CN114087090A - System and method for pressurizing small air pillow of storage tank of reusable low-temperature power system - Google Patents
System and method for pressurizing small air pillow of storage tank of reusable low-temperature power system Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 30
- 239000001301 oxygen Substances 0.000 claims abstract description 185
- 229910052760 oxygen Inorganic materials 0.000 claims abstract description 185
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 claims abstract description 180
- 239000002828 fuel tank Substances 0.000 claims abstract description 159
- 239000007789 gas Substances 0.000 claims abstract description 122
- MYMOFIZGZYHOMD-UHFFFAOYSA-N Dioxygen Chemical compound O=O MYMOFIZGZYHOMD-UHFFFAOYSA-N 0.000 claims abstract description 68
- 239000001307 helium Substances 0.000 claims abstract description 48
- 229910052734 helium Inorganic materials 0.000 claims abstract description 48
- SWQJXJOGLNCZEY-UHFFFAOYSA-N helium atom Chemical compound [He] SWQJXJOGLNCZEY-UHFFFAOYSA-N 0.000 claims abstract description 48
- 239000000446 fuel Substances 0.000 claims abstract description 36
- 238000012545 processing Methods 0.000 claims abstract description 21
- 238000005070 sampling Methods 0.000 claims description 23
- 238000002347 injection Methods 0.000 claims description 5
- 239000007924 injection Substances 0.000 claims description 5
- 239000003380 propellant Substances 0.000 description 6
- 238000005259 measurement Methods 0.000 description 3
- 238000011160 research Methods 0.000 description 3
- 239000007800 oxidant agent Substances 0.000 description 2
- 230000001590 oxidative effect Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 230000005856 abnormality Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02K—JET-PROPULSION PLANTS
- F02K9/00—Rocket-engine plants, i.e. plants carrying both fuel and oxidant therefor; Control thereof
- F02K9/95—Rocket-engine plants, i.e. plants carrying both fuel and oxidant therefor; Control thereof characterised by starting or ignition means or arrangements
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- Filling Or Discharging Of Gas Storage Vessels (AREA)
Abstract
The invention provides a small air pillow pressurization system and method for a reusable low-temperature power system storage tank, which comprises a ground pressurization system, an on-board pressurization system, a self-generating pressurization system and an acquisition control system; the ground pressurization system is used for completing normal-temperature helium pressurization on the fuel storage tank and the liquid oxygen storage tank before the ignition of the engine; the self-generating pressurization system is used for jointly pressurizing the liquid oxygen storage tank with the on-board pressurization system at the initial starting stage of the engine and independently pressurizing the liquid oxygen storage tank after the engine is stably started; the acquisition control system is used for acquiring the air pillow pressures of the fuel storage tank and the liquid oxygen storage tank, outputting a control instruction of the electromagnetic valve according to the pressure control band of each electromagnetic valve on the fuel tank pressurization gas circuit and the oxygen tank pressurization gas circuit after processing, and controlling the on-off of the fuel tank pressurization gas circuit and the oxygen tank pressurization gas circuit.
Description
Technical Field
The invention belongs to the technical field of aerospace, and particularly relates to a small air pillow pressurization system and method for a reusable low-temperature power system storage tank, which are particularly suitable for a carrier of a small air pillow storage tank adopting low-temperature liquid oxygen as an oxidant.
Background
When a main engine of a power system of a spacecraft works, a propellant is required to meet certain inlet pressure so as to ensure stable and reliable work of the main engine. For a low-temperature power carrier with a limited storage tank volume and a small air pillow, a storage tank propellant instantly enters a pump cavity of an engine at the starting moment of the engine, negative water hammer is generated at positions such as a valve, a turbine pump and the like, so that static pressure of the propellant is rapidly reduced, the low-temperature propellant is likely to have excessively small static pressure and be vaporized due to the small air pillow of the storage tank and the low performance of a self-generating pressurization system on the carrier at the starting initial stage of the engine when the storage tank cannot be pressurized any time, the pressure of the storage tank is greatly reduced, the low-temperature propellant enters a pipeline, a pump and other components in a gas phase or gas-liquid two-phase mixed fluid state at the moment, cavitation and flying rotation of the pump are caused, or the starting time and the time of climbing of thrust are prolonged, so that fluctuation, stalling operation, oxygen-enriched combustion and the like of pressure and flow are caused, and the working abnormality of the engine is caused, severe can even cause a complete failure of the launch, affecting vehicle launch.
Along with the development of reusable vehicles, the demand for small air pillow pressurization is more and more intense, the research on small air pillow storage tank pressurization systems and methods of the current domestic and foreign aerospace vehicles is less, and the system research on the low-temperature power storage tank small air pillow pressurization scheme is not available.
Disclosure of Invention
In order to overcome the defects in the prior art, the inventor of the invention carries out intensive research and provides a system and a method for repeatedly using a small gas pillow of a low-temperature power system storage tank, wherein parameters such as the volume of a gas cylinder of a pressurization system, the pressure of the gas cylinder, a pressurization pressure control band, the pressurization time, the initial gas pillow pressure of the storage tank before ignition and the like are obtained by utilizing a gas cylinder pressurization device on a set of device and adopting a storage tank pressurization simulation analysis method, meanwhile, the pressurization system is accurately controlled by adopting a digital pressure sensor closed type redundant pressurization control method, so that the reliable starting of an engine is realized, the pressure of the storage tank is always in a reasonable range in the working process of the engine, the normal working of the engine and the safe structure of the storage tank are ensured, the problems that the volume of the storage tank is limited, the requirement on the propellant filling amount is large, the reliable starting of the low-temperature power system with the small initial gas pillow is solved, The smooth operation, and the present invention has been completed.
The technical scheme provided by the invention is as follows:
in a first aspect, a reusable low-temperature power system storage tank small air pillow pressurization system comprises a ground pressurization system, an on-board pressurization system, a self-generating pressurization system and an acquisition control system;
the ground pressurization system comprises a fuel tank ground pressurization gas path and an oxygen tank ground pressurization gas path, wherein a fuel tank ground pressurization one-way valve and an oxygen tank ground pressurization one-way valve are respectively arranged on the two gas paths and are used for completing normal-temperature helium ground pressurization on the fuel storage tank and the liquid oxygen storage tank before the engine is ignited;
the on-board pressurization system comprises a pressurization helium tank, a fuel tank main pressurization electromagnetic valve, a fuel tank auxiliary pressurization electromagnetic valve, an oxygen tank main pressurization electromagnetic valve and an oxygen tank auxiliary pressurization electromagnetic valve; the pressurized helium tank is an air source pressurized on the device, and is used for pressurizing the fuel storage tank and the liquid oxygen storage tank through the fuel tank pressurization air path and the oxygen tank pressurization air path respectively; the fuel tank main pressurization solenoid valve and the fuel tank auxiliary pressurization solenoid valve are positioned on a fuel tank pressurization gas circuit and respectively control the on-off of the fuel tank main pressurization gas circuit and the fuel tank auxiliary pressurization gas circuit, the pressure control band of the fuel tank main pressurization solenoid valve is 0.32 MPa-0.37 MPa, the pressure control band of the fuel tank auxiliary pressurization solenoid valve is 0.30 MPa-0.35 MPa, the flow rates of two paths of pressurization gas are both 20 g/s-25 g/s helium, and the two paths of solenoid valves are mutually redundant; when the pressure of the fuel tank is lower than 0.32MPa, the main pressurizing electromagnetic valve of the fuel tank is opened, when the pressure of the fuel tank is higher than 0.37MPa, the main pressurizing electromagnetic valve of the fuel tank is closed, when the pressure of the fuel tank is reduced to 0.30MPa due to failure of a main pressurizing gas path, the auxiliary pressurizing electromagnetic valve of the fuel tank is opened, and when the pressure of the fuel tank is higher than 0.35MPa, the auxiliary pressurizing electromagnetic valve of the fuel tank is closed;
the oxygen box main pressurization solenoid valve and the oxygen box auxiliary pressurization solenoid valve are positioned on the oxygen box pressurization gas path and respectively control the on-off of the oxygen box main pressurization gas path and the oxygen box auxiliary pressurization gas path; the pressure control band of the oxygen box main pressurizing electromagnetic valve is 0.39 MPa-0.42 MPa, the pressure control band of the oxygen box auxiliary pressurizing electromagnetic valve is 0.38 MPa-0.41 MPa, the flow rates of two pressurizing gases are both 20 g/s-25 g/s helium, and the two electromagnetic valves are mutually redundant; when the pressure of the oxygen tank is lower than 0.39MPa, the main pressurizing electromagnetic valve of the oxygen tank is opened, when the pressure of the oxygen tank is higher than 0.42MPa, the main pressurizing electromagnetic valve of the oxygen tank is closed, when the pressure of the oxygen tank is reduced to 0.38MPa due to the failure of the main pressurizing gas circuit, the auxiliary pressurizing electromagnetic valve of the oxygen tank is opened, and when the pressure of the oxygen tank is higher than 0.41MPa, the auxiliary pressurizing electromagnetic valve of the oxygen tank is closed;
the self-generating pressurization system is used for jointly pressurizing the liquid oxygen storage tank with the on-board pressurization system at the initial starting stage of the engine and independently pressurizing the liquid oxygen storage tank after the engine is stably started;
the acquisition control system comprises a fuel tank pressure sensor, an oxygen tank pressure sensor and a pressurization controller, wherein the fuel tank pressure sensor and the oxygen tank pressure sensor respectively acquire air pillow pressures of a fuel storage tank and a liquid oxygen storage tank and send the air pillow pressures to the pressurization controller, and the pressurization controller outputs control instructions of electromagnetic valves according to pressure control belts of the electromagnetic valves on a fuel tank pressurization gas circuit and an oxygen tank pressurization gas circuit after data processing, so that the on-off of the fuel tank pressurization gas circuit and the oxygen tank pressurization gas circuit is controlled.
In a second aspect, the method for pressurizing the small air pillow of the storage tank of the reusable low-temperature power system comprises the following steps of pressurizing the liquid oxygen storage tank on the ground and pressurizing the liquid oxygen storage tank on the tank:
and (3) pressurizing the liquid oxygen storage tank on the ground: the initial air pillow volume of the liquid oxygen storage tank is 400L-600L, the liquid oxygen storage tank adopts normal temperature helium gas to complete ground pressurization before the ignition of an engine, the ground pressurization gas path of the oxygen tank is communicated in-4 min before the ignition, a pressurization one-way valve is opened, the pressurization of the oxygen tank is started, the large-flow pressurization pressure control band is 0.38 MPa-0.395 MPa, the small-flow pressurization pressure control band is 0.395 MPa-0.4 MPa, the ground pressurization one-way valve of the oxygen tank is opened when the tank pressure is lower than the lower limit of the current pressure control band, and the ground pressurization gas path of the oxygen tank is communicated; when the pressure is higher than the upper limit of the current pressure control band, the oxygen tank ground pressurization one-way valve is closed, and the oxygen tank ground pressurization gas path is disconnected; when the pressure control zone is in, the oxygen tank ground pressurization one-way valve maintains the previous state, and the oxygen tank ground pressurization is continued until the ignition of the engine is finished;
for on-board pressurization: the method is characterized in that a normal-temperature helium bottle pressurization mode and an open type autogenous pressurization mode are combined, an oxygen tank pressurization gas circuit in the normal-temperature helium bottle pressurization mode consists of an oxygen tank main pressurization gas circuit and an oxygen tank auxiliary pressurization gas circuit, the pressure control band of an oxygen tank main pressurization electromagnetic valve is 0.39-0.42 MPa, the pressure control band of an oxygen tank auxiliary pressurization electromagnetic valve is 0.38-0.41 MPa, the flow rates of two paths of pressurization gas are 20-25 g/s helium, the two paths of electromagnetic valves are mutually redundant, the oxygen tank main pressurization electromagnetic valve is opened when the pressure of an oxygen tank is lower than 0.39MPa, the oxygen tank main pressurization electromagnetic valve is closed when the pressure of the oxygen tank is higher than 0.42MPa, the oxygen tank auxiliary pressurization electromagnetic valve is opened when the pressure of the oxygen tank fails to be 0.38MPa, and the oxygen tank auxiliary pressurization electromagnetic valve is closed when the pressure of the oxygen tank is higher than 0.41 MPa; in the open type autogenous pressurization mode, an autogenous pressurization pipeline is connected to the top of the liquid oxygen storage tank, liquid oxygen is heated and vaporized and then is conveyed to the top of the liquid oxygen storage tank, the autogenous pressurization pipeline and the on-board pressurization system are used for jointly pressurizing the liquid oxygen storage tank at the initial starting stage of the engine and independently pressurizing the liquid oxygen storage tank after the engine is stably started;
the liquid oxygen storage tank is provided with three oxygen tank pressure sensors, data of each oxygen tank pressure sensor is output to a corresponding CPU, the CPU calculates the current pressure according to the least square principle on effective pressure data in a sampling period, when the effective pressure data quantity does not exceed the sampling quantity by 50%, the parameters in the data processing period are considered invalid, the output of a control instruction is zero, the CPU outputs the control instruction of the valve according to the control band of each booster solenoid valve after data processing, and finally the booster controller performs two-out-of-three output on the instructions of the three CPUs and outputs the terminal control instruction of the valve.
Further, the method also comprises the following steps of fuel tank ground pressurization and on-board pressurization:
for fuel tank ground pressurization: the initial air pillow of the fuel storage tank is 250L-300L, the fuel storage tank adopts normal temperature helium gas ground pressurization before the ignition of the engine, the air pillow pressure of the fuel storage tank before the injection is controlled to be 0.40 MPa-0.42 MPa after-30 min before the ignition is finished and 4min before the ignition is finished, and the pressure of a fuel tank meets the requirement of the pressure of a fuel inlet in the ignition starting process of the engine;
the pressurization of the fuel storage tank adopts a normal-temperature helium tank pressurization mode, a fuel tank pressurization gas circuit in the normal-temperature helium tank pressurization mode consists of a fuel tank main pressurization gas circuit and a fuel tank auxiliary pressurization gas circuit, the pressure control band of a fuel tank main pressurization electromagnetic valve is 0.32 MPa-0.37 MPa, the pressure control band of a fuel tank auxiliary pressurization electromagnetic valve is 0.30 MPa-0.35 MPa, the flow rates of two paths of pressurization gas are both 20 g/s-25 g/s helium, and the two paths of electromagnetic valves are mutually redundant; when the pressure of the fuel tank is lower than 0.32MPa, the main pressurizing electromagnetic valve of the fuel tank is opened, when the pressure of the fuel tank is higher than 0.37MPa, the main pressurizing electromagnetic valve of the fuel tank is closed, when the pressure of the fuel tank is reduced to 0.30MPa due to failure of a main pressurizing gas path, the auxiliary pressurizing electromagnetic valve of the fuel tank is opened, and when the pressure of the fuel tank is higher than 0.35MPa, the auxiliary pressurizing electromagnetic valve of the fuel tank is closed;
the fuel storage tank is provided with 3 fuel tank pressure sensors, the data of each fuel tank pressure sensor is respectively output to a corresponding CPU, the CPU calculates the current pressure according to the least square principle on the effective pressure data in the sampling period, when the effective pressure data quantity does not exceed 50% of the sampling quantity, the parameters in the data processing period are considered invalid, the control instruction output is zero, the CPU outputs the control instruction of the valve according to the control band of each booster electromagnetic valve after data processing, and finally the booster controller performs three-out-of-two output on the instructions of the three CPUs and outputs the terminal control instruction of the valve.
According to the small air pillow pressurization system and method for the storage tank of the reusable low-temperature power system, the beneficial effects are as follows:
(1) the invention provides a small air pillow pressurization system and method for a storage tank of a reusable low-temperature power system.A low-temperature liquid oxygen storage tank adopts a helium tank and a set of main and auxiliary pressurization electromagnetic valves as an oxygen tank pressurization system at the initial starting stage of an engine, so that the requirement of the initial starting stage of the engine on the pressure of an oxygen inlet is met, and meanwhile, the system is also applied to pressurization of a normal-temperature fuel storage tank, so that the overall scheme of the power system is simplified;
(2) the invention provides a small air pillow pressurization system and method for a reusable low-temperature power system storage tank, wherein an acquisition control system adopts a digital pressure sensor closed type redundancy pressurization method, 3 pressure sensors are respectively arranged on a liquid oxygen storage tank and a fuel storage tank, the pressure sensors respectively measure the pressure of the storage tanks and output digital signals, the data of each pressure sensor is respectively output to a corresponding CPU, the CPU calculates the current pressure according to the least square principle on effective pressure data in a sampling period, when the effective pressure data volume does not exceed the sampling volume by 50 percent, the parameters in the data processing period are considered invalid, the control instruction output is zero, the control instructions of the valve are output according to the control band of each electromagnetic valve after the CPU data is processed, and finally the pressurization controller performs two-out-of-three control on the three CPU instructions to output the terminal control instruction of the valve, so that the working accuracy and reliability of the pressurization system are improved;
(3) the invention provides a small air pillow pressurization system and method for a reusable low-temperature power system storage tank, which are characterized in that a ground pressurization pressure control band before ignition of 0.38-0.395 MPa and 0.395-0.4 MPa is arranged for a liquid oxygen storage tank, and a method combining large flow and small flow pressurization is adopted, namely a scheme of small flow pressurization is adopted when a required value of the storage tank pressurization pressure is close to, so that the influence of the effect after pressurization on the tank pressure is reduced, and an accurate oxidant inlet pressure condition is provided for the starting of an engine;
(4) the invention provides a system and a method for pressurizing a small gas pillow of a storage tank of a reusable low-temperature power system, which solve the problem that the pressure of the small gas pillow state of the storage tank is reduced too fast at the initial stage of starting an engine, and demonstrate and provide a normal-temperature helium bottle pressurizing scheme of an oxygen tank main pressurizing gas circuit, an auxiliary pressurizing gas circuit and a fuel tank main pressurizing gas circuit and an auxiliary pressurizing gas circuit by combining performance parameters of an oxygen evaporator under the starting working condition of the engine and inlet pressure requirements;
(5) according to the small air pillow pressurization system and method for the storage tank of the reusable low-temperature power system, the oxygen tank and the fuel tank share the on-board pressurization system, the system scheme is simplified, and the design method is strong in universality.
Drawings
Fig. 1 is a schematic structural diagram of a small air pillow pressurization system of a storage tank.
Description of the reference numerals
1-a fuel storage tank; 2-liquid oxygen storage tank; 3-an inflation valve; 4-a pressurized helium tank; 5-a filter; 6-fuel tank main pressure solenoid valve; 7-auxiliary pressurizing electromagnetic valve of fuel tank; 8-oxygen box main pressure solenoid valve; 9-oxygen tank auxiliary pressurizing electromagnetic valve; 10-fuel tank ground boost check valve; 11-oxygen tank ground pressurization check valve; 12-a fuel tank relief valve; 13-fuel tank pressure sensor; 14-oxygen tank relief valve; 15-oxygen tank pressure sensor; 17-liquid oxygen check valve; 18-a throttle ring; 19-an oxygen evaporator; and 20-a pressurization controller.
Detailed Description
The features and advantages of the present invention will become more apparent and appreciated from the following detailed description of the invention.
The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
According to a first aspect of the invention, a reusable low-temperature power system storage tank small air pillow pressurization system is provided, as shown in fig. 1, comprising a ground pressurization system, an onboard pressurization system, a self-generated pressurization system and an acquisition control system;
the ground pressurization system comprises a fuel tank ground pressurization gas path and an oxygen tank ground pressurization gas path, wherein a fuel tank ground pressurization one-way valve 10 and an oxygen tank ground pressurization one-way valve 11 are respectively arranged on the two gas paths and used for completing normal-temperature helium ground pressurization on a fuel storage tank and a liquid oxygen storage tank before the ignition of an engine, and in order to improve the safety, a fuel tank overflow valve 12 and an oxygen tank overflow valve 14 are respectively arranged at the top parts of the fuel storage tank and the liquid oxygen storage tank; preferably, the fuel tank ground pressurization gas circuit is used for controlling the air pillow pressure of the fuel storage tank before injection to be 0.40-0.42 MPa, and ensuring that the pressure of the fuel storage tank meets the inlet pressure requirement in the ignition starting process of the engine; the oxygen tank ground pressurization gas circuit is provided with two pressure control belts: the large flow rate pressure control zone is 0.38 MPa-0.395 MPa and the small flow rate pressure control zone is 0.395 MPa-0.4 MPa. When the tank pressure is lower than the lower limit of the current pressure control band, the fuel tank ground pressurization one-way valve 10/the oxygen tank ground pressurization one-way valve 11 are opened, and a fuel tank ground pressurization gas path/an oxygen tank ground pressurization gas path are communicated; when the pressure is higher than the upper limit of the current pressure control band, the fuel tank ground pressurization one-way valve 10/the oxygen tank ground pressurization one-way valve 11 are closed, and a fuel tank ground pressurization gas path/an oxygen tank ground pressurization gas path are disconnected; when the pressure control zone is in, the fuel tank ground pressurization one-way valve 10/the oxygen tank ground pressurization one-way valve 11 maintain the previous state, the fuel tank ground pressurization is continued until the end of-4 min before the ignition of the engine, and the oxygen tank ground pressurization is continued until the end of the ignition of the engine;
the on-board pressurization system comprises an inflation valve 3, a pressurization helium tank 4, a filter 5, a fuel tank main pressurization electromagnetic valve 6, a fuel tank auxiliary pressurization electromagnetic valve 7, an oxygen tank main pressurization electromagnetic valve 8 and an oxygen tank auxiliary pressurization electromagnetic valve 9; the fuel tank main pressurization solenoid valve 6 and the fuel tank auxiliary pressurization solenoid valve 7 are positioned on a fuel tank pressurization gas circuit and respectively control the on-off of the fuel tank main pressurization gas circuit and the fuel tank auxiliary pressurization gas circuit, the pressure control band of the fuel tank main pressurization solenoid valve 6 is 0.32 MPa-0.37 MPa, the pressure control band of the fuel tank auxiliary pressurization solenoid valve 7 is 0.30 MPa-0.35 MPa, the flow rates of two paths of pressurization gas are both 20 g/s-25 g/s (helium), and the two paths of solenoid valves are mutually redundant; when the pressure of the fuel tank is lower than 0.32MPa, the main pressurizing electromagnetic valve 6 of the fuel tank is opened, when the pressure of the fuel tank is higher than 0.37MPa, the main pressurizing electromagnetic valve 6 of the fuel tank is closed, when the pressure of the fuel tank is reduced to 0.30MPa due to the failure of a main pressurizing air path, the auxiliary pressurizing electromagnetic valve 7 of the fuel tank is opened, and when the pressure of the fuel tank is higher than 0.35MPa, the auxiliary pressurizing electromagnetic valve 7 of the fuel tank is closed;
the oxygen box main pressurizing electromagnetic valve 8 and the oxygen box auxiliary pressurizing electromagnetic valve 9 are positioned on the oxygen box pressurizing air path and respectively control the on-off of the oxygen box main pressurizing air path and the oxygen box auxiliary pressurizing air path; the pressure control band of the oxygen box main pressurizing electromagnetic valve 8 is 0.39 MPa-0.42 MPa, the pressure control band of the oxygen box auxiliary pressurizing electromagnetic valve 9 is 0.38 MPa-0.41 MPa, the flow rates of two pressurizing gases are both 20 g/s-25 g/s (helium), and the two electromagnetic valves are mutually redundant; when the pressure of the oxygen tank is lower than 0.39MPa, the main pressurizing electromagnetic valve 8 of the oxygen tank is opened, when the pressure of the oxygen tank is higher than 0.42MPa, the main pressurizing electromagnetic valve 8 of the oxygen tank is closed, when the pressure of the oxygen tank is reduced to 0.38MPa due to the failure of the main pressurizing gas circuit, the auxiliary pressurizing electromagnetic valve 9 of the oxygen tank is opened, and when the pressure of the oxygen tank is higher than 0.41MPa, the auxiliary pressurizing electromagnetic valve 9 of the oxygen tank is closed;
the pressurized helium tank 4 is an air source pressurized on the device and respectively pressurizes and boosts the fuel storage tank 1 and the liquid oxygen storage tank 2 through a fuel tank pressurization air path and an oxygen tank pressurization air path; the pressurized helium tank 4 is inflated on the ground through the inflation valve 3, and is filtered by the filter 5 in advance when the pressurization and pressurization of the fuel storage tank 1 and the liquid oxygen storage tank 2 are implemented at the initial starting stage of the engine;
the self-generating pressurization system comprises a liquid oxygen one-way valve 17, a throttling ring 18 and an oxygen evaporator 19 which are arranged on a self-generating pressurization pipeline, the self-generating pressurization pipeline is connected to the bottom of the liquid oxygen storage tank 2, liquid oxygen is heated and vaporized and then conveyed to the top of the liquid oxygen storage tank 2, the self-generating pressurization pipeline and the on-board pressurization system are used for jointly pressurizing the liquid oxygen storage tank 2 at the initial starting stage of the engine and independently pressurizing the liquid oxygen storage tank 2 after the engine is stably started;
the acquisition control system comprises 3 fuel tank pressure sensors 13, 3 oxygen tank pressure sensors 15 and a pressurization controller 20, the fuel tank pressure sensors 13 and the oxygen tank pressure sensors 15 respectively acquire air pillow pressures of the fuel storage tank 1 and the liquid oxygen storage tank 2 and send the air pillow pressures to the pressurization controller 20, and after data processing is carried out by the pressurization controller 20, control instructions of the electromagnetic valves are output according to pressure control bands of the electromagnetic valves on a fuel tank pressurization gas path and an oxygen tank pressurization gas path; preferably, the sampling frequency of the fuel tank pressure sensor 13 and the oxygen tank pressure sensor 15 is 50Hz, and the data processing cycle of the boost controller 20 is 10 samples, i.e., the pressure is output every 200ms for performing boost control; the pressurization controller 20 comprises a CPU corresponding to each fuel tank pressure sensor/oxygen tank pressure sensor, data of each fuel tank pressure sensor 13/oxygen tank pressure sensor 15 are respectively output to the corresponding CPU, the CPU calculates the current pressure according to the least square principle for effective pressure data in a sampling period, when the effective pressure data amount processed by each CPU does not exceed 50% of the sampling amount (namely the number of the effective pressure data in the period is less than or equal to 5), the parameters in the data processing period are considered invalid, the control instruction output is zero, after the CPU data are processed, the control instruction of the valve is output according to the pressure control band of each electromagnetic valve, finally the pressurization controller 20 performs three-out-of-two output on the instructions of the three CPUs, and the terminal control instruction of the valve is output, so that the working accuracy and reliability of the pressurization system are improved.
According to a second aspect of the invention, there is provided a method of reusing a low temperature power system tank small air pillow pressurization, comprising liquid oxygen tank pressurization and fuel tank pressurization:
for the liquid oxygen storage tank pressurization scheme:
the volume of the initial air pillow of the liquid oxygen storage tank is 400L-600L, which is far smaller than that of the initial air pillow of the traditional rocket type storage tank (usually 2000L-4000L). Before the engine is ignited, the liquid oxygen storage tank adopts normal-temperature helium to complete ground pressurization, pressurization is controlled in a closed mode and is completed by a power measurement and control system, the power measurement and control system controls the opening of an oxygen tank ground pressurization one-way valve 11 before ignition for 4min, the pressurization of the oxygen tank is started, a large-flow pressurization pressure control band is 0.38 MPa-0.395 MPa, a small-flow pressurization pressure control band is 0.395 MPa-0.4 MPa, when the tank pressure is lower than the lower limit of the current pressure control band, the oxygen tank ground pressurization one-way valve 11 is opened, and an oxygen tank ground pressurization gas path is communicated; when the pressure is higher than the upper limit of the current pressure control band, the oxygen tank ground pressurization one-way valve 11 is closed, and the oxygen tank ground pressurization gas path is disconnected; the oxygen box ground pressurization one-way valve 11 maintains the previous state in the pressure control zone, and the oxygen box ground pressurization is continued until the ignition of the engine is finished.
The liquid oxygen storage tank adopts a scheme of combining normal-temperature helium cylinder pressurization and open type autogenous pressurization on a carrier, because an initial air pillow of the oxygen tank is small, the tank pressure drops quickly at the initial starting stage of an engine, in addition, the autogenous pressurized gas from the engine heats up slowly at the initial starting stage of the engine, and the flow is easy to fluctuate, so an oxygen tank pressurization gas path is added on the basis of an autogenous pressurization system and consists of elements such as a pressurized helium cylinder, a pressure sensor and a pressurization electromagnetic valve. The pressurized helium tank 4 is a composite material gas tank with the volume of 40L and the working pressure of 23 MPa. In order to improve the working reliability of the system, the oxygen box pressurization gas circuit consists of an oxygen box main pressurization gas circuit and an oxygen box auxiliary pressurization gas circuit, the pressure control band of the oxygen box main pressurization solenoid valve 8 is 0.39-0.42 MPa, the pressure control band of the oxygen box auxiliary pressurization solenoid valve 9 is 0.38-0.41 MPa, the flow rates of the two paths of pressurization gas are both 20-25 g/s (helium), the two paths of solenoid valves are mutually redundant, the oxygen box main pressurization solenoid valve 8 is opened when the pressure of the oxygen box is lower than 0.39MPa, the oxygen box main pressurization solenoid valve 8 is closed when the pressure of the oxygen box is higher than 0.42MPa, the oxygen box auxiliary pressurization solenoid valve 9 is opened when the pressure of the oxygen box is reduced to 0.38MPa due to failure of the main pressurization gas circuit, and the oxygen box auxiliary pressurization solenoid valve 9 is closed when the pressure of the oxygen box is higher than 0.41 MPa. The self-generating pressurization system comprises a liquid oxygen one-way valve 17, a throttling ring 18 and an oxygen evaporator 19 which are arranged on a self-generating pressurization pipeline, the self-generating pressurization pipeline is connected to the bottom of the liquid oxygen storage tank 2, liquid oxygen is heated and vaporized and then conveyed to the top of the liquid oxygen storage tank 2, the self-generating pressurization pipeline and the on-board pressurization system are used for jointly pressurizing the liquid oxygen storage tank 2 at the initial starting stage of the engine and independently pressurizing the liquid oxygen storage tank 2 after the engine is stably started;
the liquid oxygen storage tank is provided with 3 oxygen tank pressure sensors 15, the sampling frequency of the sensors is 50Hz, the data processing period of the pressurization controller 20 is 10 times of sampling, namely, the pressure is output once every 200ms for carrying out pressurization control, the data of each oxygen box pressure sensor 15 is respectively output to a corresponding CPU, the CPU calculates the current pressure according to the least square principle for the effective pressure data in the sampling period, when the effective pressure data quantity does not exceed the sampling quantity by 50 percent (namely the number of the effective pressure data in the period is less than or equal to 5), the parameters in the data processing period are considered invalid, the control instruction output is zero, the control instruction of the valve is output according to the control band of each supercharging electromagnetic valve after the CPU data processing, and finally the supercharging controller 20 outputs the terminal control instruction of the valve by taking two out of three instructions of the three CPUs, so that the working accuracy and reliability of the supercharging system are improved.
The oxygen tank pressurization gas circuit works within 20s after the engine is ignited, namely the pressurization helium tank 4 only performs closed normal-temperature helium pressurization on the liquid oxygen storage tank in the period, and then the performance of the engine oxygen evaporator 19 reaches a stable high output state, so that the stable work of the engine oxygen evaporator can be ensured, and helium in the pressurization gas tank is saved for the pressurization of the fuel storage tank.
For a fuel tank pressurization scheme:
250L-300L of initial air pillow of the fuel storage tank. The fuel storage tank also adopts a normal-temperature helium ground pressurization scheme before the ignition of the engine, the pressurization is controlled in a closed mode and is completed by a power measurement and control system, and the air pillow pressure of the fuel storage tank before the injection can be controlled to be 0.40-0.42 MPa after-30 min before the ignition and 4min after the ignition, so that the pressure of a fuel tank meets the pressure requirement of a fuel inlet in the ignition starting process of the engine.
The pressurization on the fuel storage tank adopts a normal-temperature helium bottle pressurization mode, and comprises elements such as a pressurization helium bottle, a pressure sensor, a pressurization electromagnetic valve and the like, wherein the fuel tank pressurization gas circuit consists of a fuel tank main pressurization gas circuit and a fuel tank auxiliary pressurization gas circuit, the pressure control band of the fuel tank main pressurization electromagnetic valve 6 is 0.32 MPa-0.37 MPa, the pressure control band of the fuel tank auxiliary pressurization electromagnetic valve 7 is 0.30 MPa-0.35 MPa, the flow rates of two paths of pressurization gas are both 20 g/s-25 g/s (helium), and the two paths of electromagnetic valves are mutually redundant. The pressurization control gas circuit on the fuel tank device is shared with the oxygen tank part, and the adopted control method is completely the same as the oxygen tank pressurization gas circuit. When the fuel tank pressure is lower than 0.32MPa, the main fuel tank pressurization electromagnetic valve 6 is opened, when the fuel tank pressure is higher than 0.37MPa, the main fuel tank pressurization electromagnetic valve 6 is closed, when the main pressurization gas circuit fails, the auxiliary fuel tank pressurization electromagnetic valve 7 is opened when the fuel tank pressure is reduced to 0.30MPa, and when the fuel tank pressure is higher than 0.35MPa, the auxiliary fuel tank pressurization electromagnetic valve 7 is closed.
The fuel tank is provided with 3 fuel tank pressure sensors 13, the sampling frequency of the sensors is 50Hz, the data processing period of the pressurization controller 20 is 10 times of sampling, namely, the pressure is output once every 200ms for carrying out pressurization control, the data of each fuel tank pressure sensor 13 is respectively output to a corresponding CPU, the CPU calculates the current pressure according to the least square principle for the effective pressure data in the sampling period, when the effective pressure data quantity does not exceed the sampling quantity by 50 percent (namely the number of the effective pressure data in the period is less than or equal to 5), the parameters in the data processing period are considered invalid, the control instruction output is zero, the control instruction of the valve is output according to the control band of each supercharging electromagnetic valve after the CPU data processing, and finally the supercharging controller 20 outputs the terminal control instruction of the valve by taking two out of three instructions of the three CPUs, so that the working accuracy and reliability of the supercharging system are improved.
The invention has been described in detail with reference to specific embodiments and illustrative examples, but the description is not intended to be construed in a limiting sense. Those skilled in the art will appreciate that various equivalent substitutions, modifications or improvements may be made to the technical solution of the present invention and its embodiments without departing from the spirit and scope of the present invention, which fall within the scope of the present invention. The scope of the invention is defined by the appended claims.
Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.
Claims (6)
1. A reusable low-temperature power system storage tank small air pillow pressurization system is characterized by comprising a ground pressurization system, an on-board pressurization system, a self-generating pressurization system and an acquisition control system;
the ground pressurization system comprises a fuel tank ground pressurization gas path and an oxygen tank ground pressurization gas path, wherein a fuel tank ground pressurization one-way valve (10) and an oxygen tank ground pressurization one-way valve (11) are respectively arranged on the two gas paths and are used for completing normal-temperature helium ground pressurization on the fuel storage tank and the liquid oxygen storage tank before the ignition of the engine;
the on-board pressurization system comprises a pressurization helium tank (4), a fuel tank main pressurization electromagnetic valve (6), a fuel tank auxiliary pressurization electromagnetic valve (7), an oxygen tank main pressurization electromagnetic valve (8) and an oxygen tank auxiliary pressurization electromagnetic valve (9); the pressurized helium tank (4) is an air source pressurized on the device and respectively pressurizes the fuel storage tank (1) and the liquid oxygen storage tank (2) through a fuel tank pressurization air path and an oxygen tank pressurization air path; the fuel tank main pressurization solenoid valve (6) and the fuel tank auxiliary pressurization solenoid valve (7) are positioned on the fuel tank pressurization gas circuit and respectively control the on-off of the fuel tank main pressurization gas circuit and the fuel tank auxiliary pressurization gas circuit, the pressure control band of the fuel tank main pressurization solenoid valve (6) is 0.32 MPa-0.37 MPa, the pressure control band of the fuel tank auxiliary pressurization solenoid valve (7) is 0.30 MPa-0.35 MPa, the flow rates of the two paths of pressurization gas are both 20 g/s-25 g/s helium, and the two paths of solenoid valves are mutually redundant; when the pressure of the fuel tank is lower than 0.32MPa, the main pressurizing electromagnetic valve (6) of the fuel tank is opened, when the pressure of the fuel tank is higher than 0.37MPa, the main pressurizing electromagnetic valve (6) of the fuel tank is closed, when the pressure of the fuel tank is reduced to 0.30MPa due to the failure of the main pressurizing gas path, the auxiliary pressurizing electromagnetic valve (7) of the fuel tank is opened, and when the pressure of the fuel tank is higher than 0.35MPa, the auxiliary pressurizing electromagnetic valve (7) of the fuel tank is closed;
the oxygen box main pressurization electromagnetic valve (8) and the oxygen box auxiliary pressurization electromagnetic valve (9) are positioned on the oxygen box pressurization gas circuit and are respectively used for controlling the on-off of the oxygen box main pressurization gas circuit and the oxygen box auxiliary pressurization gas circuit; the pressure control band of the oxygen box main pressurizing electromagnetic valve (8) is 0.39 MPa-0.42 MPa, the pressure control band of the oxygen box auxiliary pressurizing electromagnetic valve (9) is 0.38 MPa-0.41 MPa, the flow rates of two pressurizing gases are both 20 g/s-25 g/s helium, and the two electromagnetic valves are mutually redundant; when the pressure of the oxygen tank is lower than 0.39MPa, the main pressurizing electromagnetic valve (8) of the oxygen tank is opened, when the pressure of the oxygen tank is higher than 0.42MPa, the main pressurizing electromagnetic valve (8) of the oxygen tank is closed, when the pressure of the oxygen tank is reduced to 0.38MPa due to the failure of the main pressurizing gas circuit, the auxiliary pressurizing electromagnetic valve (9) of the oxygen tank is opened, and when the pressure of the oxygen tank is higher than 0.41MPa, the auxiliary pressurizing electromagnetic valve (9) of the oxygen tank is closed;
the self-generating pressurization system is used for jointly pressurizing the liquid oxygen storage tank (2) with the on-board pressurization system at the initial starting stage of the engine and independently pressurizing the liquid oxygen storage tank (2) after the engine is stably started;
the acquisition control system comprises a fuel tank pressure sensor (13), an oxygen tank pressure sensor (15) and a pressurization controller (20), wherein the fuel tank pressure sensor (13) and the oxygen tank pressure sensor (15) respectively acquire air pillow pressures of a fuel storage tank (1) and a liquid oxygen storage tank (2) and send the air pillow pressures to the pressurization controller (20), and after data processing of the pressurization controller (20), control instructions of the electromagnetic valves are output according to pressure control bands of the electromagnetic valves on a fuel tank pressurization gas path and an oxygen tank pressurization gas path, so that the on-off of the fuel tank pressurization gas path and the oxygen tank pressurization gas path is controlled.
2. The system of claim 1, wherein the fuel tank ground pressurization gas circuit is configured to control a pre-injection fuel tank gas pillow pressure to 0.40MPa to 0.42MPa to ensure that the fuel tank pressure meets an inlet pressure requirement during an engine ignition start; the oxygen tank ground pressurization gas circuit is provided with two pressure control belts: the high-flow supercharging pressure control zone is 0.38MPa to 0.395MPa and the low-flow supercharging pressure control zone is 0.395MPa to 0.4 MPa; when the tank pressure is lower than the lower limit of the pressure control band, the fuel tank ground pressurization one-way valve (10)/the oxygen tank ground pressurization one-way valve (11) are opened, and a fuel tank ground pressurization gas path/an oxygen tank ground pressurization gas path are communicated; when the pressure is higher than the upper limit of the pressure control band, the fuel tank ground pressurization one-way valve (10)/the oxygen tank ground pressurization one-way valve (11) are closed, and a fuel tank ground pressurization gas path/an oxygen tank ground pressurization gas path are disconnected; and when the pressure control zone is in, the fuel tank ground pressurization one-way valve (10)/the oxygen tank ground pressurization one-way valve (11) maintain the previous state, the fuel tank ground pressurization is continued until the end of-4 min before the ignition of the engine, and the oxygen tank ground pressurization is continued until the end of the ignition of the engine.
3. The system for pressurizing a small air pillow of a reusable low-temperature power system storage tank as claimed in claim 1, wherein the autogenous pressurizing system comprises a liquid oxygen one-way valve (17), a throttling ring (18) and an oxygen evaporator (19) on an autogenous pressurizing pipeline, the autogenous pressurizing pipeline is connected to the top of the liquid oxygen storage tank (2), and the liquid oxygen is heated and vaporized and then is conveyed to the liquid oxygen storage tank (2).
4. The re-use cryogenic power system tank small air pillow boost system of claim 1, characterized in that the number of fuel tank pressure sensors (13) is three and the number of oxygen tank pressure sensors (15) is three; the pressurization controller (20) comprises CPUs corresponding to the fuel tank pressure sensors and the oxygen tank pressure sensors, data of each fuel tank pressure sensor (13) and data of each oxygen tank pressure sensor (15) are respectively output to the corresponding CPUs, the CPUs calculate the current pressure according to the least square principle for effective pressure data in a sampling period, when the effective pressure data amount processed by the CPUs does not exceed the sampling amount by 50%, the parameters in the data processing period are considered invalid, the control instruction output is zero, after the CPU processes the data, the control instruction of the valve is output according to the pressure control band of each electromagnetic valve, and finally the pressurization controller (20) performs three-out-two output on the instructions of the three CPUs and outputs the terminal control instruction of the valve.
5. A method for pressurizing a small air pillow of a storage tank of a reusable low-temperature power system is characterized by comprising the following steps of pressurizing a liquid oxygen storage tank on the ground and pressurizing the liquid oxygen storage tank on the device:
and (3) pressurizing the liquid oxygen storage tank on the ground: the initial air pillow volume of the liquid oxygen storage tank is 400L-600L, the liquid oxygen storage tank adopts normal temperature helium gas to complete ground pressurization before the ignition of an engine, a ground pressurization one-way valve (11) of the oxygen tank is opened in-4 min before the ignition, the pressurization of the oxygen tank is started, the large-flow pressurization pressure control band is 0.38 MPa-0.395 MPa, the small-flow pressurization pressure control band is 0.395 MPa-0.4 MPa, the ground pressurization one-way valve (11) of the oxygen tank is opened when the tank pressure is lower than the lower limit of the current pressure control band, and the ground pressurization gas path of the oxygen tank is communicated; when the pressure is higher than the upper limit of the current pressure control band, the oxygen tank ground pressurization one-way valve (11) is closed, and the oxygen tank ground pressurization gas path is disconnected; when the pressure control zone is in, the oxygen tank ground pressurization one-way valve (11) maintains the previous state, and the oxygen tank ground pressurization is continued until the ignition of the engine is finished;
for on-board pressurization: the method is characterized in that a normal-temperature helium bottle pressurization mode is combined with an open type autogenous pressurization mode, an oxygen tank pressurization gas circuit in the normal-temperature helium bottle pressurization mode consists of an oxygen tank main pressurization gas circuit and an oxygen tank auxiliary pressurization gas circuit, the pressure control band of an oxygen tank main pressurization electromagnetic valve (8) is 0.39-0.42 MPa, the pressure control band of an oxygen tank auxiliary pressurization electromagnetic valve (9) is 0.38-0.41 MPa, the flow rates of two paths of pressurization gas are 20-25 g/s helium, the two paths of electromagnetic valves are mutually redundant, the oxygen tank main pressurization electromagnetic valve (8) is opened when the pressure of an oxygen tank is lower than 0.39MPa, the oxygen tank main pressurization electromagnetic valve (8) is closed when the pressure of the oxygen tank is higher than 0.42MPa, the oxygen tank auxiliary pressurization electromagnetic valve (9) is opened when the pressure of the oxygen tank is reduced to 0.38MPa due to failure in the main pressurization gas circuit, and the oxygen tank auxiliary pressurization electromagnetic valve (9) is closed when the pressure of the oxygen tank is higher than 0.41 MPa; in the open type autogenous pressurization mode, an autogenous pressurization pipeline is connected to the top of the liquid oxygen storage tank (2), liquid oxygen is heated and vaporized and then is conveyed to the top of the liquid oxygen storage tank (2) and is used for jointly implementing pressurization on the liquid oxygen storage tank (2) together with an on-board pressurization system at the initial stage of starting of an engine and independently pressurizing the liquid oxygen storage tank (2) after the engine is stably started;
three oxygen tank pressure sensors (15) are installed on the liquid oxygen storage tank, data of each oxygen tank pressure sensor (15) are respectively output to a corresponding CPU, the CPU calculates the current pressure according to the least square principle on effective pressure data in a sampling period, when the effective pressure data amount does not exceed the sampling amount by 50%, the parameters in the data processing period are considered invalid, the output of a control instruction is zero, the control instruction of the valve is output according to the control band of each booster solenoid valve after the CPU data are processed, and finally the booster controller (20) performs three-out-two output on the instructions of the three CPUs and outputs the terminal control instruction of the valve.
6. The method of pressurizing a small air pillow of a reusable cryogenic power system tank of claim 5, comprising a fuel tank ground pressurization and an on-board pressurization:
for fuel tank ground pressurization: the initial air pillow of the fuel storage tank is 250L-300L, the fuel storage tank adopts normal temperature helium gas ground pressurization before the ignition of the engine, the air pillow pressure of the fuel storage tank before the injection is controlled to be 0.40 MPa-0.42 MPa after-30 min before the ignition is finished and 4min before the ignition is finished, and the pressure of a fuel tank meets the requirement of the pressure of a fuel inlet in the ignition starting process of the engine;
the pressurization of the fuel storage tank adopts a normal-temperature helium tank pressurization mode, a fuel tank pressurization gas circuit in the normal-temperature helium tank pressurization mode consists of a fuel tank main pressurization gas circuit and a fuel tank auxiliary pressurization gas circuit, the pressure control band of a fuel tank main pressurization electromagnetic valve (6) is 0.32 MPa-0.37 MPa, the pressure control band of a fuel tank auxiliary pressurization electromagnetic valve (7) is 0.30 MPa-0.35 MPa, the flow rates of two paths of pressurization gas are both 20 g/s-25 g/s helium, and the two paths of electromagnetic valves are mutually redundant; when the pressure of the fuel tank is lower than 0.32MPa, the main pressurizing electromagnetic valve (6) of the fuel tank is opened, when the pressure of the fuel tank is higher than 0.37MPa, the main pressurizing electromagnetic valve (6) of the fuel tank is closed, when the pressure of the fuel tank is reduced to 0.30MPa due to failure of a main pressurizing gas path, the auxiliary pressurizing electromagnetic valve (7) of the fuel tank is opened, and when the pressure of the fuel tank is higher than 0.35MPa, the auxiliary pressurizing electromagnetic valve (7) of the fuel tank is closed;
the fuel storage tank is provided with 3 fuel tank pressure sensors (13), data of each fuel tank pressure sensor (13) is respectively output to a corresponding CPU, the CPU calculates the current pressure according to the least square principle on effective pressure data in a sampling period, when the effective pressure data quantity does not exceed 50% of the sampling quantity, the parameters in the data processing period are considered invalid, the control instruction output is zero, the CPU outputs the control instruction of the valve according to the control band of each booster electromagnetic valve after data processing, and finally the booster controller (20) performs three-out-of-two output on the instructions of the three CPUs and outputs the terminal control instruction of the valve.
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