CN111891394B - On-orbit calibration method for flow sensor of satellite cold air propulsion system - Google Patents
On-orbit calibration method for flow sensor of satellite cold air propulsion system Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
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Abstract
The invention relates to an on-orbit calibration method for a flow sensor of a satellite cold air propulsion system, comprising the following steps of S1, carrying out power-up preheating on the flow sensor and a pressure sensor in the satellite cold air propulsion system, and starting the propulsion system to control the temperature; s2, determining the zero position of the flow sensor according to the output of the flow sensor under the no-flow working condition of the propulsion system and completing zero position calibration; s3, sending jet pulses by using an attitude control thruster in a satellite cold air propulsion system, generating standard pressure wave signals, and collecting flow wave signals actually output by a flow sensor; s4, calculating the theoretical flow value of the flow sensor through inversion according to the standard pressure wave signal; and S5, comparing the actual output value of the flow sensor by taking the calculated theoretical flow value as a reference, calibrating the flow sensor to obtain a conversion coefficient calibration value, and completing the on-orbit calibration of the flow sensor by using the conversion coefficient calibration value.
Description
Technical Field
The invention relates to an in-orbit calibration method for a flow sensor of a satellite cold air propulsion system, which can evaluate and correct the deviation of the output value of the flow sensor on a satellite under the actual flight condition of space and belongs to the technical field of design and application of spacecraft propulsion systems.
Background
The flow sensor is one of the key components of the high-precision variable-thrust cold air propulsion system. Wide range regulation of thrust in a propulsion system relies on accurate feedback from a high precision flow sensor. The calibration of the high-precision flow sensor is mainly based on the test measurement based on flow calibration equipment on the ground. However, the difference between the in-track space environment and the ground test environment, as well as the slow release of stresses inherent in the product itself during long-term operation of the track, can result in slow deviations of the flow sensor output from the ground calibration. Therefore, it is necessary to perform deviation evaluation and correction on the output value of the flow sensor on the track.
Currently, internationally, on-track evaluation and correction of the flow sensor are mainly based on comparison of on-track historical data of the flow sensor: and under the working condition that the propulsion system has no flow, recording the actual output value of the flow sensor, and correcting the zero position of the output quantity according to the actual output value. Representative articles are as follows: noci, D.Hazan, A.Polli.In flight acids and follow-on for Cold Gas micro processing applied to S/C fine points and attribute control.66th International application consistency, 2015.Li nart, G.Doulsier, V.Cipolla.first in-flight requirements of the Cold Gas processing System for CNES' Microcope space research AI53rd AA/SAE/ASEE Joint processing consistency.2017.
In fact, the calibration of the output of the flow sensor should involve 2 aspects: zero and conversion factor. Because the satellite cannot be externally connected to a standard flowmeter to calibrate the flow sensor on the satellite under the actual flight condition of the space, namely the standard source of the on-orbit lacking flow, the calibration of the conversion coefficient of the flow sensor is always difficult.
The invention is the first method for calibrating zero position and conversion coefficient at the same time in China, no relevant documents and data can be used for reference abroad, and the whole set of method adopts the existing equipment on the satellite cold air propulsion system, does not add other hardware facilities and is a brand new design.
Disclosure of Invention
The technical problem solved by the invention is as follows: the technical problem that a satellite flow sensor has no reference standard source in on-orbit calibration is solved, the existing pressure sensor, the electromagnetic valve and other components on the satellite are utilized to generate the standard flow which can be accurately calculated to serve as a calibration reference, and the complete calibration of the zero position and the conversion coefficient of the flow sensor can be realized. The method has the advantages of convenient operation, rapid flow, repeatability, high precision and wide application range.
The technical scheme of the invention is as follows: an on-orbit calibration method for a flow sensor of a satellite cold air propulsion system is realized by the following steps:
s1, powering up and preheating a flow sensor and a pressure sensor in a satellite cold air propulsion system and starting the propulsion system to control the temperature;
s2, determining the zero position of the flow sensor according to the output of the flow sensor under the no-flow working condition of the propulsion system and completing zero position calibration;
s3, sending jet pulses by using an attitude control thruster in a satellite cold air propulsion system, generating standard pressure wave signals, and collecting flow wave signals actually output by a flow sensor;
s4, calculating the theoretical flow value of the flow sensor through inversion according to the standard pressure wave signal;
and S5, comparing the actual output value of the flow sensor by taking the calculated theoretical flow value as a reference, calibrating the flow sensor to obtain a conversion coefficient calibration value, and completing the on-orbit calibration of the flow sensor by using the conversion coefficient calibration value.
Preferably, in S1, after the flow sensor is powered up to be preheated stably, the temperature T2 of the micro-Newton variable thrust module of the satellite cold air propulsion system is recorded, and the micro-Newton variable thrust module is integrated with the flow sensor to be calibrated.
Preferably, the zero position in S2 is determined by recording the output value of the flow sensor for 5-10 minutes after the flow sensor is electrified and preheated stably, and taking the average value as the zero position.
Preferably, the judgment basis of the stable power-on preheating of the flow sensor is as follows: the variance of the flow sensor acquiring continuous 60 seconds of data does not exceed 5% of the mean.
Preferably, the standard pressure wave signal is a sine wave or a square wave.
Preferably, the amplitude of the standard pressure wave signal is consistent with the upper limit of the measurement range of the flow sensor to be calibrated, and the frequency is less than the sampling frequency of the flow sensor.
Preferably, the theoretical flow rate value of the flow sensor is calculated by:
establishing a pipeline flow wave reflection model, wherein the model comprises a flow sensor to be calibrated, a front end pipeline of the flow sensor and a tail end valve of the flow sensor, and a reflection cavity is arranged between the tail end valve and the flow sensor; the front end pipeline is a pipeline between an attitude control thruster for sending jet pulse on a satellite and a flow sensor, and a tail end valve and a reflection cavity are devices in a micro-Newton variable thrust module of a satellite cold air propulsion system;
and (3) taking a standard pressure wave as an input condition, substituting the length L of the front-end pipeline, the inner diameter d of the pipeline, the temperature T2 of the reflection cavity and the volume V2 of the cavity into a pipeline flow wave reflection model, and calculating a theoretical flow value flowrate _ thr (T).
Preferably, in the pipeline flow wave reflected wave model, the pipeline airflow speed u and the airflow temperature θ satisfy the following formulas:
wherein rho is the density of the air flow, lambda is the friction coefficient of the inner wall of the pipeline, CvIs the gas's isothermal specific volume, R is the gas constant; x is the position of the flow direction and t is the time;
in the pipeline flow wave reflected wave model, the boundary conditions of the pipeline airflow inlet are the pressure and temperature conditions of the buffer tank; the boundary condition of the pipeline outlet is the temperature condition of the reflection cavity, and the flow rate is 0; the geometrical configuration conditions of the pipeline are the volume of the buffer tank, the length of the pipeline and the volume of the reflection cavity.
In the pipeline flow wave reflected wave model, the three formulas are subjected to discrete and iterative solution, and the flow velocity u, the density rho and the temperature theta of the airflow in the pipeline at any point and any moment are calculated; from this, the theoretical flow rate is calculated as
Preferably, the flow sensor conversion coefficient ξ is calculated as follows:
ξ＝flowrate_exp(t)/flowrate_thr(t)
wherein, flow _ exp (t) is the actual output value of the flow sensor; flow _ thr (t) is the theoretical flow value.
Preferably, the air injection pulse width of the excitation source attitude control electromagnetic valve is adjusted to adapt to different flow calibration ranges; or the calibration results are mutually verified by selecting the excitation source attitude control electromagnetic valves positioned at different positions of the pipeline.
Compared with the prior art, the invention has the beneficial effects that:
(1) the provided on-orbit calibration method of the flow sensor breaks through the limitation that no reference standard flow source exists in on-orbit calibration, fully utilizes the functions of the existing components of the satellite propulsion system, does not need additional hardware facilities, and has strong practicability.
(2) The on-orbit calibration method for the flow sensor has the advantages of mature theoretical basis, high calculation accuracy and convenient operation process, can adapt to working conditions under different pressure conditions, and meets the calibration requirements of the flow sensor in the whole life cycle of the satellite.
(3) The provided on-orbit calibration method for the flow sensor is suitable for various working media such as nitrogen, helium, xenon and the like, and can be expanded to be applied to a satellite two-component propulsion system, an electric propulsion system and the like.
Drawings
FIG. 1 is a schematic view of a satellite cold air propulsion system;
FIG. 2 is a schematic diagram of a reflection model of a pipeline flow wave according to the present invention;
FIG. 3 is a flow chart of the method of the present invention.
Detailed Description
The invention is further illustrated by the following examples.
The on-orbit calibration method of the flow sensor of the satellite cold air propulsion system is suitable for a high-precision variable-thrust cold air propulsion system. The system setup is shown in fig. 1. The system hardware comprises a high-pressure gas cylinder, a high-pressure sensor, a pressure reducing device, a low-pressure sensor, a buffer tank, an attitude control thruster (comprising an electromagnetic valve), a micro-Newton variable thrust module (comprising a flow sensor), a thrust controller, a temperature control assembly, matched pipe valves and the like. The flow sensor is integrated in the micro-Newton variable thrust module, and the flow sensor, the micro-Newton variable thrust module and the variable thrust controller form a closed-loop control system for adjusting the magnitude of the output thrust.
The on-orbit calibration method for the flow sensor of the satellite cold air propulsion system is based on a newly-proposed pipeline flow wave reflection model for generation and inversion of standard flow. The pipeline flow wave reflection model is shown in fig. 2. Pressure fluctuation of a pipeline at the front end of the flow sensor is set as input excitation, and a cavity between the flow sensor and the tail end valve is set as a reflection cavity. When the front-end pipeline has no pressure fluctuation, the pressure between the front-end pipeline and the reflection cavity is in a balanced state, and the flow passing through the flow sensor is zero; when pressure fluctuation exists in the front end pipeline, the front end pipeline and the containing cavity flow due to pressure difference, and flowing mass flow is collected by the flow sensor and telemetered and downloaded. The generation of the standard pressure wave at the front end of the pipeline is realized through the electromagnetic valve of the attitude control thruster, and the standard pressure wave is collected by the low-pressure sensor and telemetered and downloaded. According to the collected standard pressure wave data, the standard flow value passing through the flow sensor can be obtained through inversion by combining pipeline fluid mechanics calculation. The generated standard flow value is used as a reference, the actual output value of the flow sensor is compared, and the flow sensor can be calibrated to obtain a zero position and a conversion coefficient calibration value.
The invention discloses an on-orbit calibration method of a flow sensor of a satellite cold air propulsion system, which is shown in a flow chart in figure 3 and comprises the following operation steps:
1) setting a system state: powering up and preheating the flow sensor, powering up and preheating the pressure sensor, and starting temperature control of the propulsion system; after the flow sensor is stabilized, the pressure P1, the temperature T1 and the temperature T2 (equal to the temperature of the reflection cavity) of the buffer tank are recorded.
2) Zero calibration: after the flow sensor is preheated and stabilized, under the no-flow working condition of the propulsion system, the output value flowrate _ exp (t) of the flow sensor within a period of time delta t is recorded, and when the judgment condition that the variance of the collected continuous 60-second data does not exceed 5% of the average value is reached, zero position calculation is started.
And during zero position calculation, taking the average flow value in 2 minutes as a zero position, and performing zero position calibration on the flow sensor.
C0＝∑flowrate_exp(t)/Δt
3) Generating a pressure wave excitation signal: selecting a platform number of a calibration attitude control thruster, sending jet pulses and generating standard pressure wave signals; the jet pulse width dt was recorded and the pressure wave waveform was calculated.
P(t)＝f(dt,P1,T1)
4) Collecting flow wave signals: reading the telemetering data of the flow sensor, and judging whether a flow wave signal flow _ exp (t) is captured or not; and repeating the step 3) until the flow wave signal is successfully acquired. 5) Calculating a theoretical flow value: and (3) taking the pressure wave form P (T) calculated in the step 3) as an input condition, substituting the geometric dimension data of the pipeline (the length L of the pipeline, the inner diameter d of the pipeline) and the parameters of the cavity at the rear end of the flow sensor (the temperature T2 of the cavity and the volume V2 of the cavity) into a pipeline flow wave reflection model (figure 2), and calculating a theoretical flow value flowrate _ thr (T).
In the pipeline flow wave reflected wave model, the pipeline airflow speed u and the airflow temperature theta satisfy the following formulas:
wherein rho is the density of the air flow, lambda is the friction coefficient of the inner wall of the pipeline, CvIs the gas's isothermal specific volume, R is the gas constant;
in the pipeline flow wave reflected wave model, the boundary conditions of the pipeline airflow inlet are the pressure and temperature conditions of the buffer tank; the boundary condition of the pipeline outlet is the temperature condition of the reflection cavity, and the flow rate is 0; the geometrical configuration conditions of the pipeline are the volume of the buffer tank, the length of the pipeline and the volume of the reflection cavity.
In the pipeline flow wave reflected wave model, the three formulas are subjected to discrete and iterative solution, and the flow velocity u, the density rho and the temperature theta of the airflow in the pipeline at any point and any moment are calculated; from this, the theoretical flow rate is calculated as
6) Calibration of conversion coefficients: and calculating a conversion coefficient xi of the flow sensor according to the measured value flowrate _ exp (t) obtained in the step 3) and the theoretical value flowrate _ thr (t) obtained in the step 4). When the satellite runs in orbit, the coefficient is utilized to calibrate the output of the flow sensor in real time.
ξ＝flowrate_exp(t)/flowrate_thr(t)
The invention has not been described in detail in part in the common general knowledge of a person skilled in the art.
Claims (9)
1. An on-orbit calibration method for a flow sensor of a satellite cold air propulsion system is characterized by being realized in the following mode:
s1, powering up and preheating a flow sensor and a pressure sensor in a satellite cold air propulsion system and starting the propulsion system to control the temperature;
s2, determining the zero position of the flow sensor according to the output of the flow sensor under the no-flow working condition of the propulsion system and completing zero position calibration;
s3, sending jet pulses by using an attitude control thruster in a satellite cold air propulsion system, generating standard pressure wave signals, and collecting flow wave signals actually output by a flow sensor;
s4, calculating the theoretical flow value of the flow sensor through inversion according to the standard pressure wave signal;
s5, comparing the actual output value of the flow sensor with the calculated theoretical flow value as a reference, calibrating the flow sensor to obtain a conversion coefficient calibration value, and completing the on-orbit calibration of the flow sensor by using the conversion coefficient calibration value;
calculating a theoretical flow value of the flow sensor by:
establishing a pipeline flow wave reflection model, wherein the model comprises a flow sensor to be calibrated, a front end pipeline of the flow sensor and a tail end valve of the flow sensor, and a reflection cavity is arranged between the tail end valve and the flow sensor; the front end pipeline is a pipeline between an attitude control thruster for sending jet pulse on a satellite and a flow sensor, and a tail end valve and a reflection cavity are devices in a micro-Newton variable thrust module of a satellite cold air propulsion system;
and (3) taking the standard pressure wave as an input condition, and substituting the length L of the front-end pipeline, the inner diameter d of the pipeline, the temperature T2 of the reflection cavity and the volume V2 of the cavity into a pipeline flow wave reflection model to calculate a theoretical flow value flowrate _ thr (T).
2. The method of claim 1, wherein: and in S1, after the flow sensor is electrified and preheated stably, recording the temperature T2 of a micro-Newton variable thrust module of the satellite cold air propulsion system, wherein the micro-Newton variable thrust module is integrated with the flow sensor to be calibrated.
3. The method of claim 1, wherein: and determining the zero position in S2, recording the output value of the flow sensor for 5-10 minutes after the flow sensor is electrified and preheated stably, and taking the average value as the zero position.
4. A method according to claim 2 or 3, characterized in that: the judgment basis of the stable power-up preheating of the flow sensor is as follows: the variance of the flow sensor acquiring continuous 60 seconds of data does not exceed 5% of the mean.
5. The method of claim 1, wherein: the standard pressure wave signal is a sine wave or a square wave.
6. The method according to claim 1 or 5, characterized in that: the amplitude of the standard pressure wave signal is consistent with the upper limit of the measuring range of the flow sensor to be calibrated, and the frequency is smaller than the sampling frequency of the flow sensor.
7. The method of claim 1, wherein: in the pipeline flow wave reflected wave model, the pipeline airflow speed u and the airflow temperature theta satisfy the following formulas:
wherein rho is the density of the air flow, lambda is the friction coefficient of the inner wall of the pipeline, CvIs the gas's isothermal specific volume, R is the gas constant; x is the position of the flow direction and t is the time;
in the pipeline flow wave reflected wave model, the boundary conditions of the pipeline airflow inlet are the pressure and temperature conditions of the buffer tank; the boundary condition of the pipeline outlet is the temperature condition of the reflection cavity, and the flow rate is 0; the geometric configuration conditions of the pipeline are the volume of the buffer tank, the length of the pipeline and the volume of the reflection cavity;
in the pipeline flow wave reflected wave model, the three formulas are subjected to discrete and iterative solution, and the flow velocity u, the density rho and the temperature theta of the airflow in the pipeline at any point and any moment are calculated; from this, the theoretical flow rate is calculated as
8. The method of claim 1, wherein: the flow sensor conversion coefficient xi calculation formula is as follows:
ξ＝flowrate_exp(t)/flowrate_thr(t)
wherein, flow _ exp (t) is the actual output value of the flow sensor; flow _ thr (t) is the theoretical flow value.
9. The method of claim 1, wherein: the method is suitable for different flow calibration ranges by adjusting the air injection pulse width of the excitation source attitude control electromagnetic valve; or the calibration results are mutually verified by selecting the excitation source attitude control electromagnetic valves positioned at different positions of the pipeline.
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