CN113110625B - Colloid micro-propeller storage and supply system, flow closed-loop feedback control method and system - Google Patents
Colloid micro-propeller storage and supply system, flow closed-loop feedback control method and system Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D7/00—Control of flow
- G05D7/06—Control of flow characterised by the use of electric means
- G05D7/0617—Control of flow characterised by the use of electric means specially adapted for fluid materials
- G05D7/0629—Control of flow characterised by the use of electric means specially adapted for fluid materials characterised by the type of regulator means
- G05D7/0635—Control of flow characterised by the use of electric means specially adapted for fluid materials characterised by the type of regulator means by action on throttling means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/40—Arrangements or adaptations of propulsion systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/40—Arrangements or adaptations of propulsion systems
- B64G1/402—Propellant tanks; Feeding propellants
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Abstract
The invention discloses a colloid micro-thruster storage and supply system, and a flow closed-loop feedback control method and system, and belongs to the technical field of aerospace micro-thrusters. Comprises a storage and supply system, a flow sensor and a control system. The invention realizes propellant supply by using a diaphragm tank, a piezoelectric micro valve, volume compensation and other devices, integrates a thermal temperature difference type flow sensor in a pipeline of a micro propeller storage and supply system to realize real-time detection of propellant flow, and further can output a feedback control signal through a PID (proportion integration differentiation) controller to control the magnitude and frequency of voltage applied on the micro valve to realize feedback regulation of flow. The invention has the advantages of monitoring the supply flow of the propeller in real time and maintaining the flow stability of the feeding system.
Description
Technical Field
The invention belongs to the technical field of aerospace micro-propellers, and particularly relates to a colloid micro-propeller storage and supply system, and a flow closed-loop feedback control method and system.
Background
With the development of modern aerospace technology, satellites tend to be miniaturized and light, and have the advantages of low power consumption, short development period and the like. The micro-satellites have unique application advantages in communication, military, geological survey, meteorological service, scientific experiment and the like. The micro-nano satellites can be used for formation flying to complete tasks which cannot be completed by large satellites, such as gravitational wave detection, accurate positioning, target three-dimensional observation, navigation and the like. The micro-nano satellite realizes orbit transfer, orbit correction and attitude control by a micro-thruster. Compared with other propellers, the electrospray colloid propeller has the advantages of high specific impulse, simple structure, self-neutralization, capability of generating sub-micro-Newton-level accurate thrust, low power consumption and the like, and is verified by on-orbit experiments to be very suitable for accurate micro-propulsion application. The colloid micro-propeller atomizes the ionic liquid at the tip of the capillary tube through the high electric field of the emitter to generate nano-scale ions, and the charged particles are accelerated by the accelerating electric field at the accelerating electrode to generate thrust.
The ions emitted by the colloid propeller generate thrust through direct momentum transfer. Such as the thrust formula
As shown, the thrust is greatly influenced by the flow, so that the accurate flow control is the key for realizing thrust regulation. Store up in the research of present colloid micro-propeller and supply the system to be difficult to realize receiving the flow resolution of upgrading, and lack flow detection device, the regulation of flow is mostly the open-loop, can't realize the real-time regulation of flow according to operating condition.
In order to solve the above problems, patent CN109795722A discloses a multi-physical-quantity characterization device for a colloid thruster, which determines thrust, flow and specific impulse of the thruster according to the magnitude of ion beam current, but cannot realize direct measurement and control of flow. Patent CN111636980A discloses a bellows type storage tank for liquid propellant, which utilizes the elastic force of a spring to continuously supply the propellant stored in the bellows to a propeller, and also cannot detect and adjust the flow rate in real time.
Disclosure of Invention
Aiming at the defects and improvement requirements of the prior art, the invention provides a storage and supply system of a colloid micro-thruster, a flow closed-loop feedback control method and a flow closed-loop feedback control system, aims to solve the problems that the flow of a propellant in the existing colloid micro-thruster is difficult to directly measure and cannot be regulated and controlled in real time, and the like, and has the advantages of simple structure, strong operability and the like.
To achieve the above object, according to a first aspect of the present invention, there is provided a colloidal micro-thruster storage and supply system, comprising: the diaphragm tank, the piezoelectric micro valve and the heater;
the diaphragm tank is used for storing and pushing a propellant to flow into the piezoelectric micro valve, the outlet of the diaphragm tank is connected with the inlet of the piezoelectric micro valve, the inlet of the diaphragm tank is connected with the gas cylinder, and pressurized gas in the gas cylinder extrudes a film in the diaphragm tank to deform the film;
the outlet of the piezoelectric micro valve is connected with the propeller and used for controlling the flow of the propellant between the diaphragm tank and the propeller;
the heater is used for heating the propellant in the propeller so as to keep the physical properties of the propellant in accordance with the working requirements of the propeller.
Preferably, the storage and supply system further comprises: and the volume compensation device is positioned between the piezoelectric micro valve and the propeller. Considering that the propellant expands or contracts due to temperature change during shutdown, the propellant expansion at the downstream of the piezoelectric micro valve extrudes the propellant out of the propeller to cause misinjection, and the deformable elastic membrane is arranged in the volume compensation device, so that the volume change of the propellant can be compensated in real time.
Preferably, the storage and supply system further comprises: and the bubble eliminator is positioned between the diaphragm tank and the propeller and is used for eliminating bubbles in the propellant between the diaphragm tank and the propeller. The movement, expansion, contraction and collapse of the bubbles in the propellant can cause the propellant pressure and flow to fluctuate and, in severe cases, even clog the propeller. The inside pipeline that the pellicle was made of is the bubble annihilator, under the certain pressure differential effect in the inboard outside, because gas and liquid surface tension are different, gas can be released away and liquid can not reveal through the pellicle, consequently can realize the bubble elimination in the propellant.
Preferably, the storage and supply system further comprises: and the second piezoelectric micro valve is positioned between the piezoelectric micro valve and the volume compensation device and is used for further controlling the flow of the propellant.
Preferably, the storage and supply system further comprises: and the second volume compensation device is positioned between the piezoelectric micro valve and the second piezoelectric micro valve and is used for compensating the volume change of the propellant between the two piezoelectric micro valves caused by the temperature change. When the thruster is shut down, the propellant between the two piezoelectric micro valves expands or contracts due to temperature change, and the pressure rise generated by the expansion can break the seal of the piezoelectric micro valves to generate extra flow. The second volume compensation means may compensate for volume changes of the propellant between the piezoelectric microvalve and the second piezoelectric microvalve.
To achieve the above object, according to a second aspect of the present invention, there is provided a flow closed-loop feedback control method for controlling a storage and supply system according to the first aspect, comprising the steps of:
s1, acquiring the flow of a propellant entering a propeller in real time;
s2, calculating a difference value between the actual propellant flow and the set propellant flow, and inputting the difference value into a PID controller;
and S3, transmitting the control voltage signal output by the PID controller to the piezoelectric micro valve.
To achieve the above object, according to a third aspect of the present invention, there is provided a flow closed-loop feedback control system comprising: a computer-readable storage medium and a processor;
the computer-readable storage medium is used for storing executable instructions;
the processor is configured to read executable instructions stored in the computer-readable storage medium and execute the flow closed-loop feedback control method according to the second aspect.
To achieve the above object, according to a fourth aspect of the present invention, there is provided a colloid micro-thruster system including: a reservoir system according to the first aspect, a colloidal micropump, a flow sensor and a control system according to the third aspect;
the storage and supply system is connected with the colloid micro-thruster and is used for providing a certain flow of propellant for the colloid micro-thruster;
the flow sensor is used for detecting the flow of the propellant entering the colloid micro-propeller in real time and transmitting a flow signal to the control system;
the control system is used for controlling the piezoelectric micro-valve in the storage and supply system to realize controllable micro-flow supply of the propellant.
Preferably, the flow sensor is a thermal differential temperature flow sensor. Nl/min resolution and response times around 50ms can be achieved.
Generally, by the above technical solution conceived by the present invention, the following beneficial effects can be obtained:
(1) the invention provides a storage and supply system of a colloid micro-thruster, aiming at the problems that the propellant of the colloid micro-thruster is difficult to be stably supplied at a small flow rate, and the volume of the propellant is influenced by bubbles and temperature change.
(2) Aiming at the problem that the flow of the propellant is easily interfered by a system, the invention provides a closed-loop feedback control method for the flow of a storage and supply system of a colloid micro-propeller.
(3) The invention provides a micro-propeller system aiming at the problems that the flow of a propellant of a colloid propeller is easy to interfere and difficult to measure and control.
Drawings
FIG. 1 is a diagram of a colloid micro-thruster framework according to the present invention;
fig. 2 is a schematic diagram of PID feedback control provided by the present invention.
Fig. 3 is a structural diagram of a sensor chip provided by the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
The invention provides a storage and supply system of a colloid micro-thruster, as shown in figure 1, the storage and supply system comprises: the diaphragm tank, the piezoelectric micro valve and the heater;
the diaphragm tank is used for storing and pushing the propellant to flow into the piezoelectric micro valve, the outlet of the diaphragm tank is connected with the inlet of the piezoelectric micro valve, the inlet of the diaphragm tank is connected with the gas cylinder, and the pressurized gas in the gas cylinder extrudes the membrane in the diaphragm tank to deform the membrane.
And the outlet of the piezoelectric micro valve is connected with the propeller and used for controlling the flow of the propellant between the diaphragm tank and the propeller.
The heater is used to heat the propellant in the propellant to maintain the physical properties of the propellant in line with the operational requirements of the propellant.
In this embodiment, the membrane tank 1 is used to store propellant to meet the propellant requirements for long term operation of the thruster. The inside elastic membrane that has of diaphragm jar 1, elastic membrane one side is the propellant, and the opposite side is the pressurized gas who is connected with the gas cylinder, and the elastic membrane cuts apart propellant and pressurized gas, and pressurized gas accessible elastic membrane warp and promotes propellant outflow diaphragm jar to piezoelectricity microvalve 2. The piezoelectric micro valve 2 is deformed by the inverse piezoelectric effect of the piezoelectric ceramic, and the volume of the pump cavity is changed by the deformation, thereby realizing the output of the fluid. The magnitude of the output flow depends on the voltage waveform applied to the piezoelectric ceramic. The heater 3 provides the propellant with a working temperature of 10-30 ℃ or maintains a non-working temperature of 0-50 ℃. Propellant of a certain flow rate and temperature enters the propeller 4 and is ejected and accelerated by the force of an electric field.
Preferably, the storage and supply system further comprises: and the volume compensation device 5 is positioned between the piezoelectric micro valve and the propeller and is used for compensating the volume change of the propellant between the piezoelectric micro valve and the propeller.
The volume compensation means provides additional volume for propellant contraction or expansion due to temperature changes by means of a deformable membrane, and when the propellant expands, it can be pulled back from the tip of the propeller, thereby achieving a fast shut-down and preventing propellant from being expelled due to thermal expansion in the non-operating state.
Preferably, the storage and supply system further comprises: and the bubble eliminator 6 is positioned between the diaphragm tank and the propeller and is used for eliminating bubbles in the propellant between the diaphragm tank and the propeller.
Bubble annihilator utilizes the inside semi-permeable membrane pipeline to eliminate the bubble in the propellant, and after the propellant got into the semi-permeable membrane pipeline, because the semi-permeable membrane outside was the vacuum environment, including under the outside certain pressure differential effect, the surface tension difference of bubble and propellant led to the bubble to release away from in the semi-permeable membrane in the propellant, and the propellant can not reveal. Bubble elimination is important to proper operation of the propeller because the movement, expansion, contraction and collapse of the bubbles in the propellant can cause fluctuations in propellant pressure and flow, and in severe cases can even clog the propeller head. The bubble eliminator generally only functions when the thruster is turned on.
Preferably, the storage and supply system further comprises: and a second piezoelectric microvalve 7 located between the piezoelectric microvalve and the volume compensation means for further controlling the propellant flow.
Preferably, the storage and supply system further comprises: and a second volume compensation means 8 located between the piezoelectric microvalve and the second piezoelectric microvalve, wherein when the thruster is shut down, the propellant is trapped in a confined volume by the two piezoelectric microvalves and may expand due to temperature fluctuations. The pressure rise created by this expansion is sufficient to break the microvalve seal, creating additional flow. It is therefore desirable to compensate for the volume change of the propellant between the piezoelectric microvalve and the second piezoelectric microvalve.
As shown in fig. 2, the present invention provides a flow closed-loop feedback control method, which is used for controlling the storage and supply system, and includes the following steps:
s1, acquiring the flow of a propellant entering a propeller in real time.
And S2, calculating a difference value between the actual propellant flow and the set propellant flow, and inputting the difference value into the PID controller.
The PID controller generates a correction signal by an internal algorithm.
And S3, transmitting the control voltage signal output by the PID controller to the piezoelectric micro valve.
The piezoelectric micro valve realizes the feedback regulation of the flow according to the voltage and the frequency of the control voltage signal, and the output flow is corrected to realize the expected flow output.
The present invention provides a colloid micro-thruster system, as shown in fig. 1, comprising: the storage and supply system, the colloid micro-thruster, the flow sensor and the control system are arranged on the base;
the storage and supply system is connected with the colloid micro-thruster and is used for providing a certain flow of propellant for the colloid micro-thruster;
the flow sensor is used for detecting the flow of the propellant entering the colloid micro-propeller in real time and transmitting a flow signal to the control system;
the control system is used for controlling the piezoelectric micro-valve in the storage and supply system to realize controllable micro-flow supply of the propellant.
Preferably, the flow sensor is a thermal differential temperature flow sensor. The thermal temperature difference type flow sensor is integrated in a pipeline of the micro-propeller storage and supply system to realize real-time detection of the flow of the propellant.
The thermal differential temperature flow sensor includes: a sensor chip 9, a constant temperature difference circuit 10, a bridge circuit 11 and an amplifier 12.
The sensor chip 9 has a structure as shown in fig. 3, and the sensor substrate 103 is a heat insulating material. The inner wall of the substrate is deposited with a heating resistor, an upstream thermistor, a downstream thermistor and an environmental resistor by a photoetching sputtering process. The substrate 103 has fluid ports 101 and 102. 104 are hard materials such as glass, silicon, etc. on which sensor channels 105 are etched. Propellant flows into the sensor channel 105 through the inlet 101 and is detected by the thermistor on the sensor channel, and this flow signal is related to the temperature difference between the upstream and downstream thermistors, and thus the difference in resistance between the upstream and downstream thermistors.
The constant temperature difference circuit 10 maintains the temperature difference between the heating resistance and the environmental resistance constant. The bridge circuit 11 converts a temperature difference signal between the upstream thermistor and the downstream thermistor in the sensor channel into a voltage signal, and the converted voltage signal is input to the amplifier 12. The amplifier 12 amplifies the voltage signal and after analog to digital conversion is converted to a real time flow signal in the core processor.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (8)
1. A colloidal micropopulator storage and supply system, comprising: the device comprises a diaphragm tank, a piezoelectric micro valve, a volume compensation device and a heater;
the diaphragm tank is used for storing and pushing a propellant to flow into the piezoelectric micro valve, the outlet of the diaphragm tank is connected with the inlet of the piezoelectric micro valve, the inlet of the diaphragm tank is connected with the gas cylinder, and pressurized gas in the gas cylinder extrudes a film in the diaphragm tank to deform the film;
the outlet of the piezoelectric micro valve is connected with the propeller and used for controlling the flow of the propellant entering the propeller;
the heater is used for heating the propellant in the propeller so as to keep the physical properties of the propellant in accordance with the working requirement of the propeller;
the volume compensation device is positioned between the piezoelectric micro valve and the propeller, and a deformable elastic membrane is arranged in the volume compensation device and used for compensating the volume change of the propellant between the piezoelectric micro valve and the propeller caused by temperature change.
2. A storage and feeding system according to claim 1, further comprising: and the bubble eliminator is positioned between the diaphragm tank and the propeller and used for eliminating bubbles in the propellant between the diaphragm tank and the propeller.
3. A storage and supply system according to claim 1 or 2, wherein the storage and supply system further comprises: and the second piezoelectric micro valve is positioned between the piezoelectric micro valve and the volume compensation device and is used for further controlling the flow of the propellant.
4. The storage and supply system of claim 3, further comprising: and the second volume compensation device is positioned between the piezoelectric micro valve and the second piezoelectric micro valve and is used for compensating the volume change of the propellant between the two piezoelectric micro valves caused by the temperature change.
5. A closed-loop feedback control method for flow, for controlling the storage and supply system according to any one of claims 1 to 4, comprising the steps of:
s1, acquiring the flow of a propellant entering a propeller in real time;
s2, calculating a difference value between the actual propellant flow and the set propellant flow, and inputting the difference value into a PID controller;
and S3, transmitting the control voltage signal output by the PID controller to the piezoelectric micro valve.
6. A closed-loop feedback control system for flow, comprising: a computer-readable storage medium and a processor;
the computer-readable storage medium is used for storing executable instructions;
the processor is configured to read executable instructions stored in the computer readable storage medium to perform the method of closed-loop feedback control of flow as claimed in claim 5.
7. A colloidal micro-thruster system, comprising: the storage and supply system of any one of claims 1 to 4, the colloidal micropopulator, the flow sensor, and the closed-loop feedback control system of flow of claim 6;
the storage and supply system is connected with the colloid micro-thruster and is used for providing a certain flow of propellant for the colloid micro-thruster;
the flow sensor is used for detecting the flow of the propellant entering the colloid micro-propeller in real time and transmitting a flow signal to the control system;
the flow closed-loop feedback control system is used for controlling the piezoelectric micro valve in the storage and supply system to realize controllable micro-flow supply of the propellant.
8. The colloidal micropump system of claim 7, wherein the flow sensor is a thermal differential flow sensor.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| GB349834A (en) * | 1929-08-14 | 1931-06-04 | Maurice Charles | Improved means for compensating for changes in liquid volume due to temperature |
| US6892525B2 (en) * | 2003-06-06 | 2005-05-17 | Honeywell International Inc. | Micropump-based microthruster |
| US20110233344A1 (en) * | 2010-03-26 | 2011-09-29 | Hunter Charles E | Satellite control system |
| US9909574B1 (en) * | 2015-05-04 | 2018-03-06 | Cu Aerospace, Llc | Electrothermal space thruster heater for decomposable propellants |
| DE102017212927B4 (en) * | 2017-07-27 | 2019-05-02 | Airbus Defence and Space GmbH | Electric engine and method of operating an electric engine |
| CN112124634B (en) * | 2020-09-07 | 2023-12-22 | 兰州空间技术物理研究所 | Micro-flow storage and supply device for colloid propeller |
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Non-Patent Citations (1)
| Title |
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| 低温推进剂贮箱绝热性能实验研究;郑建朋等;《真空与低温》;20160229(第01期);全文 * |
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