and the primary above operating condition, execute E-G)；
A) forbid the function of being protected to the first over current fault；
B) whether the detected failure of judgement belongs to software limit failure or overload fault, if it is limit switch fault, executes step
Rapid C1), if it is overload fault, execute step C2；If not being limit switch fault, nor overload fault, thens follow the steps
D)；
C1 software limit protection) is carried out, alarm signal is sent, does not execute brake application stoping；
C2 overload protection) is carried out, alarm signal is sent, does not execute brake application stoping；
D alarm signal) is sent, brake application stoping is not executed；
E the function of being protected to the first over current fault) is opened；
F) the detected fault type of judgement executes step G1 if it is software limit failure)；If it is overload fault, hold
Row step G2；If it is hardware limit failure, G3 is executed)；If it is under-voltage fault, G4 is executed)；If it is the event of the first overtemperature
Barrier executes G4)；If it is second of overtemperature failure, G5 is executed)；If it is the third overtemperature failure, G4 is executed；If it is
A kind of over current fault and second of over current fault execute G4)；
G1 software limit protection) is carried out, alarm signal is sent, but do not execute brake application stoping, returns to step 3.1)；
G2 overload protection) is carried out, alarm signal is sent, does not execute brake application stoping, return to step 3.1)；
G3) limit sensors triggering limiting detection circuit outputs level signals, the validity of decision level signal, if effectively,
Execute braking shutdown；If executing step 3.1) in vain；
G4 braking shutdown) is executed；
G5) in the pid control algorithm of servo controller operation, IQ electric current loop setting value is limited in motor driver maximum output
The 50% of electric current.
2. liquid-propellant rocket engine thrust according to claim 1 adjusts servo-system fault protecting method, feature exists
In:
In step 3.2) braking shutdown the following steps are included:
H1) whether the detected failure of judgement occurs for the first time, if so, executing step H2), if not, executing step
H3)；
H2 actuator drive signal) is turned off, driver output is stopped；Brake electricity loss brake power down；In delay a period of time
Afterwards, it is again started up actuator drive signal, thrust is executed and adjusts control, Reflector set；
H3 actuator drive signal) is turned off, driver output is stopped；Brake electricity loss brake power down；Send alarm signal.
3. liquid-propellant rocket engine thrust according to claim 1 adjusts servo-system fault protecting method, feature exists
In:
Step C1) and step G1) in software limit protection, it is specific as follows:
When the current motor angle position for detecting thrust adjusting servo-system reaches software limit, then software limiting motor is tieed up
It holds and is adjusted in current location, can not transfinite work.
4. liquid-propellant rocket engine thrust according to claim 1 adjusts servo-system fault protecting method, feature exists
In:
Step 3.1.2) in software judge whether motor occurs the under-voltage protection threshold value of under-voltage fault and be set as motor driven voltage
60%~65%.
5. liquid-propellant rocket engine thrust according to claim 1 adjusts servo-system fault protecting method, feature exists
In:
Step 3.1.3) in first threshold be 120 DEG C, limit of temperature rise be 1s in 3 DEG C of temperature rise；Second threshold is 130 DEG C.
6. liquid-propellant rocket engine thrust according to claim 1 adjusts servo-system fault protecting method, feature exists
In:
Step 3.1.4) in software threshold value be motor driver maximum output current 80%.
7. liquid-propellant rocket engine thrust according to claim 1 adjusts servo-system fault protecting method, feature exists
In:
Step 3.1.5) in threshold value be 2 times of Rated motor operating current.
8. liquid-propellant rocket engine thrust according to claim 1 adjusts servo-system fault protecting method, feature exists
In:
Step 1) sensor burn out detection specifically:
Sensor burn out detection is carried out in servo controller power-on self-test process, automatically to motor and unit position sensor line
Line state inspection, if detection motor or unit location information consecutive variations, position be not fixed, show position sensor broken string or
It is not connected, forbid servo unit to act at this time, specific implementation are as follows:
After servo controller powers on, the location information of motor and unit position transformer is read and detected within a certain period of time, if
In the case where motor does not start, detect that position changes twice, and fluctuation range is greater than allowable fluctuation range, then it is assumed that should
Route forbids servo unit to act and issues rotation change failure alarm signal there are failure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811527847.XA CN109681347B (en) | 2018-12-13 | 2018-12-13 | Fault protection method for thrust regulation servo system of liquid rocket engine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811527847.XA CN109681347B (en) | 2018-12-13 | 2018-12-13 | Fault protection method for thrust regulation servo system of liquid rocket engine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109681347A true CN109681347A (en) | 2019-04-26 |
| CN109681347B CN109681347B (en) | 2020-03-03 |
Family
ID=66187665
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811527847.XA Active CN109681347B (en) | 2018-12-13 | 2018-12-13 | Fault protection method for thrust regulation servo system of liquid rocket engine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109681347B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110207997A (en) * | 2019-07-24 | 2019-09-06 | 中国人民解放军国防科技大学 | Liquid rocket engine fault detection method based on convolution self-encoder |
| CN110239745A (en) * | 2019-06-13 | 2019-09-17 | 北京深蓝航天科技有限公司 | The multiple-motor parallel connection rocket control device and control method for having power redundant ability |
| CN112555053A (en) * | 2020-11-12 | 2021-03-26 | 蓝箭航天空间科技股份有限公司 | Test time sequence control method and control system for rocket engine |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004076838A (en) * | 2002-08-14 | 2004-03-11 | Mitsubishi Heavy Ind Ltd | Hydraulic actuator device |
| CN102997762A (en) * | 2012-12-17 | 2013-03-27 | 北京航空航天大学 | Rocket-borne monitoring system of solid-liquid dynamic sounding rocket |
| CN103075394A (en) * | 2011-10-26 | 2013-05-01 | 北京精密机电控制设备研究所 | Four-redundancy valve-controlled electro-hydraulic servo system |
| CN103075393A (en) * | 2011-10-26 | 2013-05-01 | 北京精密机电控制设备研究所 | Novel multi-redundancy electromechanical hydrostatic servo mechanism |
| CN103670801A (en) * | 2012-09-07 | 2014-03-26 | 北京精密机电控制设备研究所 | Multi-redundancy pump control servo mechanism for thrust vector control of liquid oxygen kerosene engine |
| CN105370441A (en) * | 2015-10-16 | 2016-03-02 | 北京精密机电控制设备研究所 | Multivariable redundancy numerical control servo system adopting multisource hydrogen energy |
| CN105523197A (en) * | 2014-10-27 | 2016-04-27 | 北京精密机电控制设备研究所 | Triple-redundancy digital servo system for quickly responding to 10kW-grade linear output |
| CN106227195A (en) * | 2016-08-30 | 2016-12-14 | 北京精密机电控制设备研究所 | A kind of fault detect judges compensation triple redundance method of servo-controlling |
| CN108661823A (en) * | 2018-04-28 | 2018-10-16 | 西安航天动力研究所 | Liquid-propellant rocket engine thrust and mixing ratio adjust redundance electromechanical servo system |
-
2018
- 2018-12-13 CN CN201811527847.XA patent/CN109681347B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004076838A (en) * | 2002-08-14 | 2004-03-11 | Mitsubishi Heavy Ind Ltd | Hydraulic actuator device |
| CN103075394A (en) * | 2011-10-26 | 2013-05-01 | 北京精密机电控制设备研究所 | Four-redundancy valve-controlled electro-hydraulic servo system |
| CN103075393A (en) * | 2011-10-26 | 2013-05-01 | 北京精密机电控制设备研究所 | Novel multi-redundancy electromechanical hydrostatic servo mechanism |
| CN103670801A (en) * | 2012-09-07 | 2014-03-26 | 北京精密机电控制设备研究所 | Multi-redundancy pump control servo mechanism for thrust vector control of liquid oxygen kerosene engine |
| CN102997762A (en) * | 2012-12-17 | 2013-03-27 | 北京航空航天大学 | Rocket-borne monitoring system of solid-liquid dynamic sounding rocket |
| CN105523197A (en) * | 2014-10-27 | 2016-04-27 | 北京精密机电控制设备研究所 | Triple-redundancy digital servo system for quickly responding to 10kW-grade linear output |
| CN105370441A (en) * | 2015-10-16 | 2016-03-02 | 北京精密机电控制设备研究所 | Multivariable redundancy numerical control servo system adopting multisource hydrogen energy |
| CN106227195A (en) * | 2016-08-30 | 2016-12-14 | 北京精密机电控制设备研究所 | A kind of fault detect judges compensation triple redundance method of servo-controlling |
| CN108661823A (en) * | 2018-04-28 | 2018-10-16 | 西安航天动力研究所 | Liquid-propellant rocket engine thrust and mixing ratio adjust redundance electromechanical servo system |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110239745A (en) * | 2019-06-13 | 2019-09-17 | 北京深蓝航天科技有限公司 | The multiple-motor parallel connection rocket control device and control method for having power redundant ability |
| CN110207997A (en) * | 2019-07-24 | 2019-09-06 | 中国人民解放军国防科技大学 | Liquid rocket engine fault detection method based on convolution self-encoder |
| CN112555053A (en) * | 2020-11-12 | 2021-03-26 | 蓝箭航天空间科技股份有限公司 | Test time sequence control method and control system for rocket engine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109681347B (en) | 2020-03-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109681347A (en) | A kind of liquid-propellant rocket engine thrust adjusting servo-system fault protecting method | |
| CN106787973B (en) | Drive control device and method for yaw motor of wind generating set | |
| CN109286174B (en) | Control device for gas turbine generator set and power protection method | |
| JP2011036123A (en) | Method and apparatus for identifying load reduction at an early stage, and controlling in precedence | |
| CN112067282A (en) | Method and device for testing full-stroke activity of steam turbine valve | |
| US4953052A (en) | Pole slip protection circuit for paralleled generators | |
| JP7090742B2 (en) | Turbine diagnosis | |
| CN110821579A (en) | Steam turbine-generator safety protection system and method applied to large power plant | |
| CN116181546B (en) | Method for judging sliding accident position of cylindrical valve of water turbine | |
| CN103321826A (en) | Hydraulic generator overspeed protection device and control method thereof | |
| CN112952755B (en) | Electrical braking system and method with pure resistance load for turbine generator set | |
| JP2012500931A (en) | Method and device for controlling a thermal power plant | |
| CN103189641B (en) | The method of wind power plant and the controlled shutdown for wind power plant | |
| US4053786A (en) | Transducer out of range protection for a steam turbine generator system | |
| KR101144308B1 (en) | Reset Method for the Power Load Unbalance function in steam turbines with by-pass system | |
| CN203452972U (en) | Hydraulic generator overspeed protection device | |
| US20210184607A1 (en) | Breaker failure protection using reverse active power and negative reactive power element | |
| JPH0370088B2 (en) | ||
| CN200976559Y (en) | PLC controlled silicon still excitation control mechanism | |
| CN105041397A (en) | Interlock protection device and method of turbine united tripping boiler of CFB boiler generator set | |
| SU1101957A1 (en) | Device for protecting synchronous machine against asynchronous operation | |
| KR20160015310A (en) | Method for testing an overspeed protection mechanism of a single-shaft combined-cycle plant | |
| CN108019559B (en) | A stop protection device for during unusual action of intelligent electric actuator | |
| CN117095841B (en) | Large interlocking verification method for high-temperature gas cooled reactor and steam turbine and generator | |
| SU1171902A1 (en) | Device for protection of generator and electric system against asynchronous operation of synchronous generator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |