CN113252131A - System and method for measuring propellant allowance in storage tank of ascending section of carrier rocket - Google Patents

System and method for measuring propellant allowance in storage tank of ascending section of carrier rocket Download PDF

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CN113252131A
CN113252131A CN202110366059.2A CN202110366059A CN113252131A CN 113252131 A CN113252131 A CN 113252131A CN 202110366059 A CN202110366059 A CN 202110366059A CN 113252131 A CN113252131 A CN 113252131A
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propellant
storage tank
liquid level
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tank
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CN113252131B (en
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于欢
颜晓明
王良军
朱亚明
陈萧
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Shanghai Aerospace System Engineering Institute
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
    • G01F23/00—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
    • G01F1/00—Measuring the volume flow or mass flow of fluid or fluent solid material wherein the fluid passes through a meter in a continuous flow

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Abstract

The invention discloses a system and a method for measuring the propellant allowance in a storage tank of a carrier rocket ascending section.A liquid level meter group output signal is transmitted to a liquid level meter signal processing module through a liquid level meter signal cable; the liquid level signal output by the liquid level meter signal processing module is transmitted to the storage tank propellant allowance calculation unit through a signal cable; the three-axis accelerometer is fixedly connected to the top end of the storage tank and used for measuring three-axis acceleration of the storage tank and transmitting an acceleration signal to the storage tank propellant allowance calculation unit through a signal cable; the storage tank attitude gyroscope is used for measuring a storage tank attitude angle and transmitting the attitude angle to the storage tank propellant allowance calculation unit through a signal cable; the tank propellant residual amount calculating unit is an embedded system with calculating capacity and is used for calculating the propellant residual amount in the tank according to a flow signal measured by a flowmeter, a liquid level signal transmitted by a liquid level meter signal processing module, an acceleration signal measured by a three-axis accelerometer and a tank attitude signal measured by a tank attitude gyroscope.

Description

System and method for measuring propellant allowance in storage tank of ascending section of carrier rocket
Technical Field
The invention relates to the technical field of propellant allowance measurement of a carrier rocket storage tank, in particular to a system and a method for measuring propellant allowance in a carrier rocket ascending section storage tank.
Background
When the liquid rocket is launched, the mass ratio of the propellant can reach 85-90%, the gravity center of the rocket is obviously changed due to the reduction of the propellant amount, the posture of the rocket body can be directly influenced by the shaking of the propellant in the storage tank, and the completion of the set task of the rocket body is further influenced, so that the observation of the shaking and the allowance of the propellant in the storage tank in the ascending section (particularly before the separation of stars and arrows) is very important. The measurement result of the propellant allowance is an important basis for judging whether the rocket can complete a set flight task, a degraded flight task and the like; on the other hand, the measurement result of the propellant allowance in multiple times of launching can also provide reference for ground optimization of propellant filling amount, and further the cost-efficiency ratio of launch of the carrier rocket is improved. In conclusion, the measurement of the propellant allowance of the storage tank at the ascending section of the carrier rocket is a key technology related to the optimization of the launching state of the rocket and the completion quality of the flight mission of the rocket.
The existing rocket ascending section storage tank propellant allowance measuring method mainly comprises a capacitance liquid level meter point type liquid level measuring method and a volume excitation method, wherein a capacitance liquid level meter can only measure in a segmented mode, the influence of the motion state of a storage tank on the free liquid level form of the propellant is not considered, and the precision is limited; the volume excitation method has better precision (refer to patent CN 103344292A), but the measurement process needs the matching action of a pressure increasing loop of the storage tank, and further needs to change the working time sequence of the original power system, in addition, when the storage tank self-generates pressure, the gas is generally mixed with more propellant aerosol, the state distribution of the air cavity of the storage tank is not uniform, and the factors can generate certain influence on the gas equation according to the patent CN 103344292A, thereby bringing the challenge to the precision maintenance of the volume excitation method.
In view of the intensive research of data fusion algorithm, the continuous development of the field of liquid level sensors and the continuous improvement of the computing capacity of an embedded system in recent years, the invention provides a measuring system and a measuring method for accurately estimating rocket tank propelling dosage by using a plurality of sensor signals.
Disclosure of Invention
The invention aims to provide a system and a method for measuring the propellant allowance in a storage tank at the ascending section of a carrier rocket, aiming at accurately estimating the propellant allowance in the storage tank under the condition of not changing the working time sequence of an original power system of a rocket body, thereby providing a basis and a reference for estimating the capability of continuously completing the original flight mission of the rocket, estimating the capability of completing the degraded flight mission of the rocket and improving the cost-efficiency ratio of rocket launching.
In order to achieve the above object, the present invention provides a system for measuring the propellant residual quantity in a tank of a rocket ascension stage, comprising: the system comprises a storage tank, a flowmeter, a valve, a liquid level meter group, a liquid level meter signal cable, a liquid level meter signal processing module, a three-axis accelerometer, a storage tank attitude gyroscope, a storage tank propellant residual calculation unit and a signal cable;
the output signal of the liquid level meter group is transmitted to a liquid level meter signal processing module through a liquid level meter signal cable;
the liquid level signal output by the liquid level meter signal processing module is transmitted to the storage tank propellant allowance calculation unit through a signal cable;
the valve is arranged on an outlet pipeline of the storage tank and is used for controlling the discharge speed of the propellant in the storage tank;
the flow meter is arranged at the downstream of the valve and is used for measuring the flow of the propellant flowing out of the storage tank;
the three-axis accelerometer is fixedly connected to the top end of the storage tank and used for measuring three-axis acceleration of the storage tank and transmitting an acceleration signal to the storage tank propellant allowance calculation unit through a signal cable;
the storage tank attitude gyroscope is fixedly connected to the top end of the storage tank and used for measuring an attitude angle of the storage tank and transmitting the attitude angle to the storage tank propellant allowance calculation unit through a signal cable;
the tank propellant residual amount calculating unit is an embedded system with calculating capacity and is used for calculating the propellant residual amount in the tank according to a flow signal measured by a flowmeter, a liquid level signal transmitted by a liquid level meter signal processing module, an acceleration signal measured by a three-axis accelerometer and a tank attitude signal measured by a tank attitude gyroscope.
The system for measuring the propellant residual quantity in the storage tank of the ascending section of the carrier rocket comprises a liquid level meter group, wherein the liquid level meter group consists of point type liquid level meters with the interval less than 3cm, and the number of the point type liquid level counts is more than 15.
The system for measuring the propellant residual capacity in the storage tank of the ascending section of the carrier rocket is characterized in that the liquid level meter signal cables are a group of signal cables which can effectively transmit signals and resist the corrosion of the propellant in the flight process.
The system for measuring the propellant residual capacity in the storage tank of the ascending section of the carrier rocket is characterized in that the liquid level meter signal processing module is an embedded system which has an analog-digital conversion function and can process the switching signals of the liquid level meters to obtain discrete liquid level signals in proportion to the number of the immersed liquid level meters.
The system for measuring the propellant residual capacity in the ascending section storage tank of the carrier rocket is characterized in that the signal cable is a group of shielding cables capable of effectively transmitting signals in the rocket body flying process.
A measurement method using a measurement system for propellant residual capacity in a storage tank of a launch vehicle ascending section comprises the following steps:
step one, recording a liquid level signal output by a liquid level meter signal processing module and a flow rate measured by a flowmeter, obtaining the liquid level height of the propellant of the stable part through data fusion, and further calculating the volume V of the stable partA；
Step two, recording the position and posture data of the storage tank measured by the storage tank posture gyroscope and the accelerometer, and further calculating the equivalent volume V of the shaking part of the propellantAC；
Step three, determining the shaking damping according to the stable liquid level height obtained in the step one, and determining the shaking volume conversion coefficient k according to the shaking damping and the attitude angular accelerationsloshCombining V obtained in step twoACCalculating the volume V of the shaking propellant between the liquid levels A and BAB；
Step four, stable partial volume from S1 and sloshing boost from S3And (4) summing the agent volumes, and calculating the propellant residual: vtotal＝VA+VAB。
The measurement method using the system for measuring propellant residual capacity in the storage tank of the ascending section of the carrier rocket is characterized in that in the step one, the liquid level signal R output by the liquid level meter signal processing moduleAAnd the flow rate Q measured by the flowmeterAMerging to obtain the liquid level h of the stable part of the propellantAI.e. the height of the largest cylinder contained in the remaining propellant volume; wherein QAIn a continuously varying amount, RAIn discrete quantities proportional to the number of point gauges immersed in the propellant, SBottom surfaceFor the base area of the equivalent column of the tank, the volume of the stable portion is calculated by: vA＝SBottom surfacehA。
In the second step, the acceleration of the storage tank under the launching inertia system is obtained according to the position and posture data of the storage tank measured by the attitude gyroscope and the accelerometer of the storage tank
Figure BDA0003007077640000031
Vector directed axially toward the head of the rocket body from the reservoir
Figure BDA0003007077640000032
And then an included angle delta between the propellant equivalent liquid inclined plane and the stable part upper bottom surface circular plane is obtained, which specifically comprises the following steps:
recording three-axis acceleration of a storage tank in an inertial system as
Figure BDA0003007077640000041
Acceleration of gravitational force of
Figure BDA0003007077640000042
The equation z ═ k in the generator inertia system for the equivalent liquid slope plane of the propellant volume1x+k2y is solved by the following vector equation:
Figure BDA0003007077640000043
Figure BDA0003007077640000044
wherein rho is the density of the propellant, and P (x, y, z) is the internal liquid pressure distribution of the propellant; thereby obtaining the normal vector of the liquid level C
Figure BDA0003007077640000045
Further:
Figure BDA0003007077640000046
thereby calculating the volume of the shaking part of the propellant between the equivalent liquid inclined plane of the propellant and the circular plane of the upper bottom surface of the stable part:
Figure BDA0003007077640000047
wherein SBottom surfaceIs the bottom area of the equivalent cylinder of the storage box.
The measurement method of the system for measuring the propellant residual capacity in the storage tank of the ascending section of the carrier rocket is used, wherein in the third step, the stable liquid level height h is measuredACalculating the shake damping xi; volume conversion factor ksloshObtained by ground experiments or VOF simulation inverse calculation, specifically comprising the following steps:
carrying out ground shaking experiment or simulation according to the actual installation mode of the propellant, actively applying angular acceleration excitation which is the same as or similar to the launching process to the storage tank, and recording the excitation as
Figure BDA0003007077640000048
And releasing the tank liquid according to the actual propellant flow rate, recording and calculating Vtotal_E,VA_E,VAC_EFurther calculating the volume conversion coefficient obtained by experiment or simulation
Figure BDA0003007077640000049
Accelerate the attitude angle of the model to the ground experiment or simulation time
Figure BDA00030070776400000410
Degree and slosh damping ξEInterpolation is carried out, and then the conversion coefficient k in the flight process is obtainedsloshThe measured alpha and xi can be obtained according to the interpolation result, wherein the lower corner mark E represents the parameter measured in advance by ground experiment or simulation;
the volume of propellant that then sloshes between levels a and B is calculated by:
VAB＝ksloshVAC。
the invention adopts the technical scheme that the system and the method for measuring the propellant allowance of the storage tank at the ascending section of the rocket comprise the storage tank, a flowmeter, a valve, a liquid level meter group, a liquid level meter signal cable, a liquid level meter signal processing module, a three-axis accelerometer, a storage tank attitude gyroscope, a storage tank propellant allowance calculation unit and a signal cable. The liquid level meter group consists of a plurality of (15) point type liquid level meters with small intervals (less than 3cm), and output signals of the liquid level meters are transmitted to the liquid level meter signal processing module through liquid level meter signal cables; the liquid level meter signal cables are a group of signal cables which can effectively transmit signals and resist corrosion of propellant in the flight process; the liquid level meter signal processing module is an embedded system which has an analog-digital conversion function and can process switch signals of a plurality of liquid level meters to obtain discrete liquid level signals in proportion to the number of immersed liquid level meters, and the liquid level signals output by the liquid level meter signal processing module are transmitted to a propellant residue calculating unit of the storage tank through a signal cable; the signal cable is a group of shielding cables capable of effectively transmitting signals in the rocket body flying process; the three-axis accelerometer is fixedly connected near the top end of the storage tank and used for measuring three-axis acceleration of the storage tank and transmitting an acceleration signal to the storage tank propellant allowance calculation unit through a signal cable; the storage tank attitude gyroscope is fixedly connected near the top end of the storage tank and used for measuring an attitude angle of the storage tank and transmitting the attitude angle to the storage tank propellant allowance calculation unit through a signal cable; the tank propellant residual amount calculating unit is an embedded system with proper calculating capacity and is used for calculating the propellant residual amount in the tank according to a flow signal measured by a flowmeter, a liquid level signal transmitted by a liquid level meter signal processing module, an acceleration signal measured by a three-axis accelerometer and a tank attitude signal measured by a tank attitude gyroscope.
Further, a rocket ascending section storage tank propellant allowance measuring method is provided, and the method comprises the following steps:
step S1: recording the liquid level signal output by the liquid level meter signal processing module and the flow rate measured by the flowmeter, obtaining the liquid level height of the propellant of the stable part through data fusion, and further calculating the volume V of the stable partA；
Step S2: recording the position and attitude data of the storage tank measured by a storage tank attitude gyroscope and an accelerometer, and further calculating the equivalent volume V of the shaking part of the propellantAC；
Step S3: determining the shaking damping according to the stable liquid level height obtained in the step S1, and determining the shaking volume conversion coefficient k according to the shaking damping and the attitude angular accelerationsloshFurther, in combination with V obtained in S2ACCalculating the volume V of the shaking propellant between the liquid levels A and BAB；
Step S4: the propellant residual is calculated by summing the steady part volume obtained at S1 and the sloshing propellant volume obtained at S3:
Vtotal＝VA+V AB ①
further, in the step S1, the liquid level signal R outputted by the liquid level meter signal processing moduleAAnd the flow rate Q measured by the flowmeterABlending to obtain the level h of the stable part of the propellantA(i.e., the height of the largest cylinder contained in the remaining propellant volume); wherein QAIn a continuously varying amount, RAFor discrete quantities proportional to the number of point gauges immersed in the propellant, a preferred complementary filtering data fusion method can be found in the paper "four rotor position estimation algorithm based on acceleration information correctionFangjiahao, Yexin, etc., journal of sensory technology, Vol 29, 11,2016, 11 months ", whereby the volume of the stable fraction is calculated by:
VA＝Sbottom surfacehA ②
Further, in step S2, the acceleration of the tank under the generator-inertia system can be obtained from the tank attitude data measured by the tank attitude gyro and the accelerometer
Figure BDA0003007077640000061
Vector directed axially toward the head of the rocket body from the reservoir
Figure BDA0003007077640000062
Further, an included angle delta between the propellant equivalent liquid inclined plane and the stable part upper bottom surface circular plane can be obtained, and the specific calculation process is as follows:
recording three-axis acceleration of a storage tank in an inertial system as
Figure BDA0003007077640000063
Acceleration of gravitational force of
Figure BDA0003007077640000064
The equation z ═ k in the generator inertia system for the equivalent liquid slope plane of the propellant volume1x+k2y can be solved by the following vector equation:
Figure BDA0003007077640000065
Figure BDA0003007077640000066
wherein rho is the density of the propellant, and P (x, y, z) is the internal liquid pressure distribution of the propellant; thereby obtaining the normal vector of the liquid level C
Figure BDA0003007077640000067
Further:
Figure BDA0003007077640000068
thereby calculating the volume of the shaking part of the propellant between the equivalent liquid inclined plane of the propellant and the circular plane of the upper bottom surface of the stable part:
Figure BDA0003007077640000071
wherein SBottom surfaceIs the bottom area of the equivalent cylinder of the storage box.
Further, in the step S3, the liquid level is stabilized by the stable liquid level height hAThe shake damping ξ can be calculated, and The specific process can be referred to The Dynamic Behavior of Liquids in Moving contacts, Abramson H.N., NASA SP-106,1966, Chapter 4pp 105-111; volume conversion factor ksloshThe method is obtained by ground experiments or VOF simulation inverse calculation, and the specific mode is as follows: carrying out ground shaking experiment (or simulation) according to the actual installation mode of the propellant, and actively applying angular acceleration excitation (excitation is recorded as excitation) which is the same as or similar to the launching process to the storage tank
Figure BDA0003007077640000072
) And discharging the tank liquid at the actual propellant flow rate, recording and calculating V according to steps S1, S2, S3, S4 of claim 2total_E,VA_E,VAC_EFurther calculating the volume conversion coefficient obtained by experiment (or simulation)
Figure BDA0003007077640000073
Accelerate the attitude angle of the ground experiment (or simulation) time
Figure BDA0003007077640000074
Degree and slosh damping ξEInterpolation is carried out, and then the conversion coefficient k in the flight process is obtainedsloshCan be obtained from the actually measured alpha and xi according to the interpolation result, wherein the lower corner mark E represents the parameter which is measured in advance by ground experiment (or simulation)An amount;
the volume of propellant that then sloshes between levels a and B is calculated by:
VAB＝ksloshVAC ⑧
compared with the prior art, the invention has the technical beneficial effects that:
(1) the measuring system and the measuring method have strong systematicness, high configuration flexibility and high precision, and are not limited to the cylinder storage box; the concrete expression is as follows: the type of the liquid level sensor can be selected from capacitance type or optical fiber type according to the requirement, and the arrangement distance and the interval can be determined according to the actual requirement; h in the step S1AThe method of calculating (1), the method of calculating δ in step S2, and ξ, k in step S3sloshThe calculation methods can be flexibly selected according to theoretical development so as to further improve the measurement precision; since the acquisition of the parameters in steps S1-S4 is not limited to theoretical derivation, but can also be measured experimentally, the method proposed in this patent has no special requirements on the shape of the storage tank, and is not limited to the column storage tank.
(2) The original working time sequence of the power system is not changed, and the reliability of the rocket body prime power system is not influenced; the rocket body flying control system is particularly characterized in that only a small number of sensors and computing equipment are added, and excitation is provided without cooperation of a power system pressurization loop and the like in the rocket body flying process, and an original flying control program of the rocket is not required to be changed.
(3) The accuracy is slightly influenced by the environment, and particularly, the method is not used for directly measuring the parameters of the gas in the gas cavity of the storage tank, so that the accuracy of the measurement system is slightly influenced by the gas state and the temperature field distribution.
Drawings
The invention provides a system and a method for measuring propellant residual quantity in a storage tank of a carrier rocket ascending section, which are provided by the following embodiments and attached drawings.
FIG. 1 is a view showing a configuration of a measurement system of a preferred embodiment of the present invention, wherein: 1 is a storage tank propellant residual amount calculation unit, 2 is a propellant storage tank, 3 is an optical fiber liquid level meter group, 4 is a flowmeter, 5 is a valve, 6 is a propellant, 7 is a pressure air cavity, 8 is a liquid level meter signal cable, 9 is an optical fiber liquid level demodulator, 10 is a three-axis acceleration sensor, 11 is an attitude gyroscope and 12 is a signal cable;
FIG. 2 is a schematic diagram of the calculation steps of the preferred embodiment of the present invention;
FIG. 3 is a set of included angle δ calculations for the purpose of aiding explanation of the present invention;
FIG. 4 is a set of comparison curves for illustrating the measurement effect of the present invention, wherein the measurement result of the present invention, the measurement result lacking step S2 and the measurement result lacking step S3 are compared, so that the present invention has higher measurement accuracy.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in figure 1, the rocket ascending section storage tank propellant residue measuring system provided by the invention comprises a storage tank 2, a flowmeter 4, a valve 5, a liquid level meter group 3, a liquid level meter signal cable 8, a liquid level meter signal processing module 9, a three-axis accelerometer 10, a storage tank attitude gyro 11, a storage tank propellant residue calculating unit 1 and a signal cable 12, wherein 6 in the figure is propellant, 7 is pressure gas, A is the section of a stable part of the propellant, is axially vertical to the storage tank and is superposed with the lowest point of the propellant, B is the actual liquid level of the propellant, C is the equivalent liquid level of the propellant, and delta is the included angle between A, C liquid levels. The liquid level meter group 3 consists of a plurality of (15) point type liquid level meters with small intervals (less than 3cm), the output signal of each liquid level meter is transmitted to the liquid level meter signal processing module 1 through a liquid level meter signal cable 12, the liquid level meter signal processing module 9 processes the switching signals of the plurality of liquid level meters to obtain discrete liquid level signals in proportion to the number of the immersed liquid level meters, and then the discrete liquid level signals are transmitted to the storage tank propellant residue calculating unit 1 through the signal cable 12; the storage tank attitude gyroscope 11 is fixedly connected near the top end of the storage tank 2 and used for measuring an attitude angle of the storage tank 2 in a generator-inertia system and transmitting the attitude angle to the storage tank propellant allowance calculation unit 1 through a signal cable 12; the three-axis accelerometer 10 is fixedly connected near the top end of the storage tank 2 and used for measuring the three-axis acceleration of the storage tank 2 under a generator-inertia system and transmitting an acceleration signal to the storage tank propellant allowance calculation unit 1 through a signal cable 12; the tank propellant residual amount calculation unit 1 is an embedded system with proper calculation capacity and is used for calculating the propellant residual amount in the tank 2 according to a flow signal measured by the flowmeter 4, a liquid level signal transmitted by the liquid level meter signal processing module 9, an acceleration signal measured by the three-axis accelerometer 10 and a tank attitude signal measured by the tank attitude gyroscope 11; the signal cable 12 is a group of shielding cables which can effectively transmit signals during the flight of the rocket body.
The actual measurement process data flow is shown in fig. 2, and specifically performed according to the following steps:
step S1: recording the liquid level signal output by the liquid level meter signal processing module 9 and the flow velocity measured by the flow meter 4, obtaining the liquid level height of the propellant (namely below the radial section plane A of the storage tank) of the stable part through data fusion, and further calculating the volume V of the stable partA；
Step S2: recording the pose data of the storage tank 2 measured by the storage tank attitude gyroscope 11 and the accelerometer 10, and further calculating the equivalent volume V of the shaking part of the propellantAC；
Step S3: determining the shaking damping according to the stable liquid level height obtained in the step S1, and determining the shaking volume conversion coefficient k according to the shaking damping and the attitude angular accelerationsloshFurther, in combination with V obtained in S2ACCalculating the volume V of the shaking propellant between the liquid levels A and BAB；
Step S4: the propellant residual is calculated by summing the steady part volume obtained at S1 and the sloshing propellant volume obtained at S3:
Vtotal＝VA+V AB ①
in step S1, the liquid level signal R output from the liquid level meter signal processing module 9AAnd the flow rate Q measured by the flow meter 4AThe liquid level h of the stable partial section (namely the radial sectional plane A of the storage tank) of the propellant can be obtained by fusionAWherein Q isAIn a continuously varying amount, RAFor discrete quantities proportional to the number of point gauges immersed in the propellant, a preferred complementary filtering data fusion method can be found in the paper "correction of four values based on acceleration informationRotor position estimation algorithm studies, boxer hao, leaf euphoria, etc., technical report on sensing, vol 29, 11,2016, 11 months ", whereby the volume of the stable portion is calculated by:
VA＝Sbottom surfacehA ②
In step S2, the acceleration of the storage tank 2 in the engine inertia system can be obtained from the attitude data of the storage tank 2 measured by the storage tank attitude gyro 11 and the accelerometer 10
Figure BDA0003007077640000101
Vector directed axially toward the head of the arrow from the reservoir 2
Figure BDA0003007077640000102
Further, an included angle delta between the propellant equivalent liquid inclined plane C and the liquid level A can be obtained, and the specific calculation process is as follows:
the three-axis acceleration of the storage tank 2 in the inertial system is recorded as
Figure BDA0003007077640000103
Acceleration of gravitational force of
Figure BDA0003007077640000104
The liquid plane C has the equation z ═ k in the inertia system1x+k2y can be solved by the following vector equation:
Figure BDA0003007077640000105
Figure BDA0003007077640000106
wherein rho is the density of the propellant, and P (x, y, z) is the internal liquid pressure distribution of the propellant; thereby obtaining the normal vector of the liquid level C
Figure BDA0003007077640000107
Further:
Figure BDA0003007077640000108
thereby calculating the shaking part volume of the propellant between the liquid levels AC:
Figure BDA0003007077640000109
wherein SBottom surfaceThe bottom area of the equivalent cylinder of the storage box; figure 3 shows the change in the angle delta calculated from the sensor data after a certain actual flight.
Wherein in step S3, the liquid level is stabilized by the stable liquid level height hAThe specific process of calculating The sway damping ξ can be found in The Dynamic Behavior of Liquids in Moving contacts, Abramson H.N., NASA SP-106,1966, Chapter 4pp 105-111; volume conversion factor ksloshThe method is obtained by ground experiments or VOF simulation inverse calculation, and the specific mode is as follows: the ground experiment (or simulation) is carried out according to the device shown in figure 1, and the angular acceleration excitation (the excitation is recorded as the excitation) which is the same as or similar to the launching process is actively applied to the storage tank 2
Figure BDA0003007077640000111
) And discharging the tank liquid at the actual propellant flow rate, recording and calculating V as per the above steps S1, S2, S3, S4total_E,VA_E,VAC_EFurther calculating the volume conversion coefficient obtained by experiment (or simulation)
Figure BDA0003007077640000112
Accelerate the attitude angle of the ground experiment (or simulation) time
Figure BDA0003007077640000113
Degree and slosh damping ξEInterpolation is carried out, and then the conversion coefficient k in the flight process is obtainedsloshThe measured alpha and xi can be obtained according to the interpolation result, wherein the lower corner mark E represents the parameter measured in advance by the ground experiment (or simulation);
the volume of propellant that then sloshes between levels a and B is calculated by:
VAB＝ksloshVAC ⑧
fig. 4 shows the estimation result and the comparison result of the present embodiment, and it can be seen that the measurement steps and the calculation method provided by the present invention can better estimate the remaining amount of the propellant in the storage tank, and the effect is better than the estimation result without some step.
It is understood by those skilled in the art that the above-mentioned embodiments are only preferred embodiments of the present invention, and the scope of the present invention is not limited thereby. All technical solutions formed by using equivalent substitutions or equivalent transformations are included in the scope of the present invention as claimed.

Claims (9)

1. A system for measuring propellant residual capacity in a storage tank of a launch vehicle ascending section is characterized by comprising: the system comprises a storage tank, a flowmeter, a valve, a liquid level meter group, a liquid level meter signal cable, a liquid level meter signal processing module, a three-axis accelerometer, a storage tank attitude gyroscope, a storage tank propellant residual calculation unit and a signal cable;
the output signal of the liquid level meter group is transmitted to a liquid level meter signal processing module through a liquid level meter signal cable;
the liquid level signal output by the liquid level meter signal processing module is transmitted to the storage tank propellant allowance calculation unit through a signal cable;
the valve is arranged on an outlet pipeline of the storage tank and is used for controlling the discharge speed of the propellant in the storage tank;
the flow meter is arranged at the downstream of the valve and is used for measuring the flow of the propellant flowing out of the storage tank;
the three-axis accelerometer is fixedly connected to the top end of the storage tank and used for measuring three-axis acceleration of the storage tank and transmitting an acceleration signal to the storage tank propellant allowance calculation unit through a signal cable;
the storage tank attitude gyroscope is fixedly connected to the top end of the storage tank and used for measuring an attitude angle of the storage tank and transmitting the attitude angle to the storage tank propellant allowance calculation unit through a signal cable;
the tank propellant residual amount calculating unit is an embedded system with calculating capacity and is used for calculating the propellant residual amount in the tank according to a flow signal measured by a flowmeter, a liquid level signal transmitted by a liquid level meter signal processing module, an acceleration signal measured by a three-axis accelerometer and a tank attitude signal measured by a tank attitude gyroscope.
2. The system for measuring propellant level in a storage tank of a launch vehicle ascending section according to claim 1, wherein said level gauge group comprises point level gauges spaced less than 3cm apart, the number of point level gauges being greater than 15.
3. The system for measuring propellant residuals in a rocket launcher ascending stage tank according to claim 1, wherein said level gauge signal cable is a set of signal cables that are effective for signal transmission during flight and are resistant to propellant corrosion.
4. The system of claim 1, wherein the level gauge signal processing module is an embedded system having analog-to-digital conversion capability and capable of processing the on-off signal of the level gauge to obtain a discrete level signal proportional to the number of submerged level gauges.
5. The system for measuring propellant residues in a tank of a launch vehicle ascending section according to claim 1, wherein said signal cable is a shielded cable capable of effectively transmitting signals during the flight of a rocket body.
6. A method of measurement using the system for measuring propellant charge remaining in a tank of a launch vehicle ascending section according to claim 1, comprising the steps of:
step one, recording a liquid level signal output by a liquid level meter signal processing module and a flow rate measured by a flowmeter, obtaining the liquid level height of a stable part of propellant through data fusion, and further calculating the stabilityPartial volume VA；
Step two, recording the position and posture data of the storage tank measured by the storage tank posture gyroscope and the accelerometer, and further calculating the equivalent volume V of the shaking part of the propellantAC；
Step three, determining the shaking damping according to the stable liquid level height obtained in the step one, and determining the shaking volume conversion coefficient k according to the shaking damping and the attitude angular accelerationsloshCombining V obtained in step twoACCalculating the volume V of the shaking propellant between the liquid levels A and BAB；
Step four, summing the stable part volume obtained from S1 and the shaking propellant volume obtained from S3, and calculating the propellant residual: vtotal＝VA+VAB。
7. The method of claim 6, wherein in the first step, the liquid level signal R outputted from the liquid level gauge signal processing module is used for measuring the propellant level in the tank of the ascending section of the launch vehicleAAnd the flow rate Q measured by the flowmeterAMerging to obtain the liquid level h of the stable part of the propellantAI.e. the height of the largest cylinder contained in the remaining propellant volume; wherein QAIn a continuously varying amount, RAIn discrete quantities proportional to the number of point gauges immersed in the propellant, SBottom surfaceFor the base area of the equivalent column of the tank, the volume of the stable portion is calculated by: vA＝SBottom surfacehA。
8. The method according to claim 6, wherein in the second step, the tank attitude data measured by the tank attitude gyro and the accelerometer is used to obtain the acceleration of the tank under the launching inertial system
Figure FDA0003007077630000021
Vector directed axially toward the head of the rocket body from the reservoir
Figure FDA0003007077630000022
And then an included angle delta between the propellant equivalent liquid inclined plane and the stable part upper bottom surface circular plane is obtained, which specifically comprises the following steps:
recording three-axis acceleration of a storage tank in an inertial system as
Figure FDA0003007077630000039
Acceleration of gravitational force of
Figure FDA00030070776300000310
The equation z ═ k in the generator inertia system for the equivalent liquid slope plane of the propellant volume1x+k2y is solved by the following vector equation:
Figure FDA0003007077630000031
Figure FDA0003007077630000032
wherein rho is the density of the propellant, and P (x, y, z) is the internal liquid pressure distribution of the propellant; thereby obtaining the normal vector of the liquid level C
Figure FDA0003007077630000033
Further:
Figure FDA0003007077630000034
thereby calculating the volume of the shaking part of the propellant between the equivalent liquid inclined plane of the propellant and the circular plane of the upper bottom surface of the stable part:
Figure FDA0003007077630000035
wherein SBottom surfaceIs the floor area of equivalent cylinder of the storage tank。
9. The method of claim 6, wherein the step three comprises a steady liquid level hACalculating the shake damping xi; volume conversion factor ksloshObtained by ground experiments or VOF simulation inverse calculation, specifically comprising the following steps:
carrying out ground shaking experiment or simulation according to the actual installation mode of the propellant, actively applying angular acceleration excitation which is the same as or similar to the launching process to the storage tank, and recording the excitation as
Figure FDA0003007077630000036
And releasing the tank liquid according to the actual propellant flow rate, recording and calculating Vtotal_E,VA_E,VAC_EFurther calculating the volume conversion coefficient obtained by experiment or simulation
Figure FDA0003007077630000037
Accelerate the attitude angle of the model to the ground experiment or simulation time
Figure FDA0003007077630000038
Degree and slosh damping ξEInterpolation is carried out, and then the conversion coefficient k in the flight process is obtainedsloshThe measured alpha and xi can be obtained according to the interpolation result, wherein the lower corner mark E represents the parameter measured in advance by ground experiment or simulation;
the volume of propellant that then sloshes between levels a and B is calculated by:
VAB＝ksloshVAC。
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