CN113191097B - On-orbit application method of solid cold air micro-propulsion module - Google Patents
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Abstract
An on-orbit application method of a solid cold air micro-propulsion module belongs to the technical field of space propulsion. The invention conventionally adopts the problem of calculating the track control time by adopting the linear average thrust, determines the thrust output model of the module through an on-track calibration model, and calculates the accurate time required by track control through a nonlinear programming optimization method; the method can be widely applied to high-precision orbit maneuver control and on-orbit calibration of the solid cold air micro-propulsion module.
Description
Technical Field
The invention relates to an on-orbit application method of a solid cold air micro-propulsion module, and belongs to the technical field of space propulsion.
Background
The solid cold air micro-propulsion module technology is an important direction of the micro-propulsion module technology development due to the advantages of safety, long-term storage, goods shelves and the like. Three units of TNO corporation (NetherlADNs Organisation for Applied Scientific Research), TU (Delft Delft University of Technology), UTwente (University of Twente) in the Netherlands jointly initiated a study of T3. Mu. PS (TNO, TU Delft, UTwente Micro Propulsion System), which successfully mastered the related art of cold gas generators and the like. The solid cold air generator system can effectively save the volume and the mass of the propulsion system, does not need a high-pressure air storage structure and a pressure regulating device, has long storage time, does not leak, does not need a high-pressure device, is modularized, is easy to integrate, and can integrate different numbers of cold air generators according to different needs. However, no on-orbit application method is queried from the documents disclosed at home and abroad. Only the solid cold air micro-propulsion module adopted by Beijing control engineering institute internationally completes the high-precision orbit control task.
When the solid cold air micro-propulsion module is used as a power device to perform track control, the time calculation required by the track control is an important parameter, and the track control precision is directly affected. The single-component propulsion system in the present stage has small thrust change in a certain time, the current thrust is obtained through a fitting curve of pressure and thrust when the single-component micro-propulsion system performs track control, the pressure after track control is calculated according to the required propellant, the thrust after track control is further obtained, and the required time is calculated through the average thrust before and after track control. The existing on-orbit calibration method predicts according to the average thrust, is not suitable for the characteristic of large pressure transient variation in the air chamber of the solid cold air micro propulsion module, and the thrust is in real-time variation.
The solid cold air micro-propulsion module works in a falling pressure mode on an orbit, when the solid cold air micro-propulsion module works, transient characteristics of pressure change are high, thrust force is changed greatly in real time, each time the generator works, the module can be reduced to about 0.1MPa from 1.3MPa to 2MPa, when the thruster works, the thrust force is changed in real time, the pressure change is nonlinear, and accurate orbit control time cannot be obtained effectively by calculating time required by average thrust force.
Disclosure of Invention
The invention solves the technical problems that: the method comprises the steps of determining a thrust output model of the module through an on-orbit calibration model, and calculating the accurate time required by on-orbit control through a nonlinear programming optimization method; the method can be widely applied to high-precision orbit maneuver control and on-orbit calibration of the solid cold air micro-propulsion module.
The technical scheme of the invention is as follows: an on-orbit application method of a solid cold air micro-propulsion module comprises the following steps:
high-purity nitrogen is introduced into the ground to calibrate the thrust output characteristics, so that a thrust model of the thruster is obtained;
when the whole star is applied, the impulse required by the track control height is calculated according to the track control height;
determining the gas quality in the gas chamber in the current state according to the telemetered pressure and temperature;
and solving the rail control working time according to the required impulse and the gas quality in the gas chamber in the current state as the input of a thrust model.
Further, the method for calibrating the thrust output characteristics by introducing high-purity nitrogen through the ground comprises the following steps:
determining the current gas quality in the gas chamber according to the telemetering pressure and temperature;
determining the speed increment to be provided according to the track change requirement, thereby determining the impulse I cal ；
Measuring the pressure P after calibration f Temperature T f Determining the mass of the gas remaining in the current gas chamber, thereby determining the mass of the gas consumed;
according to impulse I cal Determining a calibrated average specific impulse by using the consumed gas mass;
determining a characteristic speed according to the telemetering average temperature, solving a thrust integral model according to the average specific impulse, the working time and the impulse, and carrying out thrust model correction by adopting a nonlinear programming optimization algorithm;
determining a thrust model correction coefficient;
and solving the correction coefficient by adopting a nonlinear programming minimization function, and determining a thrust model.
Further, the thrust model is
Wherein F is t For thrust (or->
Repair for thrust modelPositive coefficient, cf is thrust coefficient, A t Is the throat area of the thruster, P c The working pressure of the solid cold air micro-propulsion module is provided.
Further, the method for determining the current gas quality in the gas chamber according to the telemetry pressure and temperature comprises the following steps: from P c V c ＝nRT c Calculating the current gas mass n in the gas chamber; wherein V is c The volume of the solid cold air micro-propulsion module is 8.31, R is the gas constant, T c Is the temperature of the gas in the solid cold air micro-propulsion module.
Further, the consumed gas mass is
Wherein P is 0 For the pressure in the solid cold air micro-propulsion module before rail change, P f For the pressure in the solid cold air micro-propulsion module after rail change, T 0 For solid cold air micro-propulsion module temperature, M N2 Is the molar mass of nitrogen, 28g/mol.
Further, the calibration average specific impulse is
Wherein Δm is cal For controlling the mass of gas consumed.
Further, the nonlinear programming minimization function is
Wherein tf is the track control end time, P t Is the pressure in the solid cold air micro-propulsion module.
An on-orbit application system of a solid cold air micro-propulsion module, comprising:
the first module is used for calibrating the thrust output characteristics by introducing high-purity nitrogen into the ground, so as to obtain a thrust model of the thruster;
the second module calculates the required impulse according to the orbit control height in the current whole satellite application;
a third module for determining the gas quality in the gas chamber in the current state according to the telemetered pressure and temperature;
and a fourth module for solving the track control working time according to the required impulse and the gas quality in the current state gas chamber as the input of the thrust model.
Further, the method for calibrating the thrust output characteristics by introducing high-purity nitrogen through the ground comprises the following steps:
determining the current gas quality in the gas chamber according to the telemetering pressure and temperature;
determining the speed increment to be provided according to the track change requirement, thereby determining the impulse I cal ；
Measuring the pressure P after calibration f Temperature T f Determining the mass of the gas remaining in the current gas chamber, thereby determining the mass of the gas consumed;
according to impulse I cal Determining a calibrated average specific impulse by using the consumed gas mass;
determining a characteristic speed according to the telemetering average temperature, solving a thrust integral model according to the average specific impulse, the working time and the impulse, and carrying out thrust model correction by adopting a nonlinear programming optimization algorithm;
determining a thrust model correction coefficient;
solving a correction coefficient by adopting a nonlinear programming minimization function, and determining a thrust model;
the thrust model is
Wherein F is t For thrust (or->
Is the correction coefficient of the thrust model, cf is the thrust coefficient, A t Is the throat area of the thruster, P c Working pressure of the solid cold air micro-propulsion module is set;
the method for determining the current gas quality in the gas chamber according to the telemetry pressure and the temperature comprises the following steps: from P c V c ＝nRT c Calculating the current gasThe indoor gas mass n; wherein V is c The volume of the solid cold air micro-propulsion module is 8.31, R is the gas constant, T c The temperature of the gas in the solid cold air micro-propulsion module is set;
the consumed gas mass is
Wherein P is 0 For the pressure in the solid cold air micro-propulsion module before rail change, P f For the pressure in the solid cold air micro-propulsion module after rail change, T 0 For solid cold air micro-propulsion module temperature, M N2 Is the molar mass of nitrogen, 28g/mol;
the calibrated average specific impulse is
Wherein Δm is cal The mass of the gas consumed for the rail control;
the nonlinear programming minimization function is
Wherein tf is the track control end time, P t Is the pressure in the solid cold air micro-propulsion module.
A computer readable storage medium storing a computer program which when executed by a processor performs the steps of the method for on-orbit application of a solid cold air micro-propulsion module.
Compared with the prior art, the invention has the advantages that:
(1) An accurate model of the thrust output of the solid cold air micro-propulsion module is established. Based on the cold air thruster and the flow calculation dynamic model of the solid cold air micro propulsion module, a solid cold air micro propulsion module thrust output model can be established, and the thrust output by the module air chamber in real time can be accurately obtained.
(2) An on-orbit calibration method and a flow based on the solid cold air micro propulsion module are established, and the performance parameters of the thruster are obtained by inputting high-purity nitrogen into the ground to calibrate the thrust output characteristics. And determining the correction coefficient of the on-orbit thrust model by a nonlinear optimization method according to the track change condition and the telemetry pressure temperature.
(3) The method for precisely calculating the original value of the on-orbit output time of the solid cold air micro-propulsion module is established. The solid cold air micro-propulsion module thruster adopts a pressure-dropping type working. According to an ideal gas state equation and a related calculation model of the thruster, a thrust time curve of the module in the working process of the thruster can be calculated, and impulse in a certain time period can be obtained by integrating the thrust in the time period.
(4) The invention considers a plurality of physical variables such as gas production amount, temperature, pressure and module structure parameters of the gas generator coupled with the working of the thruster, and can establish an accurate thrust model. By the method, the accurate calculation of the thrust time required by the on-orbit can be realized, the consumed gas quality can be saved, and the orbit control precision is improved.
Drawings
FIG. 1 is a flow chart of the method of the present invention.
Detailed Description
The invention is further explained and illustrated below with reference to the drawing and the specific embodiments of the present specification.
As shown in FIG. 1, the on-orbit application method of the solid cold air micro-propulsion module mainly comprises an on-orbit calibration method and a calculation model, wherein the thrust output model of the module is determined through the on-orbit calibration model, and the accurate time required by the on-orbit control is obtained through calculation of a nonlinear optimization algorithm.
(1) On-orbit calibration model for solid cold air micro-propulsion module is established
And (3) inputting high-purity nitrogen to the ground for calibrating the thrust output characteristics, so that the performance parameters of the thruster are obtained. And determining the on-orbit equivalent combined thrust related characteristic according to the track change condition and the telemetry pressure temperature. The solid cold air micro-propulsion module is characterized in that a cold air generator generates air, the air is pressurized to a certain pressure, the air is discharged and controlled through a cold air thruster, and a module internal pressure model after the generator works, a thruster working process module internal pressure change model and a thruster working time calculation model are built in the solid cold air micro-propulsion module.
(a) And determining the current gas quality in the gas chamber according to the telemetering pressure and temperature.
P 0 V c ＝nRT 0 (1)
(b) Determining the speed increment to be provided according to the track change requirement, thereby determining the impulse I cal 。
(c) Measuring the pressure P after calibration f Temperature T f Determining the mass of gas remaining in the current chamber and thereby determining the mass of gas consumed Δm cal 。
(d) And determining a calibration average specific impulse according to the impulse and the consumed gas mass.
(e) And determining the characteristic speed according to the telemetering average temperature, solving a thrust integral model according to the average specific impulse, the working time and the impulse, and carrying out thrust model correction by adopting a nonlinear programming optimization algorithm. Determining a thrust model correction factor
And setting rail control time on the rail, performing rail control, and correcting the thrust coefficient according to the measured rail control height.
And solving by using a non-linear programming Min function by adopting Matlab.
(f) Correction of positive coefficients based on solution
Determining a thrust model:
(g) Obtaining a thrust-time fitting curve
The relation model of the thrust and the time and the relation model of the pressure and the time can be calculated according to the formula
F(t)＝f(t) (9)
P(t)＝g(t) (10)
n is the gas molar mass, M is the gas mass in the gas chamber, M N2 Molecular weight of nitrogen 28, n=m/M N2 。A t Is the area of the throat of the nozzle. P (P) 0 For initial pressure in the air chamber at the time of calibration, P f For the purpose of calibrating the pressure in the post-air chamber,
for the flow rate of the thruster,
is a thrust correction coefficient. R is a gas constant, and Cf is a thrust coefficient. P (P) t Is the pressure in the air chamber in the thrust output process, t 0 To calibrate the start time, t f The end time is calibrated.
(2) An accurate model of thrust and impulse output of the solid cold air micro-propulsion module is established
Based on the cold air thruster and the flow calculation dynamic model of the solid cold air micro-propulsion module, a solid cold air micro-propulsion module thrust output model can be established according to formulas (4) - (6), and the thrust output by the module air chamber in real time can be accurately obtained. The solid cold air micro-propulsion module thruster adopts a pressure-dropping type working. According to an ideal gas state equation and a related calculation model of the thruster, a thrust time curve of the module can be calculated and obtained in the working process of the generator, and impulse in a certain time period can be obtained by integrating the thrust in the time period.
(3) Method for establishing accurate calculation of original value of on-orbit output time of solid cold air micro-propulsion module
The solid cold air micro-propulsion module thruster adopts a pressure-dropping type working. According to an ideal gas state equation and a related calculation model of the thruster, a thrust time curve of the module in the working process of the thruster can be calculated, and impulse in a certain time period can be obtained by integrating the thrust in the time period.
(a) For whole star application, calculating the required impulse I according to the current track control height re ；
(b) Based on telemetry pressure P c Temperature T c Determining the gas quality in the gas chamber in the current state;
P c V c ＝nRT c (15)
(c) And (3) solving a thrust time integral equation according to a formula (7), and determining the working time tf.
Based on the same inventive concept as fig. 1, the present invention also provides an on-orbit application system of a solid cold air micro-propulsion module, comprising:
the first module is used for calibrating the thrust output characteristics by introducing high-purity nitrogen into the ground, so as to obtain a thrust model of the thruster;
the second module calculates the required impulse according to the orbit control height in the current whole satellite application;
a third module for determining the gas quality in the gas chamber in the current state according to the telemetered pressure and temperature;
and a fourth module for solving the track control working time according to the required impulse and the gas quality in the current state gas chamber as the input of the thrust model.
Further, the method for calibrating the thrust output characteristics by introducing high-purity nitrogen through the ground comprises the following steps:
determining the current gas quality in the gas chamber according to the telemetering pressure and temperature;
determining the speed increment to be provided according to the track change requirement, thereby determining the impulse I cal ；
Measuring the pressure P after calibration f Temperature T f Determining the mass of the gas remaining in the current gas chamber, thereby determining the mass of the gas consumed;
according to impulse I cal Determining a calibrated average specific impulse by using the consumed gas mass;
determining a characteristic speed according to the telemetering average temperature, solving a thrust integral model according to the average specific impulse, the working time and the impulse, and carrying out thrust model correction by adopting a nonlinear programming optimization algorithm;
determining a thrust model correction coefficient;
solving a correction coefficient by adopting a nonlinear programming minimization function, and determining a thrust model;
further, the thrust model is
Wherein F is t For thrust (or->
Is the correction coefficient of the thrust model, cf is the thrust coefficient, A t Is the throat area of the thruster, P c Working pressure of the solid cold air micro-propulsion module is set;
in one possible implementation, the method for determining the current gas quality in the gas chamber according to the telemetry pressure and temperature is as follows: from P c V c ＝nRT c Calculating the current gas mass n in the gas chamber; wherein V is c The volume of the solid cold air micro-propulsion module is 8.31, R is the gas constant, T c The temperature of the gas in the solid cold air micro-propulsion module is set;
in one possible implementation, the consumed gas mass is
Wherein P is 0 For the pressure in the solid cold air micro-propulsion module before rail change, P f For the pressure in the solid cold air micro-propulsion module after rail change, T 0 For solid cold air micro-propulsion module temperature, M N2 Is the molar mass of nitrogen, 28g/mol;
in one possible implementation, the calibrated average specific impulse is
Wherein Δm is cal The mass of the gas consumed for the rail control;
in one possible implementation, the nonlinear programming minimization function is
Wherein tf is the track control end time, P t Is the pressure in the solid cold air micro-propulsion module.
What is not described in detail in the present specification is a well known technology to those skilled in the art.
Claims (10)
1. An on-orbit application method of a solid cold air micro-propulsion module is characterized by comprising the following steps:
high-purity nitrogen is introduced into the ground to calibrate the thrust output characteristics, and a nonlinear programming optimization algorithm is adopted to obtain a thrust model of the thruster;
when the whole star is applied, the impulse required by the track control height is calculated according to the track control height;
determining the gas quality in the gas chamber in the current state according to the telemetered pressure and temperature;
and solving the rail control working time according to the required impulse and the gas quality in the gas chamber in the current state as the input of a thrust model.
2. The on-orbit application method of the solid cold air micro-propulsion module according to claim 1, wherein the method for calibrating the thrust output characteristics by introducing high-purity nitrogen through the ground comprises the following steps:
determining the current gas quality in the gas chamber according to the telemetering pressure and temperature;
determining the speed increment to be provided according to the track change requirement, thereby determining the impulse I cal ；
Measuring the pressure P after calibration f Temperature T f Determining the mass of the gas remaining in the current gas chamber, thereby determining the mass of the gas consumed;
according to impulse I cal Determining a calibrated average specific impulse by using the consumed gas mass;
determining a characteristic speed according to the telemetering average temperature, solving a thrust integral model according to the average specific impulse, the working time and the impulse, and carrying out thrust model correction by adopting a nonlinear programming optimization algorithm;
determining a thrust model correction coefficient;
and solving the correction coefficient by adopting a nonlinear programming minimization function, and determining a thrust model.
3. The method for on-orbit application of a solid cold air micro-propulsion module according to claim 2, wherein the method comprises the following steps: the thrust model is
Wherein F is t For thrust (or->
Is the correction coefficient of the thrust model, cf is the thrust coefficient, A t Is the throat area of the thruster, P c The working pressure of the solid cold air micro-propulsion module is provided.
4. According to claim 3The on-orbit application method of the solid cold air micro-propulsion module is characterized by comprising the following steps of: the method for determining the current gas quality in the gas chamber according to the telemetry pressure and the temperature comprises the following steps: from P c V c ＝nRT c Calculating the current gas mass n in the gas chamber; wherein V is c The volume of the solid cold air micro-propulsion module is 8.31, R is the gas constant, T c Is the temperature of the gas in the solid cold air micro-propulsion module.
5. The method for on-orbit application of a solid cold air micro-propulsion module according to claim 2, wherein the method comprises the following steps: the consumed gas mass is
Wherein P is 0 For the pressure in the solid cold air micro-propulsion module before rail change, P f For the pressure in the solid cold air micro-propulsion module after rail change, T 0 For solid cold air micro-propulsion module temperature, M N2 Is the molar mass of nitrogen, 28g/mol.
6. The method for on-orbit application of a solid cold air micro-propulsion module according to claim 2, wherein the method comprises the following steps: the calibrated average specific impulse is
Wherein Δm is cal For controlling the mass of gas consumed.
7. The method for on-orbit application of a solid cold air micro-propulsion module according to claim 2, wherein the method comprises the following steps: the nonlinear programming minimization function is
Wherein tf is the track control end time, P t The pressure in the solid cold air micro-propulsion module is t0 is the calibration starting time, f is the thrust force, I cal For track change impulse +.>
Correction coefficient for thrust model, C f For thrust coefficient, A t Is the throat area of the thruster.
8. An on-orbit application system of a solid cold air micro-propulsion module, which is characterized by comprising:
the first module is used for calibrating thrust output characteristics by introducing high-purity nitrogen into the ground, and a nonlinear programming optimization algorithm is adopted to obtain a thrust model of the thruster;
the second module calculates the required impulse according to the orbit control height in the current whole satellite application;
a third module for determining the gas quality in the gas chamber in the current state according to the telemetered pressure and temperature;
and a fourth module for solving the track control working time according to the required impulse and the gas quality in the current state gas chamber as the input of the thrust model.
9. The on-orbit application system of the solid cold air micro propulsion module according to claim 8, wherein the method for calibrating the thrust output characteristics by introducing high-purity nitrogen through the ground comprises the following steps:
determining the current gas quality in the gas chamber according to the telemetering pressure and temperature;
determining the speed increment to be provided according to the track change requirement, thereby determining the impulse I cal ；
Measuring the pressure P after calibration f Temperature T f Determining the mass of the gas remaining in the current gas chamber, thereby determining the mass of the gas consumed;
according to impulse I cal Determining a calibrated average specific impulse by using the consumed gas mass;
determining a characteristic speed according to the telemetering average temperature, solving a thrust integral model according to the average specific impulse, the working time and the impulse, and carrying out thrust model correction by adopting a nonlinear programming optimization algorithm;
determining a thrust model correction coefficient;
solving a correction coefficient by adopting a nonlinear programming minimization function, and determining a thrust model;
the thrust model is
Wherein F is t For thrust (or->
Is the correction coefficient of the thrust model, cf is the thrust coefficient, A t Is the throat area of the thruster, P c Working pressure of the solid cold air micro-propulsion module is set;
the method for determining the current gas quality in the gas chamber according to the telemetry pressure and the temperature comprises the following steps: from P c V c ＝nRT c Calculating the current gas mass n in the gas chamber; wherein V is c The volume of the solid cold air micro-propulsion module is 8.31, R is the gas constant, T c The temperature of the gas in the solid cold air micro-propulsion module is set;
the consumed gas mass is
Wherein P is 0 For the pressure in the solid cold air micro-propulsion module before rail change, P f For the pressure in the solid cold air micro-propulsion module after rail change, T 0 For solid cold air micro-propulsion module temperature, M N2 Is the molar mass of nitrogen, 28g/mol;
the calibrated average specific impulse is
Wherein Δm is cal The mass of the gas consumed for the rail control;
the nonlinear programming minimization function is
Wherein f is thrust, tf is track control end time, P t The pressure in the solid cold air micro-propulsion module is set, and t0 is the calibration starting time.
10. A computer readable storage medium storing a computer program, which when executed by a processor performs the steps of the method according to any one of claims 1 to 7.
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