CN116560278B - Low-power-consumption high-pressure inflation control system and method for space science experiment - Google Patents
Low-power-consumption high-pressure inflation control system and method for space science experiment Download PDFInfo
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Abstract
The invention provides a low-power-consumption high-pressure inflation control system and a method for space science experiments, wherein the system comprises a main control circuit, an inflation control system and an external auxiliary system; the inflation control system comprises a driving control circuit, a first choke inductor, a second choke inductor and an inflation pump set; the external auxiliary system includes an inlet valve, a pressure sensor, a gas cylinder, an outlet valve, and a gas injection assembly. The low-power-consumption high-pressure inflation control system and method for the space science experiment provided by the invention are based on the driving control method of the staged moment under-pressure starting, so that the air source is saved, and the inflation efficiency is improved; the maximum noise of the system working is reduced to 65dB through the shock absorber, the noise limit margin is improved, an air source is provided for air injection control and air injection experiment task circulation of a space science experiment, and an air source support and guarantee are provided for the science experiment task in the field.
Description
Technical Field
The invention belongs to the technical field of inflation control, and particularly relates to a low-power-consumption high-pressure inflation control system and method for space science experiments.
Background
With the improvement of complexity and high integration of space station science experiment system development tasks, strict constraints are required on power consumption, installation size and the like of a load single machine or subsystem. The inflation control system is used as a basic component of a space station jet control scientific experiment task, and the inflation system needs to be inflated to a sufficient pressure value to ensure that the jet experiment can be smoothly carried out.
The existing inflation control system is limited by the influences of power consumption, installation size, working noise and the like, can not meet the requirements of scientific experimental tasks, and has the following problems under the constraint condition that the installation size is 30cm x 10cm x 15 cm: (1) Under the working voltage of 24V-28V, the maximum inflation pressure of the inflation system is not large enough and is generally between 0.7 and 1.2MPa, and the operation of the air injection equipment cannot be supported for a long time (such as at least 20 min); and the pneumatic pump group is insufficient in pressure starting capability, for example, when the initial pressure is more than 0.4MPa, the pneumatic pump group cannot be successfully started, so that the pneumatic pump group fails to be inflated. (2) the maximum power consumption of inflation is relatively large, and is at least 180W; (3) The peak current of the pneumatic pump set under pressure starting and the input effective current are larger, the peak current is generally larger than 10A, and for a scientific experiment system with the total power of 220W@28V, the 28V power supply voltage of the system can be restarted or reset, so that other loads or single machine work in the 28V power supply system are influenced; (4) The working noise of the continuous inflation for more than half an hour reaches more than 69dB, and the margin of the maximum limit value of the noise is not large enough (less than or equal to 72 dB), so that the working environment of astronauts is influenced.
Disclosure of Invention
Aiming at the defects existing in the prior art, the invention provides a low-power-consumption high-pressure inflation control system and a method for space science experiments, which can effectively solve the problems.
The technical scheme adopted by the invention is as follows:
the invention provides a low-power consumption high-pressure inflation control system for space science experiments, which comprises: the system comprises a main control circuit, an inflation control system and an external auxiliary system;
the inflation control system comprises a driving control circuit, a first choke inductor, a second choke inductor and an inflation pump set; the first output end of the driving control circuit is connected to the positive line end of the inflation pump set through the first choke inductor; the second output end of the drive control circuit is connected to the loop end of the inflation pump set through the second choke inductor;
the external auxiliary system comprises an inlet valve, a pressure sensor, a gas cylinder, an outlet valve and a gas injection assembly; the air inlet pipe of the air bottle is connected with the air charging end of the air charging pump group; in the intake pipe, the inlet valve and the pressure sensor are installed in series; the outlet valve and the air injection assembly are arranged on the exhaust pipe of the air bottle in series;
the input end of the main control circuit is connected with the pressure sensor; and the output end of the main control circuit is respectively connected with the driving control circuit, the inlet valve, the outlet valve and the air injection assembly.
Preferably, the inflation pump set comprises a motor, a first pump head and a second pump head;
the air inlet of the first pump head is communicated with low-pressure gas; the air outlet of the first pump head is communicated with the air inlet of the second pump head through a 90-degree bent pipe; the air outlet of the second pump head is communicated with the air bottle through an air pipe;
and the pistons of the first pump head and the second pump head are driven by the same motor to perform air inlet and air exhaust actions.
Preferably, the pistons of the first pump head and the second pump head adopt a structure of a U-shaped universal plug seal with a corrosion-resistant metal spring inside, and the structure comprises a sealing groove, a U-shaped jacket and the metal spring; the U-shaped jacket and the metal spring are arranged in the sealing groove; when the metal spring is pressed, the lip of the U-shaped jacket is urged to be tightly clung to the sealing groove to form sealing, and the elastic force provided by the metal spring for the U-shaped jacket compensates for the abrasion of materials and offset and eccentricity generated by matching with the movement of the piston.
Preferably, the drive control circuit has a surge suppression function and a current backflow prevention function;
the driving control circuit adopts the first choke inductor and the second choke inductor to carry out matching control with a motor of the air inflation pump set, reduces peak current of starting of the air inflation pump set, and prevents starting failure caused by overcurrent of the air inflation pump set.
The invention also provides a method for the low-power-consumption high-pressure inflation control system for the space science experiment, which comprises the following steps:
step 1, fuzzy reasoning and decision are carried out by adopting a fuzzy controller, and then adjustment and verification are carried out on a decision result to obtain optimal starting parameters when the inflation pump set is started, wherein the method comprises the following steps: optimum initial pressure p 0 Best start time t 0 Best, input effective current i 0 Best and optimal first stage launch torque T 1 Best, wherein the optimal first stage launch torque T 1 _best＝AT n The method comprises the steps of carrying out a first treatment on the surface of the Wherein A is a first percentage coefficient; t (T) n Is rated torque;
step 2, presetting peak current i when the inflation pump set is started max The method comprises the steps of carrying out a first treatment on the surface of the Presetting a target value p_target of the gas cylinder inflation pressure; presetting a second stage starting torque T 2 ＝BT n The method comprises the steps of carrying out a first treatment on the surface of the Wherein B is a second percentage coefficient, and B is greater than A;
step 3, when the air injection assembly is in a working state, the inlet valve is in a closed state, and the outlet valve is in an open state; the air injection assembly takes the air bottle as an air source to perform air injection action;
when the air injection assembly works, the real-time pressure value p of the air cylinder is detected by the pressure sensor 1 And judges the real-time pressure value p 1 Whether or not it is equal to or less than the optimum initial pressure p 0 If not, the jet assembly continues to operate; if yes, executing the step 4;
step 4, closing the air injection assembly, closing the outlet valve, opening the inlet valve, starting the air charging pump set by adopting a staged torque control mode, charging air into the air bottle until the pressure value of the air bottle reaches an air charging pressure target value p_tar get, and then executing step 5;
the method specifically comprises the following steps:
step 4.1, giving an optimal first stage starting torque T for the inflator pump assembly 1 _best；
Step 4.2, starting the torque T at the optimal first stage of the inflator pump assembly 1 Under the condition of _best, starting the inflation pump set under pressure;
step 4.3, the optimal start time t is passed 0 After_best, the second stage starting torque T of the air pump set is given 2 The gas cylinder is inflated by the inflation pump set until the pressure value of the gas cylinder reaches the inflation pressure target value p_tar get, and the step 5 is executed;
in the process of starting the air pump set in a hierarchical torque control mode, detecting whether a shutdown instruction is received in real time, and if so, immediately executing the step 5; and detecting whether the starting current of the air pump set reaches the peak current i in real time max If yes, immediately executing the step 5;
and 5, closing the inflation pump set and the inlet valve to complete the inflation process of the gas cylinder.
Preferably, the optimum initial pressure p 0 The_best is 0.5Mpa; optimal start time t 0 B, b est is 5 seconds; optimum first stage starting torque T 1 _best＝0.8T n The method comprises the steps of carrying out a first treatment on the surface of the Second stage starting torque T 2 ＝0.98T n The method comprises the steps of carrying out a first treatment on the surface of the Peak current i max Is 8 amperes.
Preferably, in step 1, fuzzy reasoning and decision are performed by using a fuzzy controller to determine the optimal initial pressure p 0 Best start time t 0 Best, input effective current i 0 Best and optimal first stage launch torque T 1 The match value of _best is specifically:
step 1.1, establishing a three-dimensional multi-parameter fuzzy controller; the three-dimensional multi-parameter fuzzy controller has three input quantities x 1 、x 2 、x 3 And an output y; wherein x is 1 Representing the input effective current, x 2 Represents the start-up time, x 3 Representing an initial pressure; y represents a first stage starting torque;
step 1.2, determining basic domains of each input quantity and output quantity, including: input quantity x 1 Is X 1 ＝[x 1min ,x 1max ]The method comprises the steps of carrying out a first treatment on the surface of the Input quantity x 2 Is X 2 ＝[x 2min ,x 2max ]The method comprises the steps of carrying out a first treatment on the surface of the Input quantity x 3 Is X 3 ＝[x 3min ,x 3max ]The method comprises the steps of carrying out a first treatment on the surface of the The basic argument of the output Y is y= [ Y ] min ,y max ]；
Step 1.3, determining fuzzy subsets and membership functions of the input and output quantities, including:
input quantity x 1 Basic domain X of theory 1 The segmentation is three sections from small to large, and fuzzy subsets corresponding to each section are as follows: first fuzzy subsetSecond fuzzy subset->And a third fuzzy subset->Thereby determining the input quantity x 1 Fuzzy sets of (a)For->Representing input quantity X 1 Belonging to fuzzy set f 1 Membership of->Corresponding to the first membership function, the second membership function and the third membership function respectively;
input quantity X 2 Basic domain x of theory of (2) 2 The segmentation is three sections from small to large, and fuzzy subsets corresponding to each section are as follows: first fuzzy subsetSecond fuzzy subset->And a third fuzzy subset->Thereby determining the input quantity X 2 Fuzzy sets of (a)For->Representing input quantity X 2 Belonging to fuzzy set F 2 Membership of->Corresponding to the first membership function, the second membership function and the third membership function respectively;
input quantity X 3 Is a basic part of (2)Domain x 3 The segmentation is three sections from small to large, and fuzzy subsets corresponding to each section are as follows: first fuzzy subsetSecond fuzzy subset->And a third fuzzy subset->Thereby determining the input quantity x 3 Fuzzy sets of (a)For->Representing the input x 3 Belonging to fuzzy set F 3 Membership of->Corresponding to the first membership function, the second membership function and the third membership function respectively;
dividing the basic argument Y of the output Y into three sections from small to large, wherein the fuzzy subsets corresponding to each section are as follows: first fuzzy subset Q 1 Second fuzzy subset Q 2 And a third fuzzy subset Q 3 Thereby determining the fuzzy set q= { Q of the output quantity Y 1 ，Q 2 ，Q 3 For (E) }Representing the degree of membership of the output y to the fuzzy set Q 1 ，Q 2 ，Q 3 Corresponding to the first membership function, the second membership function and the third membership function respectively;
step 1.4, defining N groups of fuzzy rules;
for the kth fuzzy rule R k Where k=1, 2, …, N, described as:
if x 1 ∈{F 1 } k And x is 2 ∈{F 2 } k And x is 3 ∈{F 3 } k Then: y epsilon { Q }) k The method comprises the steps of carrying out a first treatment on the surface of the Wherein { F 1 } k 、{F 2 } k 、{F 3 } k Input x of the kth fuzzy rule 1 、x 2 And x 3 Belonging to fuzzy set, { Q } k The fuzzy set to which the k fuzzy rule output quantity belongs;
step 1.5, fuzzy reasoning is carried out:
the fuzzy inference is performed by adopting a maximum-minimum synthesis method, fuzzy subset operation in fuzzy rules takes intersection sets, and fuzzy subset operation among the fuzzy rules takes union sets, and the fuzzy subset operation method comprises the following steps:
step 1.5.1, the fuzzy implication relation in the kth fuzzy rule is expressed as follows:
R k ：{F 1 } k ×{F 2 } k ×{F 3 } k ×{Q} k
R k the membership function is described as:
wherein:
{F 1 } k ×{F 2 } k ×{F 3 } k ×{Q} k 4 fuzzy set direct products corresponding to the kth fuzzy rule are represented;representing the kth fuzzy rule, from three input domains X 1 、X 2 、X 3 Onto output domain Y, i.e. X 1 ×X 2 ×X 3 Fuzzy implication relation membership degree of X and Y;
step 1.5.2, the fuzzy relation matrix R formed by the whole fuzzy rule is as follows:
the fuzzy relation matrix R is a membership function set of N groups of fuzzy rules in the step 1.5.1; the membership function for R is specifically described as:
μ R (x 1 ,x 2 ,x 3 y) represents a membership function of the fuzzy relation matrix R;
step 1.6, fuzzy decision is carried out:
for known sharp inputsRespectively known clear input effective current, starting time and initial pressure, and the corresponding fuzzy sets are { F }, respectively 1 } * ，{F 2 } * ，{F 3 } * X is then * ：{F 1 } * ×{F 2 } * ×{F 3 } * Straight product representing 3 input fuzzy sets, expressed as +.>Thus fuzzy output set Y of fuzzy controller * For inputting fuzzy set X * And the synthesis of a fuzzy relation matrix R:
wherein:fuzzy output set Y obtained by fuzzy reasoning for synthesis operation * Is a fuzzy set on the output domain, expressed as a membership function:
step 1.7, defuzzification:
the element with the largest membership degree in the fuzzy set of the reasoning result is used as an output value Q by adopting a maximum membership degree function method, namely:wherein->For the membership degree corresponding to the fuzzy output set Y, the output value Q is the accurate value corresponding to the membership degree maximum element of the fuzzy output.
The low-power-consumption high-pressure inflation control system and method for the space science experiment provided by the invention have the following advantages:
the low-power-consumption high-pressure inflation control system and method for the space science experiment provided by the invention are based on the driving control method of the staged moment under-pressure starting, so that the air source is saved, and the inflation efficiency is improved; the maximum noise of the system working is reduced to 65dB through the shock absorber, the noise limit margin is improved, an air source is provided for air injection control and air injection experiment task circulation of a space science experiment, and an air source support and guarantee are provided for the science experiment task in the field.
Drawings
FIG. 1 is a block diagram of a low power consumption high pressure inflation control system for use in a space science experiment provided by the present invention;
FIG. 2 is a diagram of a connection mode of a series pump unit provided by the invention;
FIG. 3 is a schematic diagram of a flood seal provided by the present invention;
FIG. 4 is a graph of typical operating characteristics of a control pump set provided by the present invention;
FIG. 5 is a flow chart of a low power consumption high pressure inflation control method for use in a space science experiment provided by the present invention;
FIG. 6 is a graph of membership function of input effective current provided by the present invention;
FIG. 7 is a graph of membership functions for start-up time provided by the present invention;
FIG. 8 is a graph of membership functions for initial pressures provided by the present invention;
FIG. 9 is a membership function chart of a first stage starting torque provided by the present invention;
FIG. 10 is a graph of a first verification result of the start-up characteristics of a single pump set provided by the present invention;
FIG. 11 is a graph of a second validation result of the actuation characteristics of a single pump set provided by the present invention;
FIG. 12 is a graph of the results of multiple pump set start control inflation verification provided by the present invention;
fig. 13 is a diagram showing the noise reduction effect of the shock absorber according to the present invention.
Detailed Description
In order to make the technical problems, technical schemes and beneficial effects solved by the invention more clear, the invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Aiming at the requirements of space science experiment tasks related to the field of space station jet experiment control and jet propulsion control, the invention designs a high-pressure inflation control system which is oriented to a space science experiment system and has the advantages of 24-28V power supply voltage, average maximum power consumption lower than 170W, high integration of 30cm x 10cm x 15cm and starting pressure higher than or equal to 0.4MPa, and the inflation pressure is higher than 2MPa, and provides a driving control method based on staged moment under-pressure starting, thereby saving air sources and improving the inflation efficiency; the maximum noise of the system working is reduced to 65dB through the shock absorber, the noise limit margin is improved, an air source is provided for air injection control and air injection experiment task circulation of a space science experiment, and an air source support and guarantee are provided for the science experiment task in the field.
Referring to fig. 1, the present invention provides a low power consumption high pressure inflation control system for use in a space science experiment, comprising: the system comprises a main control circuit, an inflation control system and an external auxiliary system;
the inflation control system comprises a driving control circuit, a first choke inductor, a second choke inductor and an inflation pump set; the first output end of the driving control circuit is connected to the positive line end of the inflation pump set through the first choke inductor; the second output end of the drive control circuit is connected to the loop end of the inflation pump set through the second choke inductor;
the external auxiliary system comprises an inlet valve, a pressure sensor, a gas cylinder, an outlet valve and a gas injection assembly; the air inlet pipe of the air bottle is connected with the air charging end of the air charging pump group; in the intake pipe, the inlet valve and the pressure sensor are installed in series; the outlet valve and the air injection assembly are arranged on the exhaust pipe of the air bottle in series;
the input end of the main control circuit is connected with the pressure sensor; and the output end of the main control circuit is respectively connected with the driving control circuit, the inlet valve, the outlet valve and the air injection assembly.
The working principle of the inflation control system is as follows:
the main control circuit collects the pressure of the gas cylinder through the pressure sensor. When the pressure of the gas cylinder is lower than a set value, for example, 0.7MPa, the main control circuit controls the outlet valve of the external auxiliary system to be closed, and the gas injection assembly stops working; and then the main control circuit controls the driving control circuit of the air charging system to drive the air charging pump group to start to charge the air bottle from the initial pressure below 0.7MPa until the air bottle is charged to the target pressure, for example, 2MPa, so that the air bottle is circularly charged, and an air source is provided for the air injection assembly. Under the constraint of given size envelope, power supply voltage and maximum power consumption, the inflation system drives the inflation pump set to work, and the pressure of the gas cylinder is inflated to be higher than the target pressure from given initial pressure without reducing the pressure of the gas cylinder to be 0MPa, so that the gas source is saved, and the working efficiency is improved.
The method is concretely realized as follows:
(1) In the invention, a single motor drives two pump heads in series to work simultaneously in a given size envelope, and the nominal rated value of the target pressure of the single pump head inflation is 0.7MPa. The two pump heads are connected in series by adopting a 90-degree right-angle stainless steel bent pipe and a clamping sleeve, the pump set after being connected in series can be inflated to target pressure, such as 2MPa, and the connection method of the pump set is shown in figure 2.
Specifically, the inflation pump set comprises a motor, a first pump head and a second pump head;
the air inlet of the first pump head is communicated with low-pressure gas; the air outlet of the first pump head is communicated with the air inlet of the second pump head through a 90-degree bent pipe; the air outlet of the second pump head is communicated with the air bottle through an air pipe; and the pistons of the first pump head and the second pump head are driven by the same motor to perform air inlet and air exhaust actions.
(2) In the invention, the pistons of the first pump head and the second pump head adopt a structure of a U-shaped plug seal internally provided with a corrosion-resistant metal spring (such as 301 stainless steel), and the plug seal principle is as shown in figure 3, and comprises a sealing groove, a U-shaped jacket and the metal spring; the U-shaped jacket and the metal spring are arranged in the sealing groove; when the metal spring is pressed, the lip of the U-shaped jacket is urged to be tightly clung to the sealing groove to form sealing, and the elastic force provided by the metal spring for the U-shaped jacket compensates for the abrasion of materials and offset and eccentricity generated by matching with the movement of the piston.
As shown in fig. 4, compared with a common smooth plug sealing membrane, the air pump set and the plug sealing thereof of the invention have the advantages that when the air pump set is inflated to the target pressure of 2Mpa under the conditions of 24-28V power supply voltage and initial starting pressure of less than or equal to 0.7Mpa, the input effective current collection value is reduced from 5.13A to 4.15A, and the average power consumption is saved by 17W.
(3) In the invention, the drive control circuit has a surge suppression function, and can reduce surge current to be within 1A; the device has the function of preventing current from flowing backwards, and can prevent current in the process of stopping the pump from reversely entering a 28V power supply system;
(4) In the invention, the driving control circuit adopts the first choke inductance and the second choke inductance to carry out matching control with the motor of the air inflation pump set, so that the peak current of the starting of the air inflation pump set is reduced, and the starting failure caused by overcurrent of the air inflation pump set is prevented.
For example, the choke inductance of 20A/100uF is adopted to carry out matching control with the motor of the air pump set, so that the peak current for starting the pump set is smaller than 8A, and the motor of the air pump set is prevented from being over-current to cause starting failure.
The invention also provides a method for the low-power-consumption high-pressure inflation control system for the space science experiment, which aims at the method for controlling the pressurized start of the serial pump group of the inflation system, adopts a hierarchical moment start control method and specifically comprises the following steps: when the initial pressure p E [0,0.7 ]]Starting torque at MPa is less than rated torque, starting torque T is given in two stages, and starting torque T is the first stage 1 Is rated torque T n Below a percentage, for example 80% of rated torque, after an interval of 5 seconds, the second stage starting torque T 2 Is close to or reaches 100% rated torque, T 2 ＝0.98T n ，T n Is rated torque. When the existing control method is started under pressure, when 100% rated torque or the rated torque is directly given or is close to the rated torque, the effective current input in the starting process of the pump set is large, the starting time is long when the initial pressure is more than 0.4MPa, the maximum time is tens of seconds or tens of seconds, even the pump set slips, the heat dissipation of a motor winding is aggravated, the starting failure is caused, and the pump set cannot be inflated; the starting method can control the starting of the inflation pump set to be inflated to the target pressure by determining the minimum average starting time and the starting torque corresponding to the input effective current under the condition of the maximum initial pressure, thereby solving the problems of long starting time or failure in starting the pump process by directly giving the rated torque, saving air sources and improving the inflation efficiency; the greater the initial pressure, the more significant the savings in gas supply and improved efficiency.
Specifically, the present invention provides a method for a low-power consumption high-pressure inflation control system for a space science experiment, referring to fig. 5, comprising the steps of:
step 1, fuzzy reasoning and decision are carried out by adopting a fuzzy controller, and then adjustment and verification are carried out on a decision result to obtain optimal starting parameters when the inflation pump set is started, wherein the method comprises the following steps: optimum initial pressure p 0 Best start time t 0 Best, input effective current i 0 Best and optimal first stage launch torque T 1 Best, wherein the optimal first stage launch torque T 1 _best＝AT n The method comprises the steps of carrying out a first treatment on the surface of the Wherein A is a first percentage coefficient; t (T) n Is rated torque;
as a specific embodiment, when fuzzy controller is used to perform fuzzy inference, the inference result is as follows:
the initial pressure is 0.6MPa, the starting time is 5 seconds, the input effective current is 4.6A, and the first stage starting torque is 0.805T n . In actual control, about 10% of the initial pressure is considered for pressure derating, so that the fuzzy reasoning result is finely adjusted to obtain the optimal starting parameters: optimum initial pressure p 0 The_best is 0.5Mpa; optimal start time t 0 B, b est is 5 seconds; optimum first stage starting torque T 1 _best＝0.8T n The method comprises the steps of carrying out a first treatment on the surface of the Second stage starting torque T 2 ＝0.98T n 。
In the step, fuzzy controller is adopted to carry out fuzzy reasoning and decision so as to determine the optimal initial pressure p 0 Best start time t 0 Best, input effective current i 0 Best and optimal first stage launch torque T 1 The match value of _best is specifically:
step 1.1, establishing a three-dimensional multi-parameter fuzzy controller; the three-dimensional multi-parameter fuzzy controller has three input quantities x 1 、x 2 、x 3 And an output y; wherein x is 1 Representing the input effective current, x 2 Represents the start-up time, x 3 Representing an initial pressure; y represents a first stage starting torque;
step 1.2, determining basic domains of each input quantity and output quantity, including: input quantity x 1 Is X 1 ＝[x 1min ,x 1max ]The method comprises the steps of carrying out a first treatment on the surface of the Input quantity x 2 Is X 2 ＝[x 2min ,x 2max ]The method comprises the steps of carrying out a first treatment on the surface of the Input quantity x 3 Is X 3 ＝[x 3min ,x 3max ]The method comprises the steps of carrying out a first treatment on the surface of the The basic argument of the output Y is y= [ Y ] min ,y max ]；
For example, X 1 ＝[x 1min ,x 1max ]＝[3,6]；X 2 ＝[x 2min ,x 2max ]＝[1,15]；X 3 ＝[X 3min ,X 3max ]＝[0,0.7]；y＝[y min ,y max ]＝＝[0.5,1]；
Step 1.3, determining fuzzy subsets and membership functions of the input and output quantities, including:
input quantity x 1 Basic domain X of theory 1 The segmentation is three sections from small to large, and fuzzy subsets corresponding to each section are as follows: first fuzzy subsetSecond fuzzy subset->And a third fuzzy subset->Thereby determining the input quantity x 1 Fuzzy sets of (a)For->Representing the input x 1 Belonging to fuzzy set f 1 Membership of->Corresponding to the first membership function, the second membership function and the third membership function respectively; as shown in fig. 6, the input value X 1 Membership function graph of (a); in FIG. 6, smalls, media, big correspond to the first fuzzy subsets, respectivelySecond fuzzy subset->And a third fuzzy subset->
Input quantity X 2 Basic domain X of theory 2 The segmentation is three sections from small to large, and fuzzy subsets corresponding to each section are as follows: first fuzzy subsetSecond fuzzy subset->And a third fuzzy subset->Thereby determining the input quantity x 2 Fuzzy sets of (a)For->Representing input quantity X 2 Belonging to fuzzy set f 2 Membership of->Corresponding to the first membership function, the second membership function and the third membership function respectively; as shown in fig. 7, the input x is 2 Membership function graph of (a); in FIG. 7, short, medium, long correspond to the first fuzzy subsets, respectivelySecond fuzzy subset->And a third fuzzy subset->
Input quantity X 3 Basic domain x of theory of (2) 3 The segmentation is three sections from small to large, and fuzzy subsets corresponding to each section are as follows: first fuzzy subsetSecond fuzzy subset/>And a third fuzzy subset->Thereby determining the input quantity x 3 Fuzzy sets of (a)For->Representing the input x 3 Belonging to fuzzy set F 3 Membership of->Corresponding to the first membership function, the second membership function and the third membership function respectively; as shown in fig. 8, the input x is 3 Membership function graph of (a); in FIG. 8, low, medium, high correspond to the first fuzzy subset +.>Second fuzzy subset->And a third fuzzy subset->
Dividing the basic argument Y of the output Y into three sections from small to large, wherein the fuzzy subsets corresponding to each section are as follows: first fuzzy subset Q 1 Second fuzzy subset Q 2 And a third fuzzy subset Q 3 Thereby determining the fuzzy set q= { Q of the output quantity y 1 ，Q 2 ，Q 3 For (E) }Representing the degree of membership of the output y to the fuzzy set Q 1 ，Q 2 ，Q 3 Respectively toThe first membership function, the second membership function and the third membership function are applied; as shown in fig. 9, a membership function graph of the output y; in FIG. 9, short, medium, large correspond to the first fuzzy subsets Q respectively 1 Second fuzzy subset Q 2 And a third fuzzy subset Q 3 。
As a specific embodiment, for three input quantities x 1 、x 2 、x 3 The first membership function, the second membership function and the third membership function may be respectively: zmf, gaussmf, gaussmf. For the output y, the first membership function, the second membership function and the third membership function may be respectively: zmf, gaussmf, gaussmf. Wherein gaussmf is a gaussian membership function, gbellmf is a generalized bell-shaped membership function, smf is an S-shaped membership function, and zmf is a Z-shaped membership function.
Step 1.4, defining N groups of fuzzy rules;
specifically, N sets of fuzzy rules, e.g., 12 sets of fuzzy rules, are defined based on expert experience in combination with an operator manual control strategy.
For the kth fuzzy rule R k Where k=1, 2, …, N, described as:
if x 1 ∈{F 1 } k And x is 2 ∈{F 2 } k And x is 3 ∈{F 3 } k Then: y epsilon { Q }) k The method comprises the steps of carrying out a first treatment on the surface of the Wherein { F 1 } k 、{F 2 } k 、{F 3 } k Input x of the kth fuzzy rule 1 、x 2 And x 3 Belonging to fuzzy set, { Q } k The fuzzy set to which the k fuzzy rule output quantity belongs;
step 1.5, fuzzy reasoning is carried out:
the fuzzy inference is performed by adopting a maximum-minimum synthesis method, fuzzy subset operation in fuzzy rules takes intersection sets, and fuzzy subset operation among the fuzzy rules takes union sets, and the fuzzy subset operation method comprises the following steps:
step 1.5.1, the fuzzy implication relation in the kth fuzzy rule is expressed as follows:
R k ：{F 1 } k ×{F 2 } k ×{F 3 } k ×{Q} k
R k the membership function is described as:
wherein:
{F 1 } k ×{F 2 } k ×{F 3 } k ×{Q} k 4 fuzzy set direct products corresponding to the kth fuzzy rule are represented;representing the kth fuzzy rule, from three input domains X 1 、X 2 、X 3 Onto output domain Y, i.e. X 1 ×X 2 ×X 3 Fuzzy implication relation membership degree of X and Y;
step 1.5.2, the fuzzy relation matrix R formed by the whole fuzzy rule is as follows:
the fuzzy relation matrix R is a membership function set of N groups of fuzzy rules in the step 1.5.1; the membership function for R is specifically described as:
μ R (x 1 ,x 2 ,x 3 y) represents a membership function of the fuzzy relation matrix R;
step 1.6, fuzzy decision is carried out:
for known sharp inputsRespectively known clear input effective current, starting time and initial pressure, and the corresponding fuzzy sets are { F }, respectively 1 } * ，{F 2 } * ，{F 3 } * X is then * ：{F 1 } * ×{F 2 } * ×{F 3 } * Straight product representing 3 input fuzzy sets, expressed as +.>Thus fuzzy output set Y of fuzzy controller * For inputting fuzzy set X * And the synthesis of a fuzzy relation matrix R:
wherein:fuzzy output set Y obtained by fuzzy reasoning for synthesis operation * Is a fuzzy set on the output domain, expressed as a membership function:
step 1.7, defuzzification:
the element with the largest membership degree in the fuzzy set of the reasoning result is used as an output value Q by adopting a maximum membership degree function method, namely:wherein->For the membership degree corresponding to the fuzzy output set Y, the output value Q is the accurate value corresponding to the membership degree maximum element of the fuzzy output.
Step 2, presetting peak current i when the inflation pump set is started max The method comprises the steps of carrying out a first treatment on the surface of the Presetting a target value p_target of the gas cylinder inflation pressure; presetting a second stage starting torque T 2 ＝BT n The method comprises the steps of carrying out a first treatment on the surface of the Wherein B is a second percentage coefficient,b is greater than A;
step 3, when the air injection assembly is in a working state, the inlet valve is in a closed state, and the outlet valve is in an open state; the air injection assembly takes the air bottle as an air source to perform air injection action;
when the air injection assembly works, the real-time pressure value p of the air cylinder is detected by the pressure sensor 1 And judges the real-time pressure value p 1 Whether or not it is equal to or less than the optimum initial pressure p 0 If not, the jet assembly continues to operate; if yes, executing the step 4;
step 4, closing the air injection assembly, closing the outlet valve, opening the inlet valve, starting the air charging pump set by adopting a staged torque control mode, charging air into the air bottle until the pressure value of the air bottle reaches an air charging pressure target value p_target, for example, 2Mpa, and then executing step 5;
the method specifically comprises the following steps:
step 4.1, giving an optimal first stage starting torque T for the inflator pump assembly 1 _best；
Step 4.2, starting the torque T at the optimal first stage of the inflator pump assembly 1 Under the condition of _best, starting the inflation pump set under pressure;
step 4.3, the optimal start time t is passed 0 After_best, the second stage starting torque T of the air pump set is given 2 The gas cylinder is inflated by the inflation pump set until the pressure value of the gas cylinder reaches the inflation pressure target value p_target, and the step 5 is executed;
in the process of starting the air pump set in a hierarchical torque control mode, detecting whether a shutdown instruction is received in real time, and if so, immediately executing the step 5; and detecting whether the starting current of the air pump set reaches the peak current i in real time max For example 8 amps, if so, step 5 is performed immediately;
and 5, closing the inflation pump set and the inlet valve to complete the inflation process of the gas cylinder.
The actual verification of the control method:
for a single aeration pump group, different first stage starting torques (0.3T) according to different starting pressures (such as 0MPa, 0.4MPa, 0.6MPa and 0.7 MPa) n 、0.5T n 、0.8T n 、T n ) At least 10 times of start control tests are alternately performed, and finally, the initial pressure is 0.5MPa, and the first-stage start torque is 0.8T n Under the condition, the starting time is less than 5s. See fig. 10 and 11. For a plurality of groups of aeration pump groups, the initial pressure is 0.5MPa to 0.6MPa, and the first stage starting torque is 0.8T n The verification effect of performing inflation control is shown in fig. 12. The control method is proved to be effective and feasible through the comparison test of a single pump group and a plurality of pump groups.
In addition, aiming at the influence of system working noise on the environment, a sleeve type shock absorber is arranged on a base of a series pump set, the noise reduction effect of the shock absorber is shown in fig. 13, and the margin of the noise limit value is increased by 4-5 dB.
Therefore, the low-power-consumption high-pressure inflation control system and method for the space science experiment provided by the invention are based on the driving control method of the staged moment under-pressure starting, so that the air source is saved, and the inflation efficiency is improved; the maximum noise of the system working is reduced to 65dB through the shock absorber, the noise limit margin is improved, an air source is provided for air injection control and air injection experiment task circulation of a space science experiment, and an air source support and guarantee are provided for the science experiment task in the field.
The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which is also intended to be covered by the present invention.
Claims (5)
1. A method for a low power consumption high pressure inflation control system for use in a space science experiment, the low power consumption high pressure inflation control system for use in a space science experiment comprising: the system comprises a main control circuit, an inflation control system and an external auxiliary system;
the inflation control system comprises a driving control circuit, a first choke inductor, a second choke inductor and an inflation pump set; the first output end of the driving control circuit is connected to the positive line end of the inflation pump set through the first choke inductor; the second output end of the drive control circuit is connected to the loop end of the inflation pump set through the second choke inductor;
the external auxiliary system comprises an inlet valve, a pressure sensor, a gas cylinder, an outlet valve and a gas injection assembly; the air inlet pipe of the air bottle is connected with the air charging end of the air charging pump group; in the intake pipe, the inlet valve and the pressure sensor are installed in series; the outlet valve and the air injection assembly are arranged on the exhaust pipe of the air bottle in series;
the input end of the main control circuit is connected with the pressure sensor; the output end of the main control circuit is respectively connected with the driving control circuit, the inlet valve, the outlet valve and the air injection assembly;
the inflation pump set comprises a motor, a first pump head and a second pump head;
the air inlet of the first pump head is communicated with low-pressure gas; the air outlet of the first pump head is communicated with the air inlet of the second pump head through a 90-degree bent pipe; the air outlet of the second pump head is communicated with the air bottle through an air pipe;
the pistons of the first pump head and the second pump head are driven by the same motor to perform air inlet and air exhaust actions;
a method for a low power consumption high pressure inflation control system for space science experiments, comprising the steps of:
step 1, fuzzy reasoning and decision are carried out by adopting a fuzzy controller, and then adjustment and verification are carried out on a decision result to obtain optimal starting parameters when the inflation pump set is started, wherein the method comprises the following steps: optimum initial pressure p 0 Best start time t 0 Best, input effective current i 0 Best and optimal first stage launch torque T 1 Best, wherein the optimal first stage launch torque T 1 _best＝AT n The method comprises the steps of carrying out a first treatment on the surface of the Wherein A is a first percentage coefficient; t (T) n Is rated torque;
step 2, presetting peak current i when the inflation pump set is started max The method comprises the steps of carrying out a first treatment on the surface of the Presetting a target value p_target of the gas cylinder inflation pressure; presetting a second stage starting torque T 2 ＝BT n The method comprises the steps of carrying out a first treatment on the surface of the Wherein B is a second percentage coefficient,b is greater than A;
step 3, when the air injection assembly is in a working state, the inlet valve is in a closed state, and the outlet valve is in an open state; the air injection assembly takes the air bottle as an air source to perform air injection action;
when the air injection assembly works, the real-time pressure value p of the air cylinder is detected by the pressure sensor 1 And judges the real-time pressure value p 1 Whether or not it is equal to or less than the optimum initial pressure p 0 If not, the jet assembly continues to operate; if yes, executing the step 4;
step 4, closing the air injection assembly, closing the outlet valve, opening the inlet valve, starting the air charging pump set by adopting a staged torque control mode, charging air into the air bottle until the pressure value of the air bottle reaches the charging pressure target value p_target, and then executing step 5;
the method specifically comprises the following steps:
step 4.1, giving an optimal first stage starting torque T for the inflator pump assembly 1 _best；
Step 4.2, starting the torque T at the optimal first stage of the inflator pump assembly 1 Under the condition of _best, starting the inflation pump set under pressure;
step 4.3, the optimal start time t is passed 0 After_best, the second stage starting torque T of the air pump set is given 2 The gas cylinder is inflated by the inflation pump set until the pressure value of the gas cylinder reaches the inflation pressure target value p_target, and the step 5 is executed;
in the process of starting the air pump set in a hierarchical torque control mode, detecting whether a shutdown instruction is received in real time, and if so, immediately executing the step 5; and detecting whether the starting current of the air pump set reaches the peak current i in real time max If yes, immediately executing the step 5;
and 5, closing the inflation pump set and the inlet valve to complete the inflation process of the gas cylinder.
2. The method for a low-power-consumption high-pressure inflation control system for a space science experiment according to claim 1, wherein the pistons of the first pump head and the second pump head adopt a structure of a U-shaped universal plug seal internally provided with a corrosion-resistant metal spring, and the structure comprises a sealing groove, a U-shaped jacket and the metal spring; the U-shaped jacket and the metal spring are arranged in the sealing groove; when the metal spring is pressed, the lip of the U-shaped jacket is urged to be tightly clung to the sealing groove to form sealing, and the elastic force provided by the metal spring for the U-shaped jacket compensates for the abrasion of materials and offset and eccentricity generated by matching with the movement of the piston.
3. The method for a low-power-consumption high-pressure inflation control system for a space science experiment according to claim 1, wherein the drive control circuit has a surge suppression function and a current backflow prevention function;
the driving control circuit adopts the first choke inductor and the second choke inductor to carry out matching control with a motor of the air inflation pump set, reduces peak current of starting of the air inflation pump set, and prevents starting failure caused by overcurrent of the air inflation pump set.
4. The method of a low power consumption high pressure pneumatic control system for space science experiments of claim 1, wherein the optimal initial pressure p 0 The_best is 0.5Mpa; optimal start time t 0 B, b est is 5 seconds; optimum first stage starting torque T 1 _best＝0.8T n The method comprises the steps of carrying out a first treatment on the surface of the Second stage starting torque T 2 ＝0.98T n The method comprises the steps of carrying out a first treatment on the surface of the Peak current i max Is 8 amperes.
5. The method of claim 1, wherein in step 1, fuzzy reasoning and decision are performed using a fuzzy controller to determine an optimal initial pressure p 0 Best start time t 0 Best, input effective current i 0 Best and optimal first stage launch torque T 1 The match value of _best is specifically:
step 1.1, establishing a three-dimensional multi-parameter fuzzy controller; the three-dimensional multi-parameter fuzzy controller has three input quantities x 1 、x 2 、x 3 And an output y;wherein x is 1 Representing the input effective current, x 2 Represents the start-up time, x 3 Representing an initial pressure; y represents a first stage starting torque;
step 1.2, determining basic domains of each input quantity and output quantity, including: input quantity x 1 Is X 1 ＝[x 1min ，x 1max ]The method comprises the steps of carrying out a first treatment on the surface of the Input quantity x 2 Is X 2 ＝[x 2min ，x 2max ]The method comprises the steps of carrying out a first treatment on the surface of the Input quantity x 3 Is X 3 ＝[X 3min ，X 3max ]The method comprises the steps of carrying out a first treatment on the surface of the The basic argument of the output Y is y= [ Y ] min ，y max ]；
Step 1.3, determining fuzzy subsets and membership functions of the input and output quantities, including:
input quantity x 1 Basic domain X of theory 1 The segmentation is three sections from small to large, and fuzzy subsets corresponding to each section are as follows: first fuzzy subsetSecond fuzzy subset->And a third fuzzy subset->Thereby determining the input quantity x 1 Fuzzy sets of (a)For->Representing the input x 1 Belonging to fuzzy set F 1 Membership of->Corresponding to the first membership function, the second membership function and the third membership function respectively;
input quantity x 2 Basic domain X of theory 2 The segmentation is three sections from small to large, and fuzzy subsets corresponding to each section are as follows: first fuzzy subsetSecond fuzzy subset->And a third fuzzy subset->Thereby determining the input quantity x 2 Fuzzy sets of (a)For->Representing the input x 2 Belonging to fuzzy set F 2 Membership of->Corresponding to the first membership function, the second membership function and the third membership function respectively;
input quantity x 3 Basic domain X of theory 3 The segmentation is three sections from small to large, and fuzzy subsets corresponding to each section are as follows: first fuzzy subsetSecond fuzzy subset->And a third fuzzy subset->Thereby determining the input quantity x 3 Fuzzy sets of (a)For->Representing the input x 3 Belonging to fuzzy set F 3 Membership of->Corresponding to the first membership function, the second membership function and the third membership function respectively;
dividing the basic argument Y of the output Y into three sections from small to large, wherein the fuzzy subsets corresponding to each section are as follows: first fuzzy subset Q 1 Second fuzzy subset Q 2 And a third fuzzy subset Q 3 Thereby determining the fuzzy set q= { Q of the output quantity y 1 ，Q 2 ，Q 3 For (E) }μ Q (y)∈[0，1]Representing the degree of membership of the output y to the fuzzy set Q 1 ，Q 2 ，Q 3 Corresponding to the first membership function, the second membership function and the third membership function respectively;
step 1.4, defining N groups of fuzzy rules;
for the kth fuzzy rule R k Where k=1, 2, …, N, described as:
if x 1 ∈{F 1 } k And x is 2 ∈{F 2 } k And x is 3 ∈{F 3 } k Then: y epsilon { Q }) k The method comprises the steps of carrying out a first treatment on the surface of the Wherein { F 1 } k 、{F 2 } k 、{F 3 } k Input x of the kth fuzzy rule 1 、x 2 And x 3 Belonging to fuzzy set, { Q } k The fuzzy set to which the k fuzzy rule output quantity belongs;
step 1.5, fuzzy reasoning is carried out:
the fuzzy inference is performed by adopting a maximum-minimum synthesis method, fuzzy subset operation in fuzzy rules takes intersection sets, and fuzzy subset operation among the fuzzy rules takes union sets, and the fuzzy subset operation method comprises the following steps:
step 1.5.1, the fuzzy implication relation in the kth fuzzy rule is expressed as follows:
R k ：{F 1 } k ×{F 2 } k ×{F 3 } k ×{Q} k
R k the membership function is described as:
wherein:
{F 1 } k ×{F 2 } k ×{F 3 } k ×{Q} k 4 fuzzy set direct products corresponding to the kth fuzzy rule are represented;representing the kth fuzzy rule, from three input domains X 1 、X 2 、X 3 Onto output domain Y, i.e. X 1 ×X 2 ×X 3 Fuzzy implication relation membership degree of X and Y;
step 1.5.2, the fuzzy relation matrix R formed by the whole fuzzy rule is as follows:
the fuzzy relation matrix R is a membership function set of N groups of fuzzy rules in the step 1.5.1; the membership function for R is specifically described as:
μ R (x 1 ，x 2 ，x 3 y) represents a membership function of the fuzzy relation matrix R;
step 1.6, fuzzy decision is carried out:
for known sharp inputsRespectively known clear input effective current, starting time and initial pressure, and the corresponding fuzzy sets are { F }, respectively 1 } * ，{F 2 } * ，{F 3 } * X is then * ：{F 1 } * ×{F 2 } * ×{F 3 } * Straight product representing 3 input fuzzy sets, expressed as +.>Thus fuzzy output set Y of fuzzy controller * For inputting fuzzy set X * And the synthesis of a fuzzy relation matrix R:
wherein:fuzzy output set Y obtained by fuzzy reasoning for synthesis operation * Is a fuzzy set on the output domain, expressed as a membership function:
step 1.7, defuzzification:
the element with the largest membership degree in the fuzzy set of the reasoning result is used as an output value Q by adopting a maximum membership degree function method, namely:wherein->For the membership degree corresponding to the fuzzy output set Y, the output value Q is the accurate value corresponding to the membership degree maximum element of the fuzzy output. />
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