CN111654227A - Electric drive control propellant supply system of variable-thrust liquid engine - Google Patents
Electric drive control propellant supply system of variable-thrust liquid engine Download PDFInfo
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- CN111654227A CN111654227A CN202010641634.0A CN202010641634A CN111654227A CN 111654227 A CN111654227 A CN 111654227A CN 202010641634 A CN202010641634 A CN 202010641634A CN 111654227 A CN111654227 A CN 111654227A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
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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
- F02K9/42—Rocket-engine plants, i.e. plants carrying both fuel and oxidant therefor; Control thereof using liquid or gaseous propellants
- F02K9/44—Feeding propellants
- F02K9/46—Feeding propellants using pumps
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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
- F02K9/42—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
- F02K9/563—Control of propellant feed pumps
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/04—Arrangements for controlling or regulating the speed or torque of more than one motor
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- Engineering & Computer Science (AREA)
- Power Engineering (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 disclosure provides an electrically controlled propellant supply system for a variable thrust liquid engine, comprising: the control terminal is used for controlling the power on/off, the rotating speeds of the fuel pump motor and the oxidant pump motor and the opening and closing of various valves of the engine; a fuel pump motor controller for adjusting the fuel pump motor speed; an oxidizer pump motor controller for adjusting the rotational speed of the oxidizer pump motor; a fuel pump motor for driving the fuel pump; an oxidizer pump motor for driving the oxidizer pump; a fuel pump for delivering fuel to the thrust chamber; an oxidant pump for delivering oxidant to the thrust chamber; and the direct current power supply is used for supplying power for the operation of the fuel pump motor controller and the oxidant pump motor controller. The mode of this public opening electric drive accuse motor replaces original mechanical turbine, utilizes control terminal control fuel pump motor and oxidant pump motor to start repeatedly and suspend, realizes liquid engine repeated start and realizes the purpose of accurate regulation of thrust, strengthens its practicality in retrieving multiplexing field greatly.
Description
Technical Field
The disclosure relates to the technical field of liquid engines, in particular to an electric drive control propellant supply system of a variable-thrust liquid engine.
Background
The liquid propellant rocket engine is called liquid rocket engine for short, and is generally composed of a thrust chamber, a propellant supply system, a valve, a regulator and an engine assembly element. Among these, the propellant supply system is a critical element which functions to deliver liquid propellant from a reservoir to a propellant chamber on demand, and is generally classified into two types, squeeze and pump types. The extrusion type supply system is characterized in that inert gas (nitrogen, helium and the like) or other gas sources of a high-pressure gas bottle are introduced into a propellant storage box through a pressure reducer, and the propellant in the storage box is extruded to a thrust chamber. The pump type supply system is a system for pumping propellant in a storage tank to a thrust chamber by using a turbo pump, and generally comprises a turbo pump, a gas generator, a powder starter and the like. A turbo pump is a combination of a turbine and a propellant pump, which also includes bearings, seals and gears. Fuel is a substance that combusts in oxygen, oxidant is the source of oxygen, and propellant is the mixture of oxidant and fuel, the combustion of which provides propulsion. The oxidizer pump and the fuel pump are driven by a turbine (the turbine is coaxial with the pump), and the oxidizer pump and the fuel pump can be driven by the same turbine or can be driven by two turbines respectively. For high thrust liquid engines, the pump-type propulsion mode is the predominant direction.
In order to prevent cavitation in the pump during operation, the propellant tank must be pressurized to increase the inlet pressure of the pump, and an inducer or booster pump may be placed in front of the pump to increase the anti-cavitation capability of the pump. The working fluid of the turbine is provided by a gas generator or other gas sources, and when the liquid engine is started, the gas generated by the gunpowder starter is used for driving the turbine, and the turbine can also be started by other modes, such as pressurized gas, liquid propellant starting box or storage tank pressure head starting and the like.
Turbo pumps are often known as the heart of liquid engines, which provide the engine with a continuous supply of propellant at speeds of up to 60000rpm, where the temperature of the oxidizer can reach as low as-253 ℃. The turbopump has the working medium characteristics of large flow, high pressure rise and high rotating speed, and under the severe working condition, the structural design of the turbopump linkage device is extremely complex, so that great difficulty is brought to the design and the use of the turbopump, and the traditional turbopump of the liquid engine has a very high technical threshold.
The liquid engine changes the flow of the propellant entering the thrust chamber by adjusting the rotating speed of the turbine pump, thereby achieving the purpose of adjusting the thrust. However, the traditional liquid engine drives the turbine by the gas generated by the disposable powder starter, and if the gas is repeatedly started for many times, a plurality of powder starters need to be installed, so that the reliability of the system is greatly reduced.
Disclosure of Invention
In order to solve at least one of the technical problems, the present disclosure provides an electric control propellant supply system for a variable thrust liquid engine, which realizes that the rotation speed of a motor is adjusted by using an electric signal, and the motor drives a propellant pump to rotate at a high speed, so as to replace the original control mode of driving the propellant pump through a turbine.
In order to achieve the purpose, the following technical scheme is adopted in the disclosure:
a motor controller comprising:
the input end of the three-phase H-bridge type driving circuit is connected with the motor control circuit and the direct-current power supply, the output end of the three-phase H-bridge type driving circuit is connected with the motor and is used for converting the direct-current power supply into a three-phase alternating-current power supply and adjusting the rotation of the motor according to a control signal sent by the motor control circuit;
and the input end of the motor control circuit is connected with the motor, the output end of the motor control circuit is connected with the three-phase H-bridge type driving circuit, and the motor control circuit is used for detecting the position, the rotating speed, the phase current, the phase voltage, the temperature and the instruction signal of the motor, processing the signals through a core control algorithm and respectively outputting the control signals to the three-phase H-bridge type driving circuit and the control terminal.
According to at least one embodiment of the present disclosure, the three-phase H-bridge driving circuit includes:
the main power circuit comprises an intelligent power module and a peripheral circuit thereof, wherein the input end of the main power circuit is respectively connected with a direct-current power supply and a hardware protection driving signal conditioning circuit, and the output end of the main power circuit is respectively connected with a motor state signal detection feedback circuit, a hardware protection driving signal conditioning circuit and a filter circuit and is used for converting the direct-current power supply into three-phase alternating-current power to be output;
the output end of the system auxiliary power supply circuit is respectively connected with the main power circuit, the motor state signal detection feedback circuit and the hardware protection driving signal conditioning circuit and is used for providing working voltage for each circuit;
the input end of the motor state signal detection feedback circuit is connected with the main power circuit, and the output end of the motor state signal detection feedback circuit is connected with the motor control circuit and is used for collecting phase current, bus voltage and temperature signals transmitted by the main power circuit and feeding the signals back to the motor control circuit;
the hardware protection driving signal conditioning circuit comprises a hardware protection circuit and a driving signal conditioning circuit; the hardware protection circuit is used for detecting phase current and phase voltage of the motor, comparing and analyzing the phase current and the phase voltage with a set reference level, and switching off signal output of the main power circuit when voltage overvoltage or current overcurrent is detected; the drive signal conditioning circuit is used for carrying out straight-through prevention shaping processing on the drive signal and carrying out analog-to-digital conversion;
and the input end of the filter circuit is connected with the main power circuit, and the output end of the filter circuit is connected with the motor, and the filter circuit is used for filtering the three-phase alternating current and providing the three-phase alternating current for the motor.
According to at least one embodiment of the present disclosure, the motor control circuit includes:
the minimum control system module comprises a DSP chip and a peripheral circuit thereof, and is used for performing core control algorithm processing according to the position, the rotating speed, the phase current, the phase voltage, the temperature and the instruction signal of the motor, and closing the output signal when the abnormal work of the motor is detected;
the input end of the analog signal conditioning circuit is connected with the motor, and the output end of the analog signal conditioning circuit is connected with the minimum control system module and is used for acquiring analog signals of phase current, phase voltage, temperature and control instructions of the motor, and carrying out filtering, amplitude scaling, offset, amplitude limiting and analog-to-digital conversion so as to enable the analog signals to be in line with the signal input range of the DSP chip;
the input end of the rotary transformer signal acquisition circuit is connected with a rotary transformer arranged on the motor, and the output end of the rotary transformer signal acquisition circuit is connected with the minimum control system module and is used for acquiring analog signals of the position and the rotating speed of the motor, and carrying out isolation, filtering, amplitude scaling, offset, amplitude limiting and analog-to-digital conversion so as to enable the analog signals to be in line with the signal input range of the DSP chip;
the bus communication circuit is respectively connected with the minimum control system module and the control terminal through communication interfaces and is used for data transmission between the minimum control system module and the control terminal;
the on-chip parameter storage circuit is connected with the minimum control system module through a data bus and used for modifying and storing control parameters in the motor control circuit on line;
the input end of the DAC output circuit is connected with the minimum control system module, and the output end of the DAC output circuit is connected with the oscilloscope and used for performing digital-to-analog conversion on the motor state data and outputting analog signals to the oscilloscope;
and the state indicating and mode selecting circuit is connected with the minimum control system module and is used for indicating the running working state of each circuit through a state indicating lamp, selecting the type of an internal running program through a dial switch and transmitting a control signal to the three-phase H-bridge type driving circuit.
An electrically-controlled propellant supply system for a variable thrust liquid engine, comprising:
the control terminal is respectively connected with the direct-current power supply, the fuel pump motor controller and the oxidant pump motor controller through communication interfaces and is used for controlling the power on-off of the power supply, the rotating speeds of the fuel pump motor and the oxidant pump motor and the opening and closing of various valves of the engine;
the fuel pump motor controller is connected with the fuel pump motor through a three-phase power supply cable and is used for adjusting the rotating speed of the fuel pump motor;
the oxidant pump motor controller is connected with the oxidant pump motor through a three-phase power supply cable and is used for adjusting the rotating speed of the oxidant pump motor;
a fuel pump motor coaxially connected to the fuel pump for driving the fuel pump;
the oxidant pump motor is coaxially connected with the oxidant pump and used for driving the oxidant pump;
a fuel pump for delivering fuel to the thrust chamber;
an oxidant pump for delivering oxidant to the thrust chamber;
and the direct current power supply is respectively connected with the fuel pump motor controller and the oxidant pump motor controller through cables.
According to at least one embodiment of the present disclosure, the electric drive control propellant supply system of the variable thrust liquid engine further comprises a display control device, which is connected with the control terminal through a communication interface, and is used for displaying status data of the fuel pump motor and the oxidizer pump motor.
According to at least one embodiment of the present disclosure, the communication interface employs an RS422 interface.
According to at least one embodiment of the present disclosure, the fuel pump motor and the oxidizer pump motor each employ a three-phase permanent magnet synchronous motor.
According to at least one embodiment of the present disclosure, the stator of the oxidizer pump motor is made of a silicon steel sheet material, the winding is made of an enameled copper wire, and the magnet is made of a sintered ru fe — b material.
According to at least one embodiment of the present disclosure, the dc power source is divided into a fuel pump battery and an oxidant pump battery for powering the fuel pump motor controller and the oxidant pump motor controller, respectively.
According to at least one embodiment of the present disclosure, the dc power supply employs a smart lithium battery.
Compared with the prior art, the present disclosure has the advantages that:
according to the variable-thrust liquid engine electric drive control propellant supply system disclosed by the disclosure, the original mechanical turbine is replaced by an electric drive control motor, the control terminal is used for controlling the repeated starting and the pause of the fuel pump motor and the oxidant pump motor, the purposes of repeated starting of the liquid engine and accurate regulation of the thrust are realized, the practicability of the liquid engine in the recycling field is greatly enhanced, the mode that the repeated starting of a plurality of disposable gunpowder starters is adopted in the traditional liquid engine is replaced, the repeated starting cost is reduced, and the dilemma that the original company acquires the high threshold of the gunpowder starter is solved; the fuel pump motor controller and the oxidant pump motor controller automatically adjust the rotating speeds of the fuel pump motor and the oxidant pump motor, so that the operation process of adjusting the variable rotating speeds of the fuel pump and the oxidant pump is simplified, the aim of changing the thrust of the liquid engine is fulfilled, the design complexity of a propellant supply system is reduced, and the design threshold of the engine is reduced.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the disclosure and together with the description serve to explain the principles of the disclosure.
FIG. 1 is a block diagram of an electrically controlled propellant supply system for a variable thrust liquid engine of the present disclosure.
Fig. 2 is a circuit block diagram of a motor controller in the present disclosure.
Fig. 3 is a circuit block diagram of a three-phase H-bridge drive circuit in the present disclosure.
Fig. 4 is a circuit block diagram of a motor control circuit in the present disclosure.
Fig. 5 is a control cycle workflow diagram of an electrically controlled propellant supply system for a variable thrust liquid engine of the present disclosure.
Detailed Description
The present disclosure will be described in further detail with reference to the drawings and embodiments. It is to be understood that the specific embodiments described herein are for purposes of illustration only and are not to be construed as limitations of the present disclosure. It should be further noted that, for the convenience of description, only the portions relevant to the present disclosure are shown in the drawings.
It should be noted that the embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict. The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
As shown in fig. 1 to 4, an electrically-controlled propellant supply system for a variable thrust liquid engine includes:
the control terminal is respectively connected with the direct-current power supply, the fuel pump motor controller and the oxidant pump motor controller through communication interfaces and is used for controlling the power on-off of the power supply, the rotating speeds of the fuel pump motor and the oxidant pump motor and the opening and closing of various valves of the engine;
the fuel pump motor controller is connected with the fuel pump motor through a three-phase power supply cable and is used for adjusting the rotating speed of the fuel pump motor;
the oxidant pump motor controller is connected with the oxidant pump motor through a three-phase power supply cable and used for adjusting the rotating speed of the oxidant pump motor;
a fuel pump motor coaxially connected to the fuel pump for driving the fuel pump;
the oxidant pump motor is coaxially connected with the oxidant pump and used for driving the oxidant pump;
a fuel pump for delivering fuel to the thrust chamber;
an oxidant pump for delivering oxidant to the thrust chamber;
the direct current power supply is respectively connected with the fuel pump motor controller and the oxidant pump motor controller through cables;
and the display control equipment is connected with the control terminal through a communication interface and is used for displaying the state data of the fuel pump motor and the oxidant pump motor.
The control terminal is a high real-time control system which is established on the multi-core DSP microprocessor, supports a simplified instruction set, has the highest main frequency of 500MHz, can efficiently and real-timely command the coordination work of each branch node, and simultaneously issues information such as the rotating speeds of a fuel pump motor and an oxidant pump motor to display control equipment for on-line analysis of test data by testers. The equipment takes the control terminal as a digital communication central node of a star-shaped communication network, the control terminal performs instruction control on other equipment, and the communication bus executes the standard serial RS422 electrical standard.
Before the control terminal commands the fuel pump motor controller and the oxidant pump motor controller to work, a workflow time sequence parameter is bound to the control terminal in advance, after the control terminal receives an effective 'timing system signal' (namely a direct current 28V rising edge lasting for more than 100 ms), the control terminal enters a 10ms control period mode according to the previously bound time sequence parameter, and the work content mainly relates to intelligent lithium battery power supply and outage control, motor rotating speed control and downward transmission to display control equipment, various valve opening and closing control of an engine and initiating explosive ignition control.
The oxidant pump motor controller has the capability of fast speed increasing and decreasing regulation, the starting time of the motor from the rotating speed of 0 to the highest rotating speed is not more than 1s, and the time from the rotating speed of 50 percent to the highest rotating speed is not more than 0.5 s; the regulation time for the motor to reduce from the maximum rotating speed to the rotating speed close to 0 is not more than 1s, and the regulation time for reducing from 50% rotating speed to the rotating speed close to 0 is not more than 0.5 s. The oxidant pump motor controller adopts a three-phase SPWM sine wave control mode, a driving part adopts a three-phase H-bridge type driving structure (an H-bridge type motor driving circuit), and a power device adopts an IGBT element (Insulated Gate Bipolar Transistor).
The communication interface in this embodiment adopts an RS422 interface.
The motor controllers used in the fuel pump motor controller and the oxidizer pump motor controller in the present embodiment include:
the input end of the three-phase H-bridge type driving circuit is connected with the motor control circuit and the direct-current power supply, the output end of the three-phase H-bridge type driving circuit is connected with the motor and is used for converting the direct-current power supply into a three-phase alternating-current power supply and adjusting the rotation of the motor according to a control signal sent by the motor control circuit;
and the input end of the motor control circuit is connected with the motor, the output end of the motor control circuit is connected with the three-phase H-bridge type driving circuit, and the motor control circuit is used for detecting the position, the rotating speed, the phase current, the phase voltage, the temperature and the instruction signal of the motor, processing the signals through a core control algorithm and respectively outputting the control signals to the three-phase H-bridge type driving circuit and the control terminal.
Wherein, three-phase H bridge type drive circuit includes:
the main power circuit comprises an intelligent power module and a peripheral circuit thereof, wherein the input end of the main power circuit is respectively connected with a direct-current power supply and a hardware protection driving signal conditioning circuit, and the output end of the main power circuit is respectively connected with a motor state signal detection feedback circuit, a hardware protection driving signal conditioning circuit and a filter circuit and is used for converting the direct-current power supply into three-phase alternating-current power to be output;
an Intelligent Power Module (IPM) adopts a fifth generation L series IPMPM75RLA120 of Mitsubishi corporation, a Power electronic device, a driving circuit and a fault monitoring protection feedback circuit for realizing electric energy modulation and transformation are integrated in the Intelligent Power Module, and communication and processing between a strong electric signal and a weak electric signal of a system control system are realized through an optical coupler;
the output end of the system auxiliary power supply circuit is respectively connected with the main power circuit, the motor state signal detection feedback circuit and the hardware protection driving signal conditioning circuit and is used for providing working voltage for each circuit;
the input end of the motor state signal detection feedback circuit is connected with the main power circuit, and the output end of the motor state signal detection feedback circuit is connected with the motor control circuit and is used for collecting phase current, bus voltage and temperature signals transmitted by the main power circuit and feeding the signals back to the motor control circuit;
the hardware protection driving signal conditioning circuit comprises a hardware protection circuit and a driving signal conditioning circuit, and takes a CPLD as a core element; the hardware protection circuit is used for detecting phase current and phase voltage of the motor, comparing and analyzing the phase current and the phase voltage with a set reference level, sending a result to the CPLD, and switching off the signal output of the main power circuit when voltage overvoltage or current overcurrent is detected; the driving signal conditioning circuit is used for shaping and controlling driving signals from the control board to the driving board through the CPLD, performing anti-straight-through shaping processing on the driving signals, performing analog-to-digital conversion, realizing different hardware protection functions according to configuration and meeting the aim of quickly blocking and protecting the safety of the three-phase H-bridge type driving circuit;
and the input end of the filter circuit is connected with the main power circuit, and the output end of the filter circuit is connected with the motor, and the filter circuit is used for filtering the three-phase alternating current and providing the three-phase alternating current for the motor.
The motor control circuit includes:
the minimum control system module comprises a DSP (Digital Signal processing) chip and a peripheral circuit thereof, and is used for performing core control algorithm processing according to the position, the rotating speed, the phase current, the phase voltage, the temperature and the instruction Signal of the motor, and closing an output Signal when the abnormal operation of the motor is detected;
the minimum control system module selects a digital processing chip TMS320F28335 special for a TI company motor as a central processing unit, the DSP chip is a high-performance and high-precision 32-bit floating point type processor facing industrial control, and a CPLD Device XC95288XL10TQ144 of xlinx company is also used, so that a peripheral unit of the DSP chip is expanded, the running condition of the DSP chip can be monitored through the CPLD (Complex Programmable Logic Device), and when the DSP chip works abnormally, a PWM output signal is timely turned off, and the running of the motor is not out of control;
the input end of the analog signal conditioning circuit is connected with the motor, and the output end of the analog signal conditioning circuit is connected with the minimum control system module and is used for acquiring analog signals of phase current, phase voltage, temperature and control instructions of the motor, and carrying out filtering, amplitude scaling, offset, amplitude limiting and analog-to-digital conversion so as to enable the analog signals to be in line with the signal input range of the DSP chip;
the input end of the rotary transformer signal acquisition circuit is connected with a rotary transformer arranged on the motor, and the output end of the rotary transformer signal acquisition circuit is connected with the minimum control system module and is used for acquiring analog signals of the position and the rotating speed of the motor, and carrying out isolation, filtering, amplitude scaling, offset, amplitude limiting and analog-to-digital conversion so as to enable the analog signals to be in line with the signal input range of the DSP chip;
the bus communication circuit is respectively connected with the minimum control system module and the control terminal through communication interfaces and is used for data transmission between the minimum control system module and the control terminal;
the bus communication circuit is connected with a target object through a serial RS422 interface, and motor state data are collected and transmitted at a high speed to realize timely detection of the motor state;
the on-chip parameter storage circuit is connected with the minimum control system module through a data bus and used for modifying and storing control parameters in the motor control circuit on line;
the on-chip parameter storage circuit stores important control parameters in the motor control circuit in an EEPROM (electrically erasable programmable read-only memory) through an IIC (inter-integrated circuit) communication protocol, so that the important parameters of the motor are stored in the controller without being burnt by complex Flash after being adjusted and modified, and are reproduced after being electrified again, and the online modification and storage of the parameters of the three-phase H-bridge type driving circuit are realized;
a DAC (Digital to Analog Converter) output circuit, the input end of which is connected with the minimum control system module and the output end of which is connected with an oscilloscope, and the DAC output circuit is used for performing Digital-to-Analog conversion on the motor state data and outputting an Analog signal to the oscilloscope;
the DAC output circuit outputs analog potential by high-frequency PWM with fixed duty ratio through a low-pass filter, and outputs different levels by controlling the duty ratio of the high-frequency PWM, so that the DAC output circuit is used for outputting signals to an oscilloscope to monitor the state, and the debugging process is simplified;
and the state indicating and mode selecting circuit is connected with the minimum control system module and is used for indicating the running working state of each circuit through a state indicating lamp, selecting the type of an internal running program through a dial switch and transmitting a control signal to the three-phase H-bridge type driving circuit so as to realize different requirements on the motor control program in different debugging loops.
For a core control algorithm of the motor control circuit, the core control algorithm is realized through software, and a vector control method based on id 0 is adopted in a main control strategy. The current loop and the speed loop are in a double-closed-loop cascade structure, and meanwhile, the SVPWM algorithm is matched to improve the output thrust of the motor. In the aspect of motor position detection, a sensorless control method is adopted to realize the real-time detection of the position and the speed of the motor; in terms of signal detection, the phase current, the phase voltage, and the power device temperature of the motor are detected.
In addition, the fuel pump motor controller and the oxidizer pump motor controller of the present embodiment may be replaced with other existing motor controllers.
The fuel pump motor and the oxidizer pump motor in this embodiment both employ three-phase permanent magnet synchronous motors.
The maximum rotating speed of the fuel pump motor is 30000rpm, the maximum rotating speed of the oxidant pump motor is 25000rpm, a rotary transformer is installed at the top end of a rotating shaft inside the motor and used for sensing the real-time rotating speed of the motor, and the motor controller acquires the real-time rotating speed of the motor by collecting output information of the rotary transformer. In order to meet the requirements of microstructure and light weight of an engine, two motors have very strict requirements on the aspects of external dimension and weight, and the weight of each motor is not more than 9 kg.
The stator of the oxidizer pump motor in this embodiment is made of JNFE20(0.02mm silicon steel sheet), the winding is made of enameled copper wire, and the magnet is made of N45SH (80-degree sintered ru fe boron). The oxidant pump motor adopts a quenching heat treatment process, and the angular contact bearing of the oxidant pump motor adopts a small-clearance structure.
The fuel pump motor works in a normal temperature state, the oxidant pump works in a liquid oxygen environment (-200 ℃), so that the oxidant pump motor is designed into a small-clearance structure at the beginning of design by selecting a low-temperature-resistant material and a low-temperature-resistant process, and considering the low-temperature cold shrinkage of a material working medium, the angular contact bearing of the motor is designed into a small-clearance structure, so that a large space clearance is formed under a low-temperature condition to correspond to the load change and the temperature change of the bearing of the whole motor, and the oxidant pump motor has excellent low-temperature adaptability.
The dc power supply in this embodiment is divided into a fuel pump battery and an oxidizer pump battery for supplying power to the fuel pump motor controller and the oxidizer pump motor controller, respectively. The direct current power supply adopts an intelligent lithium battery, the intelligent lithium battery is a rechargeable and reusable lithium ion battery and is divided into a fuel pump battery and an oxidant pump battery, the fuel pump battery and the oxidant pump battery are different in rated power, other indexes are kept consistent, and sufficient power electricity is mainly provided for a fuel pump motor controller and an oxidant motor controller. The battery outputs direct current of 300V, and is alternated into three-phase alternating current through the fuel pump motor controller and the oxidant motor controller, and under the condition of outputting current 200A, the battery discharge time is not less than 300 s. The battery can adapt to the instantaneous recharging voltage caused by the sudden speed change of the motor in the working process, and the recharging voltage is designed according to the voltage not more than 450V. The control terminal performs communication control through the RS422 serial interface, and the control content mainly comprises self-checking, communication interface checking, battery balance checking, battery switch control and battery state acquisition.
The working process of the electric driving control propellant supply system of the variable thrust liquid engine comprises the following steps:
as shown in fig. 5, before the control terminal commands the fuel pump motor controller and the oxidizer pump motor controller to work, a workflow sequence parameter is bound to the control terminal in advance; when the control terminal receives an effective 'timing signal' (namely a direct current 28V rising edge lasting for more than 100 ms), the control terminal enters a 10ms control period mode according to the time sequence parameters bound in advance, and the control steps are as follows:
(1) controlling the intelligent lithium battery to supply and cut off power to the fuel pump motor controller, the oxidant pump motor controller, the fuel pump motor and the oxidant pump motor;
(2) controlling the rotating speeds of a fuel pump motor and an oxidant pump motor, and downloading the rotating speed data to display control equipment;
(3) controlling various valves of the liquid engine to open and close;
(4) controlling the ignition of the initiating explosive device.
After the control step is finished, the control terminal judges whether the control period is finished, and if the control period is finished, the control terminal waits for a timing signal; if not, repeating the above control steps.
In the embodiment, the fuel pump motor and the oxidant pump motor are respectively used for driving the fuel pump and the oxidant pump to rotate at high speed, so that the fuel and the oxidant are pumped to the thrust chamber from the storage tank, the control terminal respectively adjusts the rotating speeds of the fuel pump motor and the oxidant pump motor through the fuel pump motor controller and the oxidant pump motor controller, the flow of the propellant entering the thrust chamber is changed, and the purpose of adjusting the thrust is achieved; the control terminal is communicated with the fuel pump motor controller and the oxidant pump motor controller in real time, control instructions are issued to the fuel pump motor controller and the oxidant pump motor controller in time, the fuel pump motor controller and the oxidant pump motor controller respectively feed back the rotating speeds of the fuel pump motor and the oxidant pump motor to the control terminal, and the control terminal gives new control instructions again in the next period after controlling the actual rotating speeds through a PID algorithm; the rotating speeds of the fuel pump motor and the oxidant pump motor can be adjusted on line in real time through the control terminal, the highest rotating speed can reach 30000rpm, the control period is 10ms, and the purpose of changing the thrust of the engine is achieved by adjusting the rotating speeds of the fuel pump motor and the oxidant pump motor.
Compared with the prior art, the electric drive control propellant supply system of the variable thrust liquid engine has the following advantages:
(1) the original mechanical turbine is replaced by an electric drive control motor, the control terminal is used for controlling the repeated starting and stopping of the fuel pump motor and the oxidant pump motor, the purpose of repeated starting of the liquid engine is achieved, the mode that the repeated starting of a plurality of disposable powder starters is adopted in the traditional liquid engine is replaced, the repeated starting cost is reduced, and the dilemma that the initial companies acquire the high threshold of the powder starters is solved;
(2) the fuel pump motor controller and the oxidant pump motor controller are used for rapidly adjusting the rotating speeds of the fuel pump motor and the oxidant pump motor, so that the operation process of variable rotating speed adjustment of the fuel pump and the oxidant pump is simplified, the aim of changing the thrust of the liquid engine is fulfilled, the design complexity of a propellant supply system is reduced, and the design threshold of the liquid engine is reduced.
(3) The power supply and the power off of the intelligent lithium battery are controlled through the control terminal, so that the start and the stop of the fuel pump and the oxidant pump are controlled, and the control method is convenient and fast;
(4) power protection circuits are arranged in the fuel pump motor controller and the oxidant pump motor controller, so that overcurrent damage of the motors due to overlarge load can be avoided;
(5) the oxidant pump motor and the fuel pump motor adopt three-phase permanent magnet synchronous motors, and can meet the requirements of light weight and miniaturization. In addition, the oxidant pump motor is made of low-temperature-resistant materials and is manufactured by a process, the angular contact bearing of the motor is designed to be of a small-play structure, and the angular contact bearing has good low-temperature cold shrinkage performance, so that the oxidant pump motor can work in a low-temperature (below 200 ℃) liquid oxygen environment.
In the description herein, reference to the description of the terms "one embodiment/mode," "some embodiments/modes," "example," "specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment/mode or example is included in at least one embodiment/mode or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to be the same embodiment/mode or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments/modes or examples. Furthermore, the various embodiments/aspects or examples and features of the various embodiments/aspects or examples described in this specification can be combined and combined by one skilled in the art without conflicting therewith.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
It will be understood by those skilled in the art that the foregoing embodiments are merely for clarity of illustration of the disclosure and are not intended to limit the scope of the disclosure. Other variations or modifications may occur to those skilled in the art, based on the foregoing disclosure, and are still within the scope of the present disclosure.
Claims (10)
1. A motor controller, comprising:
the input end of the three-phase H-bridge type driving circuit is connected with the motor control circuit and the direct-current power supply, the output end of the three-phase H-bridge type driving circuit is connected with the motor and is used for converting the direct-current power supply into a three-phase alternating-current power supply and adjusting the rotation of the motor according to a control signal sent by the motor control circuit;
and the input end of the motor control circuit is connected with the motor, the output end of the motor control circuit is connected with the three-phase H-bridge type driving circuit, and the motor control circuit is used for detecting the position, the rotating speed, the phase current, the phase voltage, the temperature and the instruction signal of the motor, processing the signals through a core control algorithm and respectively outputting the control signals to the three-phase H-bridge type driving circuit and the control terminal.
2. The motor controller of claim 1 wherein said three-phase H-bridge drive circuit comprises:
the main power circuit comprises an intelligent power module and a peripheral circuit thereof, wherein the input end of the main power circuit is respectively connected with a direct-current power supply and a hardware protection driving signal conditioning circuit, and the output end of the main power circuit is respectively connected with a motor state signal detection feedback circuit, a hardware protection driving signal conditioning circuit and a filter circuit and is used for converting the direct-current power supply into three-phase alternating-current power to be output;
the output end of the system auxiliary power supply circuit is respectively connected with the main power circuit, the motor state signal detection feedback circuit and the hardware protection driving signal conditioning circuit and is used for providing working voltage for each circuit;
the input end of the motor state signal detection feedback circuit is connected with the main power circuit, and the output end of the motor state signal detection feedback circuit is connected with the motor control circuit and is used for collecting phase current, bus voltage and temperature signals transmitted by the main power circuit and feeding the signals back to the motor control circuit;
the hardware protection driving signal conditioning circuit comprises a hardware protection circuit and a driving signal conditioning circuit; the hardware protection circuit is used for detecting phase current and phase voltage of the motor, comparing and analyzing the phase current and the phase voltage with a set reference level, and switching off signal output of the main power circuit when voltage overvoltage or current overcurrent is detected; the drive signal conditioning circuit is used for carrying out straight-through prevention shaping processing on the drive signal and carrying out analog-to-digital conversion;
and the input end of the filter circuit is connected with the main power circuit, and the output end of the filter circuit is connected with the motor, and the filter circuit is used for filtering the three-phase alternating current and providing the three-phase alternating current for the motor.
3. The motor controller of claim 1, wherein the motor control circuit comprises:
the minimum control system module comprises a DSP chip and a peripheral circuit thereof, and is used for performing core control algorithm processing according to the position, the rotating speed, the phase current, the phase voltage, the temperature and the instruction signal of the motor, and closing the output signal when the abnormal work of the motor is detected;
the input end of the analog signal conditioning circuit is connected with the motor, and the output end of the analog signal conditioning circuit is connected with the minimum control system module and is used for acquiring analog signals of phase current, phase voltage, temperature and control instructions of the motor, and carrying out filtering, amplitude scaling, offset, amplitude limiting and analog-to-digital conversion so as to enable the analog signals to be in line with the signal input range of the DSP chip;
the input end of the rotary transformer signal acquisition circuit is connected with a rotary transformer arranged on the motor, and the output end of the rotary transformer signal acquisition circuit is connected with the minimum control system module and is used for acquiring analog signals of the position and the rotating speed of the motor, and carrying out isolation, filtering, amplitude scaling, offset, amplitude limiting and analog-to-digital conversion so as to enable the analog signals to be in line with the signal input range of the DSP chip;
the bus communication circuit is respectively connected with the minimum control system module and the control terminal through communication interfaces and is used for data transmission between the minimum control system module and the control terminal;
the on-chip parameter storage circuit is connected with the minimum control system module through a data bus and used for modifying and storing control parameters in the motor control circuit on line;
the input end of the DAC output circuit is connected with the minimum control system module, and the output end of the DAC output circuit is connected with the oscilloscope and used for performing digital-to-analog conversion on the motor state data and outputting analog signals to the oscilloscope;
and the state indicating and mode selecting circuit is connected with the minimum control system module and is used for indicating the running working state of each circuit through a state indicating lamp, selecting the type of an internal running program through a dial switch and transmitting a control signal to the three-phase H-bridge type driving circuit.
4. An electrically-driven propellant supply system for a variable thrust liquid engine, comprising:
the control terminal is respectively connected with the direct-current power supply, the fuel pump motor controller and the oxidant pump motor controller through communication interfaces and is used for controlling the power on-off of the power supply, the rotating speeds of the fuel pump motor and the oxidant pump motor and the opening and closing of various valves of the engine;
a fuel pump motor controller employing the motor controller as claimed in any one of claims 1 to 3, connected to the fuel pump motor through a three-phase power supply cable, for adjusting the fuel pump motor rotation speed;
an oxidizer pump motor controller, which is connected with the oxidizer pump motor through a three-phase power supply cable and is used for adjusting the rotating speed of the oxidizer pump motor, and adopts the motor controller as claimed in any one of claims 1 to 3;
a fuel pump motor coaxially connected to the fuel pump for driving the fuel pump;
the oxidant pump motor is coaxially connected with the oxidant pump and used for driving the oxidant pump;
a fuel pump for delivering fuel to the thrust chamber;
an oxidant pump for delivering oxidant to the thrust chamber;
and the direct current power supply is respectively connected with the fuel pump motor controller and the oxidant pump motor controller through cables.
5. The electrically-controlled propellant supply system for a variable thrust liquid engine of claim 4 wherein: the fuel pump control device is connected with the control terminal through a communication interface and used for displaying state data of the fuel pump motor and the oxidant pump motor.
6. The electrically-controlled propellant supply system for a variable thrust liquid engine of claim 4 wherein: the communication interface adopts an RS422 interface.
7. The electrically-controlled propellant supply system for a variable thrust liquid engine of claim 4 wherein: the fuel pump motor and the oxidant pump motor both adopt three-phase permanent magnet synchronous motors.
8. The electrically-controlled propellant supply system for a variable thrust liquid engine of claim 4 wherein: the stator of the oxidant pump motor is made of a silicon steel sheet material, the winding is made of an enameled copper wire, and the magnet is made of a sintered Ru-Fe-B material.
9. The electrically-controlled propellant supply system for a variable thrust liquid engine of claim 4 wherein: the direct current power supply is divided into a fuel pump battery and an oxidant pump battery which are respectively used for supplying power to the fuel pump motor controller and the oxidant pump motor controller.
10. The electrically-controlled propellant supply system for a variable thrust liquid engine of claim 4 wherein: the direct current power supply adopts an intelligent lithium battery.
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| CN202010641634.0A CN111654227A (en) | 2020-07-06 | 2020-07-06 | Electric drive control propellant supply system of variable-thrust liquid engine |
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| CN202010641634.0A CN111654227A (en) | 2020-07-06 | 2020-07-06 | Electric drive control propellant supply system of variable-thrust liquid engine |
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