CN111734555A - Intelligent adjusting conveying system and method for rocket engine - Google Patents
Intelligent adjusting conveying system and method for rocket engine Download PDFInfo
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- CN111734555A CN111734555A CN202010422048.7A CN202010422048A CN111734555A CN 111734555 A CN111734555 A CN 111734555A CN 202010422048 A CN202010422048 A CN 202010422048A CN 111734555 A CN111734555 A CN 111734555A
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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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- 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
- F02K9/58—Propellant feed valves
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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
- F02K9/60—Constructional parts; Details not otherwise provided for
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02K—JET-PROPULSION PLANTS
- F02K9/00—Rocket-engine plants, i.e. plants carrying both fuel and oxidant therefor; Control thereof
- F02K9/96—Rocket-engine plants, i.e. plants carrying both fuel and oxidant therefor; Control thereof characterised by specially adapted arrangements for testing or measuring
Abstract
The invention provides an intelligent adjusting and conveying system and method of a rocket engine, which comprises the following steps: the flow sensor collects the current pipeline flow value; the pressure sensor collects the current pipeline pressure value; the comparison circuit outputs a voltage signal when the pump is in a static state; when the pump is in a rotating state, comparing the current pipeline flow value with a preset flow value to obtain a first comparison result, and sending first control instruction information to the frequency converter; obtaining an absolute value of a current difference value according to a current pipeline pressure value and a preset pressure value; comparing the absolute value of the current difference value with a preset fine-tuning demarcation value to obtain a second comparison result; the servo motor controls the inclination angle of an oil distribution disc of the pump according to the voltage signal so as to adjust the flow of the pipeline; the frequency converter controls the flow of the pipeline according to the first control instruction information; the controller controls the opening degree of the relief valve or the pilot-operated proportional relief valve according to the second comparison result, thereby providing high accuracy and stability in pressure supply and flow regulation.
Description
Technical Field
The invention relates to the technical field of aerospace, in particular to an intelligent adjusting and conveying system and method for a rocket engine.
Background
Currently, a kerosene conveying system applied to a ground test of a rocket engine generally adopts an extrusion type conveying system, namely high-pressure gas is filled into a kerosene storage box filled with kerosene, and then the kerosene is supplied into a thrust chamber of the rocket engine at a certain pressure and flow.
In pressure supply, the supply pressure range of a squeeze conveyor system is limited by high-pressure gas, i.e., the supply pressure cannot be higher than the pressure of the high-pressure gas, and therefore, the supply pressure of a squeeze conveyor system is generally low. Simultaneously, along with high-pressure gas's continuous consumption, high-pressure gas's pressure constantly reduces, though be provided with gas pressure reducer in the pipeline, pressure behind the gas pressure reducer still can fluctuate along with the reduction of high-pressure gas source's pressure, and extrusion formula conveying system's supply pressure will fluctuate along with gaseous consumption appearance promptly. The squeeze supply system is poor in accuracy and stability of supply pressure adjustment.
In the flow supply, the flow rate of the extrusion delivery system is related to the pressure before the cavitation venturi and the throat area of the cavitation venturi, and because the extrusion supply system has poor accuracy and stability in the adjustment of the supply pressure, the problem of poor accuracy and stability in the adjustment of the flow rate of the extrusion supply system by adjusting the pressure before the cavitation venturi also occurs.
Disclosure of Invention
In view of the above, it is an object of the present invention to provide a system and a method for intelligently adjusting the delivery of rocket motors, thereby providing pressure supply and flow regulation with high accuracy and stability.
In a first aspect, an embodiment of the present invention provides an intelligent regulated conveying system for a rocket engine, where the system includes: the device comprises a flow sensor, a pressure sensor, a comparison circuit, a controller, a frequency converter, a servo motor, a pump, an overflow safety valve and a pilot-operated proportional overflow valve;
the flow sensor, the pressure sensor, the frequency converter, the servo motor and the controller are respectively connected with the comparison circuit, the servo motor is connected with the pump, and the overflow safety valve and the pilot type proportional overflow valve are respectively connected with the controller;
the flow sensor is used for collecting the current pipeline flow value and sending the current pipeline flow value to the comparison circuit;
the pressure sensor is used for collecting the current pipeline pressure value and sending the current pipeline pressure value to the comparison circuit;
the comparison circuit is used for outputting a voltage signal when the pump is in a static state; when the pump is in a rotating state, comparing the current pipeline flow value with a preset flow value to obtain a first comparison result, and sending first control instruction information to the frequency converter according to the first comparison result; obtaining an absolute value of a current difference value according to the current pipeline pressure value and a preset pressure value; comparing the absolute value of the current difference value with a preset fine-tuning demarcation value to obtain a second comparison result, and sending the second comparison result to a controller;
the servo motor is used for controlling the inclination angle of an oil distribution disc of the pump according to the voltage signal so as to adjust the flow of a pipeline;
the frequency converter is used for controlling the flow of the pipeline according to the first control instruction information;
and the controller is used for controlling the opening of the overflow safety valve or the opening of the pilot type proportional overflow valve according to the second comparison result.
Further, the first control instruction information includes frequency reduction instruction information and frequency increase instruction information;
the comparison circuit is used for sending the frequency reduction instruction information to the frequency converter under the condition that the current pipeline flow value is larger than the preset flow value; sending the frequency increasing instruction information to the frequency converter under the condition that the current pipeline flow value is smaller than the preset flow value;
the frequency converter is used for inputting a three-phase power supply and reducing the frequency according to the frequency reduction instruction information; or increasing the frequency according to the frequency increasing instruction information.
Further, the controller comprises a PD controller and a PID controller;
the PD controller is used for controlling the opening of the overflow safety valve under the condition that the absolute value of the current difference value is larger than the preset fine adjustment boundary value;
and the PID controller is used for controlling the opening of the pilot type proportional overflow valve under the condition that the absolute value of the current difference value is less than or equal to the preset fine adjustment boundary value.
Further, the PD controller is configured to obtain a first result according to the current difference and a first scale factor; obtaining a second result according to the current difference, the previous difference and a second scale factor; obtaining a third result according to the first result and the second result; and controlling the opening degree of the overflow safety valve according to the third result.
Further, the PD controller is configured to increase the opening degree of the overflow safety valve when the third result is greater than 0; or, when the third result is less than 0, the opening degree of the overflow safety valve is reduced.
Further, the PID controller is configured to obtain a fourth result according to the accumulated current difference and the third scale factor; obtaining a fifth result according to the first result, the second result and the fourth result; and controlling the opening of the pilot type proportional overflow valve according to the fifth result.
Further, the PID controller is configured to increase the opening degree of the pilot-operated proportional relief valve when the fifth result is greater than 0; alternatively, when the fifth result is less than 0, the opening degree of the pilot type proportional relief valve is decreased.
Further, still include the switching-over valve, when the converter to the motor provides when three phase current, the motor passes through three phase current drives the pump is rotatory, and keeps the switching-over valve is in the low potential state, makes pipeline behind the switching-over valve is in the oil return state.
The device further comprises an electromagnetic valve and a kerosene storage tank, wherein the electromagnetic valve is connected with the reversing valve, and the reversing valve is connected with the kerosene storage tank;
when kerosene is supplied from the kerosene tank to a rocket engine thrust chamber, both the selector valve and the electromagnetic valve are switched to a high potential state.
In a second aspect, an embodiment of the present invention provides an intelligent regulation conveying method for a rocket engine, which is applied to the intelligent regulation conveying system for a rocket engine as described above, and the method includes:
collecting a current pipeline flow value and a current pipeline pressure value;
when the pump is in a static state, outputting a voltage signal, and controlling the inclination angle of an oil distribution disc of the pump according to the voltage signal so as to adjust the flow of a pipeline;
when the pump is in a rotating state, comparing the current pipeline flow value with a preset flow value to obtain a first comparison result, and generating first control instruction information according to the first comparison result;
controlling the flow of the pipeline according to the first control instruction information;
obtaining an absolute value of a current difference value according to the current pipeline pressure value and a preset pressure value;
comparing the absolute value of the current difference value with a preset fine-tuning demarcation value to obtain a second comparison result;
and controlling the opening degree of the overflow safety valve or the opening degree of the pilot type proportional overflow valve according to the second comparison result.
The embodiment of the invention provides an intelligent adjusting and conveying system and method of a rocket engine, which comprises the following steps: the device comprises a flow sensor, a pressure sensor, a comparison circuit, a controller, a frequency converter, a servo motor, a pump, an overflow safety valve and a pilot-operated proportional overflow valve; the flow sensor, the pressure sensor, the frequency converter, the servo motor and the controller are respectively connected with the comparison circuit, the servo motor is connected with the pump, and the overflow safety valve and the pilot-operated proportional overflow valve are respectively connected with the controller; the flow sensor is used for collecting the current pipeline flow value and sending the current pipeline flow value to the comparison circuit; the pressure sensor is used for collecting the current pipeline pressure value and sending the current pipeline pressure value to the comparison circuit; the comparison circuit is used for outputting a voltage signal when the pump is in a static state; when the pump is in a rotating state, comparing the current pipeline flow value with a preset flow value to obtain a first comparison result, and sending first control instruction information to the frequency converter according to the first comparison result; obtaining an absolute value of a current difference value according to a current pipeline pressure value and a preset pressure value; comparing the absolute value of the current difference value with a preset fine-tuning demarcation value to obtain a second comparison result, and sending the second comparison result to the controller; the servo motor is used for controlling the inclination angle of an oil distribution disc of the pump according to the voltage signal so as to adjust the flow of the pipeline; the frequency converter is used for controlling the flow of the pipeline according to the first control instruction information; the controller is used for controlling the opening degree of the overflow safety valve or the opening degree of the pilot type proportional overflow valve according to the second comparison result, so that the pressure supply and the flow regulation have high accuracy and stability.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic diagram of an intelligent regulated rocket engine conveying system according to an embodiment of the present invention;
FIG. 2 is a schematic diagram illustrating a pressure regulation principle of an intelligent regulation conveying system of a rocket engine according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of an intelligent regulated conveying system of a rocket engine according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of an intelligent regulated conveying system of another rocket engine according to a second embodiment of the present invention;
fig. 5 is a flowchart of an intelligent regulation method for conveying a rocket engine according to a third embodiment of the present invention.
Icon:
1-a frequency converter; 2-a pressure sensor; 3-a flow sensor; 4-a comparison circuit; 5-a controller; 51-PD controller; 52-PID controller; 6-overflow safety valve; 7-a pilot-operated proportional relief valve; 8-a servo motor; 9-a pump; 10-an electric motor; 11-kerosene filling inlet; 12-filling hand valve; 13-filling filter; 14-kerosene storage tank; 15-pre-pump filter; 16-pressure gauge; 17-post valve filter; 18-a flow regulating valve; 19-a diverter valve; 20-an electromagnetic valve; 21-a one-way valve; 22-delivery system outlet.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The pressure of the extrusion type conveying system is usually supplied by a gas pressure reducer, and when an electromagnetic valve supplied to a rocket engine thrust chamber is opened, the pressure can fluctuate greatly; the flow rate of the extrusion type conveying system is adjusted through the cavitation venturi, the flow rate is closely related to the pressure before the cavitation venturi, and the flow rate of the extrusion type conveying system is adjusted through adjusting the pressure before the cavitation venturi due to the fact that the accuracy and the stability of the adjustment of the supply pressure of the extrusion type conveying system are poor, and the problem of poor accuracy and stability can also occur when the flow rate of the extrusion type conveying system is adjusted through adjusting the pressure before the cavitation venturi.
For the understanding of the present embodiment, the following detailed description will be given of the embodiment of the present invention.
The first embodiment is as follows:
fig. 1 is a schematic diagram of an intelligent adjusting and conveying system of a rocket engine according to an embodiment of the present invention.
Referring to fig. 1 and 3, the system includes: the device comprises a flow sensor 3, a pressure sensor 2, a comparison circuit 4, a controller 5, a frequency converter 1, a servo motor 8, a pump 9, an overflow safety valve 6, a pilot-operated proportional overflow valve 7 and a motor 10; the frequency converter 1 provides three-phase power for the motor 10, and the motor 10 drives the pump 9 to rotate;
the flow sensor 3, the pressure sensor 2, the frequency converter 1, the servo motor 8, the controller 5, the overflow safety valve 6 and the pilot-operated proportional overflow valve 7 are respectively connected with the comparison circuit 4, the servo motor 8 is connected with the pump 9, and the overflow safety valve 6 and the pilot-operated proportional overflow valve 7 are respectively connected with the controller 5;
the flow sensor 3 is used for collecting the current pipeline flow value and sending the current pipeline flow value to the comparison circuit 4;
the pressure sensor 2 is used for acquiring the current pipeline pressure value and sending the current pipeline pressure value to the comparison circuit 4;
here, the flow sensor 3 and the pressure sensor 2 can detect the current line flow value and the current line pressure value in real time, and a standard voltage of 1-5V is applied to be inputted to the comparison circuit 4.
A comparison circuit 4 for outputting a voltage signal when the pump 9 is in a stationary state; when the pump 9 is in a rotating state, comparing the current pipeline flow value with a preset flow value to obtain a first comparison result, and sending first control instruction information to the frequency converter 1 according to the first comparison result; obtaining an absolute value of a current difference value according to a current pipeline pressure value and a preset pressure value; comparing the absolute value of the current difference value with a preset fine-tuning demarcation value to obtain a second comparison result, and sending the second comparison result to the controller 5;
the servo motor 8 is used for controlling the inclination angle of an oil distribution disc of the pump according to the voltage signal so as to adjust the flow of the pipeline;
the frequency converter 1 is used for controlling the flow of the pipeline according to the first control instruction information;
and the controller 5 is used for controlling the opening of the overflow safety valve 6 or the opening of the pilot-operated proportional overflow valve 7 according to the second comparison result.
Here, the system adopts the combination of the motor 10 and the pump 9, does not need high-pressure gas for extrusion, only needs electric energy, and is safe and convenient.
Further, the first control instruction information includes frequency reduction instruction information and frequency increase instruction information;
the comparison circuit 4 is used for sending frequency reduction instruction information to the frequency converter 1 under the condition that the current pipeline flow value is larger than the preset flow value; under the condition that the current pipeline flow value is smaller than a preset flow value, sending frequency increasing instruction information to the frequency converter 1;
the frequency converter 1 is used for inputting a three-phase power supply and reducing the frequency according to the frequency reduction instruction information; alternatively, the frequency is increased according to the increase frequency instruction information.
Specifically, the flow sensor 3 collects a current pipeline flow value and sends the current pipeline flow value to the comparison circuit 4; at this time, the comparison circuit 4 determines that the pump 9 is in a rotating state after receiving the current pipeline flow value. If the comparison circuit 4 does not receive the current line flow value, it is determined that the pump 9 is in a quiescent state. When the pump 9 is in a stationary state, the comparison circuit 4 outputs a voltage signal to the servo motor 8 according to a set value, and the servo motor 8 rotates by driving an oil distribution pan in the pump 9.
The comparison circuit 4 compares the current pipeline flow value with a preset flow value, and sends frequency reduction instruction information to the frequency converter 1 under the condition that the current pipeline flow value is larger than the preset flow value, and the frequency converter 1 reduces the frequency according to the frequency reduction instruction information to reduce the flow of the pipeline until the error between the acquired current pipeline flow value and the preset flow value is within the precision requirement range; and under the condition that the current pipeline flow value is smaller than the preset flow value, sending frequency increasing instruction information to the frequency converter 1, and increasing the frequency by the frequency converter 1 according to the frequency increasing instruction information to increase the flow of the pipeline until the error between the acquired current pipeline flow value and the preset flow value is within the precision requirement range.
The inverter 1 inputs a three-phase power and supplies the three-phase power to the motor 10, and the frequency of the three-phase power is changed without changing the voltage value of the three-phase power, thereby controlling the rotation speed of the motor 10. Since there is a linear relationship between the rotation speed of the motor 10 and the frequency of the three-phase power supply and there is a positive correlation between the flow rate of the pump 9 and the rotation speed of the motor 10, the frequency of the inverter 1 can be adjusted to control the flow rate of the pump 9.
In summary, the accuracy and stability of the flow rate are controlled by adjusting the oil distribution disc by the servo motor 8 in a static state of the pump 9, adjusting the frequency by the frequency converter 1 in a rotating state, and simultaneously feeding back the current actual flow rate of the pipeline in real time by using closed-loop control.
Further, the controller 5 includes a PD controller 51 and a PID controller 52;
the PD controller 51 is used for controlling the opening of the overflow safety valve 6 under the condition that the absolute value of the current difference value is larger than a preset fine adjustment boundary value;
and the PID controller 52 is used for controlling the opening of the pilot type proportional relief valve 7 under the condition that the absolute value of the current difference value is less than or equal to the preset fine adjustment boundary value.
Further, the PD controller 51 is configured to obtain a first result according to the current difference and the first scale factor; obtaining a second result according to the current difference, the previous difference and a second scale factor; obtaining a third result according to the first result and the second result; the opening degree of the relief valve 6 is controlled according to the third result.
Further, the PD controller 51 is configured to increase the opening degree of the overflow safety valve 6 when the third result is greater than 0; alternatively, when the third result is less than 0, the opening degree of the relief valve 6 is decreased.
Further, the PID controller 52 is configured to obtain a fourth result according to the accumulated current difference and the third scale factor; obtaining a fifth result according to the first result, the second result and the fourth result; and controlling the opening degree of the pilot type proportional relief valve 7 according to the fifth result.
Further, the PID controller 52 is configured to increase the opening degree of the pilot type proportional relief valve 7 when the fifth result is greater than 0; alternatively, when the fifth result is less than 0, the opening degree of the pilot type proportional relief valve 7 is decreased.
Specifically, reference is made to integral-split pressure control as shown in fig. 2. The pressure sensor 2 collects the current pipeline pressure value and sends the current pipeline pressure value to the comparison circuit 4; the comparison circuit 4 obtains an absolute value | e | of a current difference value according to the current pipeline pressure value and a preset pressure value; comparing the absolute value | e | of the current difference value with a preset fine-tuning demarcation value xi to obtain a second comparison result, and sending the second comparison result to the controller 5; the controller 5 includes a PD (Proportional-Derivative) controller 51 and a PID (Proportional-Integral-Derivative) controller 52.
Under the condition that the absolute value of the current difference value is larger than the preset fine adjustment boundary value, a PD control method is adopted, and the method specifically comprises the following steps:
obtaining a first result according to the current difference and the first scale factor, and referring to formula (1):
D1＝Kp*e(k)
wherein D is1As a first result, KpIs the first scale factor, e (k) is the current difference.
Obtaining a second result according to the current difference, the previous difference and the second scale factor, and referring to formula (2):
D2＝Kd*[e(k)-e(k-1)]
wherein D is2As a second result, KdIs the second scale factor, e (k) is the current difference, e (k-1) is the previous oneThe difference value.
Obtaining a third result according to the first result and the second result, and referring to formula (3):
u1＝D1+D2
wherein u is1As a third result, D1As a first result, D2Is the second result.
According to u1And controlling the opening of the overflow safety valve 6. In particular u1Is in linear relation with the action stroke of the overflow safety valve 6, u1The sign of (c) controls the opening degree to increase or decrease. When u is1When the value is positive, the opening of the overflow safety valve 6 is controlled to be increased; when u is1When the value is negative, the opening degree of the overflow safety valve 6 is controlled to be reduced.
Under the condition that the absolute value of the current difference value is less than or equal to the preset fine adjustment boundary value, a PID control method is adopted, and the method specifically comprises the following steps:
obtaining a fourth result according to the accumulated current difference and the third scale factor, referring to formula (4):
wherein D3 is the fourth result, KiIs the third scale factor, e (k) is the current difference, and N is a positive integer.
Obtaining a fifth result according to the first result, the second result and the fourth result, and referring to formula (5):
u2＝D1+D2+D3
wherein u is2As a fifth result, D1As a first result, D2As a second result, D3Is the fifth result.
According to u2Controlling the opening degree of the pilot type proportional relief valve 7 when u2When the opening degree of the pilot type proportional overflow valve 7 is larger than 0, the opening degree of the pilot type proportional overflow valve is increased; or, when u2When the opening degree of the pilot type proportional relief valve 7 is smaller than 0, the opening degree of the pilot type proportional relief valve is reduced.
In conclusion, the overflow safety valve 6 is controlled by adopting a PD control method to roughly adjust the system pressure, so that the system pressure is ensured to be quickly stabilized to a preset fine adjustment boundary value, and overshoot is reduced; the PID control method is adopted to control the fine adjustment system pressure of the pilot type proportional relief valve 7, so that the system can eliminate steady-state errors on the basis of rapidness and reduction of overshoot, and the pressure adjustment precision and stability are improved.
Further, the device also comprises a reversing valve, when the frequency converter 1 provides a three-phase power supply for the motor 10, the motor 10 drives the pump 9 to rotate through the three-phase power supply, and the reversing valve is kept in a low potential state, so that a pipeline behind the reversing valve is in an oil return state.
Further, the device also comprises an electromagnetic valve and a kerosene storage box, wherein the electromagnetic valve is connected with a reversing valve, and the reversing valve is connected with the kerosene storage box;
when kerosene is supplied from a kerosene tank to a rocket engine thrust chamber, both a selector valve and an electromagnetic valve are switched to a high potential state.
The intelligent adjusting and conveying system of the rocket engine provided by the embodiment of the invention is applied to the ground test of the rocket engine. When the pump 9 is in a static state, the servo motor 8 is controlled to adjust the inclination angle of an oil distribution disc of the pump 9 by using a voltage signal output by the comparison circuit 4 so as to adjust the flow; when the pump 9 is in a rotating state, the current pipeline flow value is acquired through the flow sensor 3, the current pipeline flow value is compared with a preset flow value, and the rotating speed of the motor 10 is adjusted according to a first comparison result to adjust the flow, so that the advantage that the flow can be adjusted in a static state and a rotating state is achieved. In the aspect of pressure regulation, a current pipeline pressure value is acquired through the pressure sensor 2, and an absolute value of a current difference value is obtained according to the current pipeline pressure value and a preset pressure value; and comparing the absolute value of the current difference value with a preset fine adjustment boundary value to obtain a second comparison result, then roughly adjusting by using an overflow safety valve 6 according to the second comparison result, and then finely adjusting by using a pilot type proportional overflow valve 7, thereby achieving the advantage that the pressure can be accurately controlled.
The embodiment of the invention provides an intelligent adjusting and conveying system of a rocket engine, which comprises: the device comprises a flow sensor, a pressure sensor, a comparison circuit, a controller, a frequency converter, a servo motor, a pump, an overflow safety valve and a pilot-operated proportional overflow valve; the flow sensor, the pressure sensor, the frequency converter, the servo motor and the controller are respectively connected with the comparison circuit, the servo motor is connected with the pump, and the overflow safety valve and the pilot-operated proportional overflow valve are respectively connected with the controller; the flow sensor is used for collecting the current pipeline flow value and sending the current pipeline flow value to the comparison circuit; the pressure sensor is used for collecting the current pipeline pressure value and sending the current pipeline pressure value to the comparison circuit; the comparison circuit is used for outputting a voltage signal when the pump is in a static state; when the pump is in a rotating state, comparing the current pipeline flow value with a preset flow value to obtain a first comparison result, and sending first control instruction information to the frequency converter according to the first comparison result; obtaining an absolute value of a current difference value according to a current pipeline pressure value and a preset pressure value; comparing the absolute value of the current difference value with a preset fine-tuning demarcation value to obtain a second comparison result, and sending the second comparison result to the controller; the servo motor is used for controlling the inclination angle of an oil distribution disc of the pump according to the voltage signal so as to adjust the flow of the pipeline; the frequency converter is used for controlling the flow of the pipeline according to the first control instruction information; the controller is used for controlling the opening degree of the overflow safety valve or the opening degree of the pilot type proportional overflow valve according to the second comparison result, so that the pressure supply and the flow regulation have high accuracy and stability.
Example two:
fig. 4 is a schematic structural diagram of an intelligent adjusting conveying system of another rocket engine according to a second embodiment of the present invention.
Referring to fig. 4, the system includes: the device comprises a kerosene filling inlet 11, a filling hand valve 12, a filling filter 13, an overflow safety valve 6, a kerosene storage tank 14, a pre-pump filter 15, a servo motor 8, a pump 9, a motor 10, a pilot-operated proportional overflow valve 7, a pressure gauge 16, a post-valve filter 17, a flow sensor 3, a pressure sensor 2, a flow regulating valve 18, a reversing valve 19, an electromagnetic valve 20, a one-way valve 21, a conveying system outlet 22 and a frequency converter 1.
The kerosene filling inlet 11 is connected with the kerosene tank by screw threads to realize the filling of the kerosene, and the outlet 22 of the conveying system is connected with the inlet of the thrust chamber of the rocket engine by screw threads. The kerosene filling inlet 11 adopts a aerospace standard 37-degree ball head connection mode, so that the kerosene filling inlet is matched with a joint for a rocket engine test. The filling hand valve 12 adopts a straight-through type manual stop valve scheme to improve the reliability, and the kerosene filling inlet 11 and the filling hand valve 12 are connected by a metal hose to facilitate connection.
The filling filter 13 is a filter screen type filter and mainly used for preventing particle impurities and the like from entering the kerosene storage tank 14, the filling hand valve 12 is connected with the filling filter 13 through a 304 stainless steel pipe, and the filling filter 13 is connected with the kerosene storage tank 14 through a 304 stainless steel pipe.
The kerosene storage box 14 is made of 304 stainless steel materials and has a bearing function. The pump 9 is fixedly arranged on the kerosene storage tank 14, and a net type pre-pump filter 15 is additionally arranged between the pump 9 and the kerosene storage tank 14 to prevent impurities from entering the pump 9. The pump 9 is respectively connected with the servo motor 8 and the motor 10, an oil distribution disc of the pump 9 is controlled by the servo motor 8, the oil distribution disc can bidirectionally adjust the flow, and when the oil distribution disc rotates towards one direction, the flow can be increased; when turned in the opposite direction, the flow rate may be reduced. The oil distribution disc of the pump 9 corresponds to the forward and reverse rotation of the servo motor 8, so that one rotation direction of the servo motor 8 can increase the flow rate, and the other rotation direction can decrease the flow rate, thereby realizing the function of adjusting the flow rate in the static state of the pump 9.
The main shaft of the pump 9 is axially fixedly connected with the main shaft of the motor 10, and the frequency converter 1 inputs a three-phase power supply and outputs the three-phase power supply to the motor 10. The motor 10 is driven by a three-phase power supply, and the flow rate of the pump 9 is adjusted by changing the frequency of the inverter 1 and thus the rotation speed of the pump 9. The rotational speed of the motor 10 can be dynamically adjusted by means of the frequency converter 1, so that a dynamic adjustment of the flow rate can be achieved during operation of the pump 9.
The pressure of the kerosene passes through the overflow safety valve 6 and the pilot type proportional overflow valve 7 after passing through the pump 9 to adjust the pressure after passing through the pump 9, so that the pressure before the flow regulating valve 18 is ensured to be stabilized at a preset pressure value. The overflow safety valve 6 is an electric control valve, the rotation of the inside of the valve is converted into linear motion through a screw rod structure of a servo motor 8, so that the pressing force of a spring, namely a set safety threshold value, is adjusted, the overflow safety valve 6 is opened under different safety threshold values, and the rough adjustment of the pressure behind the pump 9 is realized through the overflow safety valve 6.
The pilot-operated proportional overflow valve 7 obtains the absolute value of the current difference value according to the current pipeline pressure value and a preset pressure value; comparing the absolute value of the current difference with a preset fine-tuning boundary value, and if the absolute value of the current difference is greater than the preset fine-tuning boundary value, opening an oil return valve through a pilot structure in the valve to return kerosene to the kerosene storage tank 14, so that the system pressure is reduced; and if the absolute value of the current difference value is smaller than or equal to the preset fine adjustment boundary value, reducing the opening of the oil return valve and improving the system pressure. The overflow safety valve 6 is used for roughly adjusting the pressure and the pilot type proportional overflow valve 7 is used for finely adjusting the pressure, and the two are combined, so that the accurate control of the system pressure is realized.
After passing through the pilot type proportional overflow valve 7, the kerosene displays the pressure behind the valve in real time through the pressure gauge 16 and enters the downstream through the filter. The filter is a precision high pressure filter to filter impurities present in the pipeline. Then the current pipeline flow value is acquired in real time through the flow sensor 3, and the current pipeline pressure value is acquired in real time through the pressure sensor 2. The kerosene which now passes through the flow sensor 3 and the pressure sensor 2 passes through the flow regulating valve 18 to ensure that the flow entering downstream is at a preset flow value.
The reversing valve 19 is an electrically controlled two-position three-way valve, i.e. the communication state of the upstream pipeline and the downstream pipeline is controlled by a given voltage signal, in this application, the upstream pipeline is communicated with the downstream oil return circuit in a low potential state, i.e. kerosene is always returned to the kerosene storage tank 14 to circulate in the low potential state. When the kerosene needs to be supplied into the downstream pipeline, a high potential is supplied to the reversing valve 19, the upstream of the reversing valve 19 is communicated with the downstream oil supply pipeline, namely, the kerosene at the upstream can be rapidly supplied to the downstream, and a common kerosene extrusion type conveying system needs to be extruded from the kerosene storage tank 14 into the downstream pipeline, so that the response time can be greatly improved compared with the common extrusion type conveying system. The extrusion type conveying system needs to extrude kerosene from the kerosene storage tank 14 into a thrust chamber of a rocket engine by using high-pressure gas, and a long pipeline filling process exists, so that the response time is long.
The kerosene is supplied to the delivery system outlet 22 after passing through the diverter valve 19, through the solenoid valve 20 and the check valve 21. The electromagnetic valve 20 can reduce the action time of the valve, the check valve 21 is adopted to prevent safety accidents caused by kerosene backflow after the rocket engine is shut down, and the electromagnetic valve 20 is tightly connected with the check valve 21 to reduce the containing cavity behind the electromagnetic valve 20 and shorten the response time of the rocket engine for establishing the pressure of the combustion chamber. The delivery system outlet 22 is connected by a 37-degree ball joint in a standard aerospace manner, so as to match the joint connection of the rocket engine thrust chamber.
The working principle of the system is as follows: the kerosene filling inlet 11 is connected with a kerosene supply source, the filling hand valve 12 is opened, the kerosene is filled into the kerosene storage tank 14, after the filling is finished, the filling hand valve 12 is closed, and the connection between the kerosene filling inlet 11 and the kerosene supply source is disconnected.
The comparison circuit and the controller are arranged in an intelligent adjusting and conveying system of the rocket engine, a preset flow value and a preset pressure value are stored in the comparison circuit, and flow supplied for the system and pressure in front of the flow adjusting valve 18 are provided for the system according to the preset flow value and the preset pressure value. The comparison circuit will send a voltage signal to the servo motor 8 of the pump 9, thereby adjusting the position of the oil distribution disc.
The inverter 1 inputs a three-phase power and supplies the three-phase power to the motor 10, and the frequency of the three-phase power is changed without changing the voltage value of the three-phase power, thereby controlling the rotation speed of the motor 10. The motor 10 will drive the pump 9 to rotate, keeping the reversing valve 19 in a low potential state, and making the pipeline behind the reversing valve 19 in an oil return state. At the moment, the comparison circuit compares the current pipeline flow value with the preset flow value under the condition that the pump 9 is in a rotating state to obtain a first comparison result, and sends first control instruction information to the frequency converter 1 according to the first comparison result; obtaining an absolute value of a current difference value according to a current pipeline pressure value and a preset pressure value; comparing the absolute value of the current difference value with a preset fine-tuning demarcation value to obtain a second comparison result, and sending the second comparison result to the controller; the rotating speed of the motor 10 is adjusted through the frequency converter 1 so as to adjust the flow of the system, and the pressure in front of the flow adjusting valve 18 is adjusted through coarse adjustment of the overflow safety valve 6 and fine adjustment of the pilot type proportional overflow valve 7, so that the flow is stabilized within the precision requirement range of the preset flow value, and the pressure is stabilized within the precision requirement range of the preset pressure value.
When kerosene is supplied to the rocket engine thrust chamber, the reversing valve 19 and the electromagnetic valve 20 are switched to a high-potential state at the moment, and then the kerosene with preset flow value and preset pressure value can be supplied to the rocket engine thrust chamber. When the reversing valve 19 is arranged at the upstream of the electromagnetic valve 20, the kerosene is in an oil return state when the kerosene is not required to be supplied to the thrust chamber of the rocket engine, and can be quickly switched to the oil supply state when the kerosene is required to be supplied to the thrust chamber of the rocket engine;
when the system is switched or shut down, the reversing valve 19 is switched to a low potential state, then the electromagnetic valve 20 is switched to the low potential state, if kerosene with other flow or pressure needs to be supplied, the preset flow value and the preset pressure value can be changed, and the system is suitable for different occasions and has wide application range; if shutdown is required, the inverter 1 is turned off to shut down the motor 10.
Example three:
fig. 5 is a flowchart of an intelligent regulation method for conveying a rocket engine according to a third embodiment of the present invention.
Referring to fig. 5, the intelligent regulated delivery system applied to a rocket engine, the method comprises the following steps:
step S101, collecting a current pipeline flow value and a current pipeline pressure value;
step S102, when the pump is in a static state, outputting a voltage signal, and controlling the inclination angle of an oil distribution disc of the pump according to the voltage signal so as to adjust the flow of a pipeline;
step S103, when the pump is in a rotating state, comparing the current pipeline flow value with a preset flow value to obtain a first comparison result, and generating first control instruction information according to the first comparison result;
step S104, controlling the flow of the pipeline according to the first control instruction information;
step S105, obtaining an absolute value of a current difference value according to a current pipeline pressure value and a preset pressure value;
step S106, comparing the absolute value of the current difference value with a preset fine-tuning demarcation value to obtain a second comparison result;
and step S107, controlling the opening degree of the overflow safety valve or the opening degree of the pilot type proportional overflow valve according to the second comparison result.
The embodiment of the invention provides an intelligent adjusting and conveying method of a rocket engine, which comprises the following steps: collecting a current pipeline flow value and a current pipeline pressure value; when the pump is in a static state, outputting a voltage signal, and controlling the inclination angle of an oil distribution disc of the pump according to the voltage signal so as to adjust the flow of a pipeline; when the pump is in a rotating state, comparing the current pipeline flow value with a preset flow value to obtain a first comparison result, and generating first control instruction information according to the first comparison result; controlling the flow of the pipeline according to the first control instruction information; obtaining an absolute value of a current difference value according to a current pipeline pressure value and a preset pressure value; comparing the absolute value of the current difference value with a preset fine-tuning demarcation value to obtain a second comparison result; and controlling the opening degree of the overflow safety valve or the opening degree of the pilot type proportional overflow valve according to the second comparison result, so that the pressure supply and the flow regulation have higher accuracy and stability.
The embodiment of the invention also provides electronic equipment, which comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein the processor executes the computer program to realize the steps of the intelligent adjusting and conveying method of the rocket engine provided by the embodiment.
Embodiments of the present invention also provide a computer readable medium having non-volatile program code executable by a processor, where the computer readable medium has a computer program stored thereon, and the computer program is executed by the processor to perform the steps of the intelligent regulation method for rocket motors of the above embodiments.
The computer program product provided in the embodiment of the present invention includes a computer-readable storage medium storing a program code, where instructions included in the program code may be used to execute the method described in the foregoing method embodiment, and specific implementation may refer to the method embodiment, which is not described herein again.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the system and the apparatus described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In addition, in the description of the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (10)
1. An intelligent regulated delivery system for rocket engines, said system comprising: the device comprises a flow sensor, a pressure sensor, a comparison circuit, a controller, a frequency converter, a servo motor, a pump, an overflow safety valve and a pilot-operated proportional overflow valve;
the flow sensor, the pressure sensor, the frequency converter, the servo motor and the controller are respectively connected with the comparison circuit, the servo motor is connected with the pump, and the overflow safety valve and the pilot type proportional overflow valve are respectively connected with the controller;
the flow sensor is used for collecting the current pipeline flow value and sending the current pipeline flow value to the comparison circuit;
the pressure sensor is used for collecting the current pipeline pressure value and sending the current pipeline pressure value to the comparison circuit;
the comparison circuit is used for outputting a voltage signal when the pump is in a static state; when the pump is in a rotating state, comparing the current pipeline flow value with a preset flow value to obtain a first comparison result, and sending first control instruction information to the frequency converter according to the first comparison result; obtaining an absolute value of a current difference value according to the current pipeline pressure value and a preset pressure value; comparing the absolute value of the current difference value with a preset fine-tuning demarcation value to obtain a second comparison result, and sending the second comparison result to a controller;
the servo motor is used for controlling the inclination angle of an oil distribution disc of the pump according to the voltage signal so as to adjust the flow of a pipeline;
the frequency converter is used for controlling the flow of the pipeline according to the first control instruction information;
and the controller is used for controlling the opening of the overflow safety valve or the opening of the pilot type proportional overflow valve according to the second comparison result.
2. A rocket engine intelligent regulated delivery system according to claim 1, wherein said first control command information includes a decrease frequency command information and an increase frequency command information;
the comparison circuit is used for sending the frequency reduction instruction information to the frequency converter under the condition that the current pipeline flow value is larger than the preset flow value; sending the frequency increasing instruction information to the frequency converter under the condition that the current pipeline flow value is smaller than the preset flow value;
the frequency converter is used for inputting a three-phase power supply and reducing the frequency according to the frequency reduction instruction information; or increasing the frequency according to the frequency increasing instruction information.
3. A rocket engine intelligent regulated delivery system according to claim 1, wherein said controller comprises a PD controller and a PID controller;
the PD controller is used for controlling the opening of the overflow safety valve under the condition that the absolute value of the current difference value is larger than the preset fine adjustment boundary value;
and the PID controller is used for controlling the opening of the pilot type proportional overflow valve under the condition that the absolute value of the current difference value is less than or equal to the preset fine adjustment boundary value.
4. A rocket engine intelligent regulated delivery system according to claim 3, wherein said PD controller is configured to obtain a first result based on said current difference and a first scaling factor; obtaining a second result according to the current difference, the previous difference and a second scale factor; obtaining a third result according to the first result and the second result; and controlling the opening degree of the overflow safety valve according to the third result.
5. The rocket engine smart regulation delivery system of claim 4, wherein the PD controller is configured to increase the opening of the spill relief valve when the third result is greater than 0; or, when the third result is less than 0, the opening degree of the overflow safety valve is reduced.
6. A rocket engine intelligent regulation delivery system according to claim 4, wherein said PID controller is adapted to obtain a fourth result based on the accumulated current difference and a third scale factor; obtaining a fifth result according to the first result, the second result and the fourth result; and controlling the opening of the pilot type proportional overflow valve according to the fifth result.
7. A rocket engine intelligent regulated delivery system according to claim 6, wherein said PID controller is configured to increase the opening of said pilot proportional relief valve when said fifth result is greater than 0; alternatively, when the fifth result is less than 0, the opening degree of the pilot type proportional relief valve is decreased.
8. The rocket engine intelligent regulation conveying system of claim 2, further comprising a reversing valve, wherein when the frequency converter supplies the three-phase power to the motor, the motor drives the pump to rotate through the three-phase power, and keeps the reversing valve in a low potential state, so that a pipeline behind the reversing valve is in an oil return state.
9. A rocket engine intelligent regulated delivery system according to claim 8, further comprising a solenoid valve and a kerosene storage tank, said solenoid valve being connected to said diverter valve, said diverter valve being connected to said kerosene storage tank;
when kerosene is supplied from the kerosene tank to a rocket engine thrust chamber, both the selector valve and the electromagnetic valve are switched to a high potential state.
10. A method for intelligently adjusting and conveying a rocket engine, which is applied to the system for intelligently adjusting and conveying a rocket engine according to any one of claims 1 to 9, the method comprising:
collecting a current pipeline flow value and a current pipeline pressure value;
when the pump is in a static state, outputting a voltage signal, and controlling the inclination angle of an oil distribution disc of the pump according to the voltage signal so as to adjust the flow of a pipeline;
when the pump is in a rotating state, comparing the current pipeline flow value with a preset flow value to obtain a first comparison result, and generating first control instruction information according to the first comparison result;
controlling the flow of the pipeline according to the first control instruction information;
obtaining an absolute value of a current difference value according to the current pipeline pressure value and a preset pressure value;
comparing the absolute value of the current difference value with a preset fine-tuning demarcation value to obtain a second comparison result;
and controlling the opening degree of the overflow safety valve or the opening degree of the pilot type proportional overflow valve according to the second comparison result.
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