CN113155467A - Online health management method based on advanced shutdown of liquid rocket sublevel engine - Google Patents
Online health management method based on advanced shutdown of liquid rocket sublevel engine Download PDFInfo
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- 239000007788 liquid Substances 0.000 title claims abstract description 31
- 230000036541 health Effects 0.000 title claims abstract description 26
- 238000007726 management method Methods 0.000 title claims abstract description 25
- 238000002955 isolation Methods 0.000 claims abstract description 39
- 238000003745 diagnosis Methods 0.000 claims abstract description 12
- 230000002159 abnormal effect Effects 0.000 claims abstract description 8
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- 239000003380 propellant Substances 0.000 claims description 14
- 230000015556 catabolic process Effects 0.000 claims description 2
- 230000010006 flight Effects 0.000 claims 1
- WFPZPJSADLPSON-UHFFFAOYSA-N dinitrogen tetraoxide Chemical compound [O-][N+](=O)[N+]([O-])=O WFPZPJSADLPSON-UHFFFAOYSA-N 0.000 description 8
- 238000000926 separation method Methods 0.000 description 8
- RHUYHJGZWVXEHW-UHFFFAOYSA-N 1,1-Dimethyhydrazine Chemical compound CN(C)N RHUYHJGZWVXEHW-UHFFFAOYSA-N 0.000 description 4
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 4
- 230000005484 gravity Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000001360 synchronised effect Effects 0.000 description 4
- MYMOFIZGZYHOMD-UHFFFAOYSA-N Dioxygen Chemical compound O=O MYMOFIZGZYHOMD-UHFFFAOYSA-N 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000007257 malfunction Effects 0.000 description 2
- 230000000246 remedial effect Effects 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- UFHFLCQGNIYNRP-UHFFFAOYSA-N Hydrogen Chemical compound [H][H] UFHFLCQGNIYNRP-UHFFFAOYSA-N 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
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- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M15/00—Testing of engines
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Abstract
The invention discloses an online health management method based on early shutdown of a liquid rocket sublevel engine, which comprises the following steps: acquiring flight state parameters of the liquid rocket; inputting the flight state parameters into a specific fault diagnoser to carry out flight abnormity diagnosis; if the flight state is abnormal, judging a preset typical fault; if the typical fault is judged, judging the condition that the isolation condition is met; if the isolation condition is met, performing fault isolation action, closing the fault sublevel engine and separating the fault sublevel engine; re-optimizing the orbit entering trajectory of the spacecraft to complete subsequent flight, if the spacecraft meets the orbit entering precision, successfully avoiding the fault, and if the spacecraft does not meet the orbit entering precision, entering the preset orbit through self orbit changing. The online health management method can avoid loss caused by flight faults to the maximum extent, greatly improve the intelligent level and typical fault adaptability of the rocket, and improve the flight safety and reliability of the rocket.
Description
Technical Field
The invention belongs to the technical field of carrier rocket flight control, and particularly relates to an online health management method based on early shutdown of a liquid rocket sublevel engine.
Background
The power system failure is the most important factor for causing flight loss, and the typical failure mode of the power system of the liquid carrier rocket is that the thrust is reduced or disappears, so that the power system is not enough to provide enough propulsive power for the flying rocket body and finally crashes under the action of self gravity.
The rocket power system continuously provides propellant and propulsion power for rocket flight, the thrust is impulse under the accumulation of time, and the impulse is converted into the momentum of the rocket body according to the momentum theorem. In the working period of the liquid rocket sublevel engine, if a typical fault occurs, the thrust of the sublevel engine is reduced or reduced to zero, so that the total impulse loss provided by the rocket sublevel for flight is caused, and the total impulse loss is expressed as the loss of rocket momentum increment; meanwhile, the flying rocket body is continuously dragged under the action of gravity of the fault sublevel, and the gravity impulse inhibits the acceleration of the rocket. Aiming at a typical failure mode that the thrust of the liquid rocket module is reduced or disappeared, a fault isolation measure which is simple in logic, strong in universality and effective is urgently needed to be designed.
Disclosure of Invention
In view of the above, the invention provides an online health management method based on early shutdown of a liquid rocket secondary engine, which can avoid loss caused by flight faults to the greatest extent, greatly improve the intelligent level and typical fault adaptability of a rocket, and improve the flight safety and reliability of the rocket.
The invention is realized by the following technical scheme:
an online health management method based on early shutdown of a liquid rocket sublevel engine comprises the following steps:
acquiring flight state parameters of the liquid rocket;
inputting the flight state parameters into a specific fault diagnoser to carry out flight abnormity diagnosis;
if the flight state is abnormal, judging a preset typical fault;
if the typical fault is judged, judging the condition that the isolation condition is met;
if the isolation conditions are met, performing fault isolation action, closing the fault sublevel engine and separating the fault sublevel engine;
re-optimizing the orbit entering trajectory of the spacecraft to complete subsequent flight, if the spacecraft meets the orbit entering precision, successfully avoiding the fault, and if the spacecraft does not meet the orbit entering precision, entering the preset orbit through self orbit changing.
Further, in the step of making the preset typical failure determination, the typical failure is a thrust down of the power system.
Still further, the typical failure is a thrust loss.
Further, in the step of making the preset typical malfunction determination, the typical malfunction is a propellant leak after the engine is started.
Further, in the step of making the preset typical failure determination, the typical failure is a turbo pump breakdown after the engine is started.
Further, in the performing of the isolation condition satisfaction condition determination step, the isolation condition is that the fault-free operation time of the sub-stage engine is greater than the allowable shutdown time.
Furthermore, in the step of re-optimizing the orbit trajectory of the spacecraft to complete the subsequent flight, the orbit trajectory is adjusted in an iterative guidance mode.
Has the advantages that:
according to the online health management method based on the early shutdown of the liquid rocket sublevel engine, flight state parameters of the liquid rocket are diagnosed through the specific fault diagnoser, fault isolation action is carried out when a typical fault occurs and isolation conditions are met, the fault sublevel engine is shut down in advance and is separated, so that the spacecraft is in orbit to complete subsequent flight; particularly, when the faults of the secondary engine in the working period occur later and the total impulse loss is small, under the condition that the residual propellant energy and the available impulse of the rocket can meet the requirement of the spacecraft for entering a lower orbit, the flying rocket body has the salvageable basic condition in the aspect of dynamics, the loss caused by flight faults can be avoided to the greatest extent, the intelligent level and the typical fault adaptability of the rocket are greatly improved, and the flight safety and the reliability of the rocket are improved. The method has a considerable application prospect, can be applied to liquid rocket flight control, and has great significance for reducing rocket fault influence, improving flight reliability and saving flight mission loss in a typical fault mode.
Drawings
FIG. 1 is a flow chart of an online health management method based on early shutdown of a liquid rocket substage engine according to the present invention;
FIG. 2 is a working schematic diagram of the online health management method based on early shutdown of a liquid rocket substage engine.
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
Aiming at the flight fault of the carrier rocket, online health management measures can be taken in time or the occurrence of the crash and the loss of the carrier rocket can be avoided. The online health management is suitable for a rocket flight phase, is a real-time coping means for flight faults, and aims to reduce the fault influence degree or prevent accidents by adopting fault diagnosis, fault isolation and subsequent online planning and remedial measures so as to save task loss to the maximum extent.
The embodiment provides an online health management method based on early shutdown of a liquid rocket sublevel engine, which adopts fault isolation and subsequent remedial measures aiming at a typical fault situation that thrust of a liquid rocket descends or disappears in the flying process, and referring to fig. 1, the method comprises the following steps:
step S10, acquiring flight state parameters of the liquid rocket; various operating parameters of the engines of the various substages of the liquid rocket can be acquired by sensors, such as: thrust, time, etc.;
step S20, inputting the flight state parameters into a specific fault diagnoser for flight abnormity diagnosis; comparing the acquired flight state parameters with preset state parameters, and judging the flight state of the liquid rocket to be in an abnormal state when the flight state parameters do not meet the preset state parameter value range; the fault detection is the basis of online health management, whether the flight state of the rocket is normal or not is judged through real-time monitoring of parameters measured on the rocket, and fault diagnosis can be realized through various means based on historical envelopes, knowledge assistance, preset models, rule reasoning, prior information, artificial intelligence and the like;
step S30, if the flight state is abnormal, judging a preset typical fault; in the step of determining the preset typical fault, the typical fault may be a thrust drop of the power system, a thrust loss of the power system, a propellant leakage after the engine is started, or a turbo pump damage after the engine is started;
step S40, if the typical fault is judged, the isolation condition is judged to be satisfied; in the step of judging whether the isolation condition is met, the isolation condition is that the fault-free working time of the sublevel engine is longer than the allowable shutdown time;
step S50, if the isolation condition is satisfied, the fault isolation action is carried out, the fault sublevel engine is closed and the fault sublevel engine is separated; fault isolation is a necessary action taken against an online fault, and aims to cut off the continuous propagation and evolution of the fault, and prevent more and larger secondary faults;
step S60, re-optimizing the orbit entering trajectory of the spacecraft to complete subsequent flight, wherein if the spacecraft meets the orbit entering precision, the fault avoidance is successful, and if the spacecraft does not meet the orbit entering precision, the spacecraft enters a preset orbit through self orbit changing; in the step of re-optimizing the orbit trajectory of the spacecraft to complete subsequent flight, the orbit trajectory can be adjusted in an iterative guidance mode.
The core of the online health management method is fault isolation, the fault isolation strategy is the early shutdown and separation of a liquid rocket fault sublevel engine, the typical scene of the fault isolation strategy is insufficient thrust, the fault isolation strategy is based on the premise that the residual energy of a liquid rocket propellant meets the basic requirement of entering space, and the essence of the fault isolation strategy is to get rid of the influence of gravity of a fault module in time and compensate the energy loss of the rocket by the energy of the propellant carried by a satellite; the fault isolation strategy has wide applicability, and meets the health management requirements of all types of liquid propellant rocket modules; the flexibility of the fault isolation strategy is that only specific fault phenomena are targeted, the fault generation reason does not need to be determined, and the fault diagnosis threshold is reduced.
Compared with the existing liquid rocket flight control technology, the online health management strategy of fault detection, early shutdown and separation, iterative guidance and self orbital transfer is introduced, so that the dynamic fault working condition after shutdown is allowed can be adapted, the rocket has regeneration capacity under the fault condition, and flight loss is avoided to the greatest extent.
The online health management method can avoid loss caused by flight faults to the maximum extent, greatly improve the intelligent level and typical fault adaptability of the rocket, and improve the flight safety and reliability of the rocket. The method has a considerable application prospect, can be applied to liquid rocket flight control, and has great significance for reducing rocket fault influence, improving flight reliability and saving flight mission loss in a typical fault mode.
The following will explain details using specific examples.
Example 1
The carrier rocket is of a two-stage configuration, each stage of configuration adopts dinitrogen tetroxide and unsymmetrical dimethylhydrazine propellant, the sea level thrust of the first stage rocket is 300t, the working time is 145s, the vacuum thrust of the second stage rocket is 75t, the working time is 160s, the thrust of the second stage rocket motor is 5t, the working time is 500s, and the sun synchronous orbit carrying capacity is 1.2t at 700 km. When the parameters of the first-stage rocket engine are abnormal after the rocket takes off for 100s, the engine thrust is judged to disappear through fault diagnosis, the allowable shutdown time of the first-stage rocket engine is 140s, at the moment, the typical fault isolation condition is not met, the first-stage rocket cannot be shut down in advance and the separation measures cannot avoid the loss of the tasks, and the task launching fails.
Example 2
The carrier rocket is of a two-stage configuration, each stage of configuration adopts dinitrogen tetroxide and unsymmetrical dimethylhydrazine propellant, the sea level thrust of the first stage rocket is 300t, the working time is 145s, the vacuum thrust of the second stage rocket is 75t, the working time is 160s, the thrust of the second stage rocket motor is 5t, the working time is 500s, and the sun synchronous orbit carrying capacity is 1.2t at 700 km. When 143s later stage of rocket launching is judged that the thrust of the engine disappears through fault diagnosis, the allowable shutdown time of the first stage of rocket engine is 140s, the typical fault isolation condition is met, the first stage of rocket starts the measures of shutdown and separation in advance, the orbit entering can be completed after iterative guidance, the spacecraft can be sent into a preset orbit according to the design of the carrier rocket allowance, the fault evasion is successful, and the launching task is successful.
Example 3
The carrier rocket is of a two-stage configuration, each stage of configuration adopts dinitrogen tetroxide and unsymmetrical dimethylhydrazine propellant, the sea level thrust of the first stage rocket is 300t, the working time is 145s, the vacuum thrust of the second stage rocket is 75t, the working time is 160s, the thrust of the second stage rocket motor is 5t, the working time is 500s, and the sun synchronous orbit carrying capacity is 1.2t at 700 km. When 141s later stage of rocket launching is judged that the thrust of the engine disappears through fault diagnosis, the allowable shutdown time of the first stage of rocket engine is 140s, the typical fault isolation condition is met, the first stage of rocket starts the measures of shutdown and separation in advance, the spacecraft can enter a lower orbit after iterative guidance, the spacecraft can enter a preset orbit through self orbit change, the fault evasion is successful, and the launching task is basically successful.
Example 4
The carrier rocket is of a two-stage half structure, four boosters are bound, each module adopts liquid oxygen kerosene propellant, the sea level thrust of a single booster is 120t, the working time is 173s, the sea level thrust of a first-stage rocket is 240t, the working time is 185s, the vacuum thrust of a second-stage rocket is 72t, the working time is 400s, and the sun synchronous orbit carrying capacity is 5.5t for 700 kilometers. When the parameters of four booster engines are abnormal after the rocket takes off for 170s, the engine thrust is judged to disappear through fault diagnosis, the allowed shutdown time of the booster engines is 168s, the typical fault isolation condition is met, four booster engines start the measures of shutdown in advance and isolation, the booster engines can enter a lower orbit after iterative guidance, the spacecraft can enter a preset orbit through self orbit changing, the fault avoidance is successful, and the launching task is basically successful.
Example 5
The carrier rocket is of a three-stage configuration, the two-stage rocket adopts dinitrogen tetroxide and unsymmetrical dimethylhydrazine propellant, the three-stage rocket adopts liquid hydrogen liquid oxygen propellant, the sea level thrust of the first-stage rocket is 300t, the working time is 146s, the vacuum thrust of the second-stage rocket is 75t, the working time is 123s, the thrust of the third-stage rocket is 16t, and the carrier rocket has two-time starting capacity, wherein the first-time starting working time is 320s, the sliding time is 600s, the second-time starting working time is 120s, and the standard geosynchronous transfer orbital carrying capacity is 2.6 t. When the parameters of a secondary rocket engine are abnormal after the rocket takes off 267s, the thrust of the engine is judged to disappear through fault diagnosis, the shutdown time of the secondary rocket engine is allowed to be 120s, typical fault isolation conditions are met, the secondary rocket starts early shutdown and separation measures, the secondary rocket can enter a near-earth orbit of 200 kilometers after iterative guidance, the spacecraft can enter a preset orbit through self orbit change, the fault avoidance is successful, and the launching task is basically successful.
FIG. 2 is a schematic diagram illustrating the operation of an on-line health management method based on early shutdown of a liquid rocket engine in sub-stage, wherein t0For the start-up time, t, of the liquid sublevel of the launch vehicle1、t2Shutdown and disconnect moments, t, for not meeting fault isolation conditions3Is aStage allowed shutdown time, t4、t5To meet the shutdown and separation time of the fault isolation condition, t6 is the sub-level preset shutdown time, t7The separation moment is preset for the sub-stage.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. The online health management method based on the early shutdown of the liquid rocket sublevel engine is characterized by comprising the following steps of:
acquiring flight state parameters of the liquid rocket;
inputting the flight state parameters into a specific fault diagnoser to carry out flight abnormity diagnosis;
if the flight state is abnormal, judging a preset typical fault;
if the typical fault is judged, judging the condition that the isolation condition is met;
if the isolation condition is met, performing fault isolation action, closing the fault sublevel engine and separating the fault sublevel;
re-optimizing the orbit entering trajectory of the spacecraft to complete subsequent flight, if the spacecraft meets the orbit entering precision, successfully avoiding the fault, and if the spacecraft does not meet the orbit entering precision, entering the preset orbit through self orbit changing.
2. The online health management method of claim 1, wherein in the step of making a preset typical fault determination, the typical fault is a thrust down of the power system.
3. The online health management method of claim 2, wherein the typical failure is a thrust loss.
4. The online health management method of claim 1, wherein in the step of making a preset typical failure determination, the typical failure is a propellant leakage after an engine start.
5. The online health management method of claim 1, wherein in the step of making a preset typical fault determination, the typical fault is a turbo pump breakdown after an engine start.
6. The online health management method according to any one of claims 1 to 5, wherein in the isolation condition satisfaction condition determination step, the isolation condition is that a fault-free operation time of the sub-stage engine is greater than an allowable shutdown time.
7. The online health management method of any of claims 1-5, wherein the inbound trajectory is adjusted by iterative guidance during the step of re-optimizing the inbound trajectory of the spacecraft for subsequent flights.
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Cited By (4)
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| CN114060171A (en) * | 2021-09-14 | 2022-02-18 | 航天科工火箭技术有限公司 | Rocket and rocket propellant sloshing inhibition method and device |
| CN114360323A (en) * | 2022-01-11 | 2022-04-15 | 安胜（天津）飞行模拟系统有限公司 | Method for separating simulation engine and displaying EGT (expanded text transfer) red box on flight simulator |
| CN114371734A (en) * | 2022-01-07 | 2022-04-19 | 中国人民解放军63921部队 | Trajectory optimization method based on Gaussian pseudo-spectral method, electronic device and storage medium |
| CN115186779A (en) * | 2022-09-14 | 2022-10-14 | 北京星河动力装备科技有限公司 | Method, system and equipment for constructing rocket high-altitude flight test health monitoring system |
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Cited By (6)
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| CN114060171A (en) * | 2021-09-14 | 2022-02-18 | 航天科工火箭技术有限公司 | Rocket and rocket propellant sloshing inhibition method and device |
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| CN114371734A (en) * | 2022-01-07 | 2022-04-19 | 中国人民解放军63921部队 | Trajectory optimization method based on Gaussian pseudo-spectral method, electronic device and storage medium |
| CN114360323A (en) * | 2022-01-11 | 2022-04-15 | 安胜（天津）飞行模拟系统有限公司 | Method for separating simulation engine and displaying EGT (expanded text transfer) red box on flight simulator |
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| CN115186779A (en) * | 2022-09-14 | 2022-10-14 | 北京星河动力装备科技有限公司 | Method, system and equipment for constructing rocket high-altitude flight test health monitoring system |
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