CN117489491A - Thrust vector control device for spray pipe - Google Patents

Thrust vector control device for spray pipe Download PDF

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Publication number
CN117489491A
CN117489491A CN202311562015.2A CN202311562015A CN117489491A CN 117489491 A CN117489491 A CN 117489491A CN 202311562015 A CN202311562015 A CN 202311562015A CN 117489491 A CN117489491 A CN 117489491A
Authority
CN
China
Prior art keywords
spray pipe
nozzle
telescopic
expansion section
channel
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202311562015.2A
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Chinese (zh)
Inventor
亢金涛
屈慧刚
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Chengdu Zhiteng Chengqi Technology Co ltd
Original Assignee
Chengdu Zhiteng Chengqi Technology Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Chengdu Zhiteng Chengqi Technology Co ltd filed Critical Chengdu Zhiteng Chengqi Technology Co ltd
Priority to CN202311562015.2A priority Critical patent/CN117489491A/en
Publication of CN117489491A publication Critical patent/CN117489491A/en
Pending legal-status Critical Current

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Classifications

    • 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
    • F02K9/80—Rocket-engine plants, i.e. plants carrying both fuel and oxidant therefor; Control thereof characterised by thrust or thrust vector control
    • F02K9/805—Rocket-engine plants, i.e. plants carrying both fuel and oxidant therefor; Control thereof characterised by thrust or thrust vector control servo-mechanisms or control devices therefor
    • 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
    • F02K9/08—Rocket-engine plants, i.e. plants carrying both fuel and oxidant therefor; Control thereof using solid propellants
    • 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
    • F02K9/80—Rocket-engine plants, i.e. plants carrying both fuel and oxidant therefor; Control thereof characterised by thrust or thrust vector control
    • F02K9/84—Rocket-engine plants, i.e. plants carrying both fuel and oxidant therefor; Control thereof characterised by thrust or thrust vector control using movable nozzles
    • 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
    • F02K9/97—Rocket nozzles
    • 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
    • F02K9/97—Rocket nozzles
    • F02K9/976—Deployable nozzles

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Nozzles (AREA)

Abstract

The invention relates to a thrust vectoring device for a nozzle, comprising: a nozzle, at least an engine nozzle capable of being configured as a rocket; the spray pipe expanding section is flexibly connected with the spray pipe; the spray pipe expanding section is configured to receive the medium sprayed by the spray pipe so as to control the thrust vector of the rocket by controlling the swing of the spray pipe expanding section; the N groups of telescopic components are arranged on the outer sides of the spray pipes or/and the spray pipe expansion sections in a surrounding manner, wherein N is more than or equal to 3; one end of the telescopic component is connected with the spray pipe, the other end of the telescopic component is connected with the spray pipe expansion section, and the length of the telescopic component is adjustable so as to adjust the swing angle of the spray pipe expansion section by adjusting the length of at least part of the telescopic component.

Description

Thrust vector control device for spray pipe
Technical Field
The invention relates to the technical field of rocket flight control, in particular to a thrust vector control device of a spray pipe.
Background
In general, a rocket needs to have stronger maneuvering control performance in the flying process, and a common thrust vector control method of a small solid rocket engine is a control mode of a gas rudder, a bias ring and a guide vane, wherein the most used control mode is the control mode of the gas rudder. The main reason is that the small-sized rocket adopts a single-jet engine, and the guide vane needs to be matched with a plurality of jet pipes to realize effective attitude control. The gas rudder has the characteristics of simple structure, high response speed, no influence of flying height and the like, but has a plurality of defects, the control moment generated by the gas rudder is small due to the small rudder surface, the resistance of the gas rudder can cause the axial thrust of an engine to generate larger loss, gas residues are easy to block a gas path and the like.
Disclosure of Invention
In view of the foregoing, embodiments of the present invention aim to provide a nozzle thrust vectoring device that addresses at least one of the problems described above.
The invention provides a thrust vectoring device of a spray pipe, which comprises:
a nozzle, at least an engine nozzle capable of being configured as a rocket;
the spray pipe expanding section is flexibly connected with the spray pipe; the spray pipe expanding section is configured to receive the medium sprayed by the spray pipe so as to control the thrust vector of the rocket by controlling the swing of the spray pipe expanding section;
the N groups of telescopic components are arranged on the outer sides of the spray pipes or/and the spray pipe expansion sections in a surrounding manner, wherein N is more than or equal to 3; one end of the telescopic component is connected with the spray pipe, the other end of the telescopic component is connected with the spray pipe expansion section, and the length of the telescopic component is adjustable so as to adjust the swing angle of the spray pipe expansion section by adjusting the length of at least part of the telescopic component.
Further, the thrust vectoring control device for the spray pipe comprises three groups of telescopic assemblies, and the three groups of telescopic assemblies are uniformly arranged on the outer side of the spray pipe in a surrounding mode.
Further, the spray pipe is provided with a fixing seat, the fixing seat is provided with N first connecting pieces, and the first connecting seats are rotationally connected with the telescopic assembly.
Further, the spray pipe expansion section is provided with a swing seat;
the swinging seat is arranged in parallel with the fixed seat, and the central lines of the swinging seat and the fixed seat are coincident;
the swing seat is provided with a second connecting piece at a position corresponding to the first connecting piece of the fixed seat, and the second connecting piece is rotationally connected with the telescopic component.
Further, the fixing seat is positioned at the head end of the spray pipe;
the swing seat is positioned at the head end of the spray pipe expansion section and is arranged on the outer side of the spray pipe in a surrounding manner;
the telescoping assembly is located between the first connector and the second connector.
Further, the spray pipe is provided with a first channel, the first channel extends from the head end to the tail end of the spray pipe, the first channel is provided with a constriction, and the cross section of at least one part of the constriction is smaller than the opening area of an inlet and an outlet of the first channel;
the spray pipe expansion section is provided with a second channel, the second channel extends from the head end to the tail end of the spray pipe expansion section, and the second channel is a gradually-expanding channel;
the first channel extends at least partially into the second channel.
Further, the telescoping assembly includes:
the shell is provided with a first support lug which is hinged with a first connecting piece of the spray pipe;
a motor located within the housing;
the transmission rod is positioned in the shell; the transmission rod is connected with the output shaft of the motor and synchronously rotates along with the output shaft of the motor;
the moving piece is positioned in the shell; the moving part is positioned on the transmission rod and moves on the transmission rod along with the rotation of the transmission rod;
the sliding rod is connected with the moving part and synchronously moves on the transmission rod along with the moving part; one end of the sliding rod extends into the shell and is connected with the moving part, and the other end of the sliding rod is provided with a second supporting lug which is hinged with a second connecting part of the spray pipe expansion section.
Further, the telescoping assembly further comprises an anti-rotation element and a sensor;
the sensor is connected with one end of the sliding rod far away from the second support lug through the anti-rotation element, and synchronously moves along with the sliding rod so as to be used for detecting the displacement of the sliding rod;
the shell is internally provided with a slide way matched with the sensor, and the extending direction of the slide way is consistent with that of the transmission rod.
Further, the telescopic assembly further comprises an external connector, and the external connector is connected with the motor and the sensor so as to transmit a control instruction to the motor and transmit signals detected by the sensor.
Further, the thrust vectoring device for the spray pipe further comprises a master controller, wherein the master controller is connected with the telescopic assemblies through the external connectors so as to control the telescopic length of each group of telescopic assemblies and further control the swing of the expansion section of the spray pipe.
Compared with the prior art, the invention has at least one of the following beneficial effects:
(1) The thrust loss of the engine is small. The swinging of the expansion section of the spray pipe is the integral control of the flow direction of the fuel gas, and the fuel gas flow has no structures such as a gas rudder, a flow deflector and the like which obstruct the flow and mutually disturb, so that the thrust loss of the engine is small;
(2) The actuating mechanism has low power. The control object of the invention is a spray pipe expansion section, which is different from a full-axis swing spray pipe, because the spray pipe does not participate in swing, the swing inertia is small, the internal pressure change has no influence on friction damping load, the power requirement on an actuating mechanism is small, and the invention is convenient for realizing miniaturization and low cost;
(3) The control precision is high. According to the invention, more than three groups (including three groups) of telescopic components are used for controlling the expansion section of the spray pipe, so that the swing angle and the swing center of the expansion section of the spray pipe can be accurately controlled, the directivity of the fuel gas flow is good, the structural resonance of the spray pipe can be reduced, and the control precision of thrust vectors is improved;
(4) The dynamic response is good. According to the invention, more than three groups of telescopic components are used for jointly controlling the expansion section of the spray pipe, and the response frequency of the control device can be effectively improved through the driving capability and the control algorithm of the combination of a plurality of groups of telescopic components, so that the maneuverability of the rocket flying is improved;
(5) And the test is verified to be convenient. The swinging part of the expansion section of the spray pipe is convenient to maintain and replace, and meanwhile, the cold state and the hot state of the engine have small load changes and small swing center changes, so that the repeated test verification of the cold state of the ground is facilitated, and compensation operation on the swing center displacement is not needed on the flight control algorithm.
In the invention, the technical schemes can be mutually combined to realize more preferable combination schemes. Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention may be realized and attained by the structure particularly pointed out in the written description and drawings.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, like reference numerals being used to refer to like parts throughout the several views.
FIG. 1 is a schematic illustration (one) of a nozzle thrust vectoring device in an embodiment;
FIG. 2 is a schematic structural view of a thrust vectoring nozzle control device (II) according to the present embodiment;
FIG. 3 is a schematic structural view of a thrust vectoring nozzle control device according to the present embodiment (III);
FIG. 4 is a cross-sectional view of a nozzle thrust vectoring device according to the present embodiment;
FIG. 5 is a schematic view of a nozzle in an embodiment;
FIG. 6 is a schematic view of the structure of the nozzle expansion section in the embodiment;
FIG. 7 is a schematic view of a telescopic assembly according to an embodiment;
fig. 8 is a cross-sectional view of a telescoping assembly in an embodiment.
Reference numerals:
1-a spray pipe; 101-a first channel; 102-a first inlet; 103-a first outlet; 11-a fixed seat; 111-a first connector; 12-a constriction; 2-a spray pipe expansion section; 201-a second channel; 202-a second inlet; 203-a second outlet; 21-a swinging seat; 211-a second connector; 3-telescoping assembly; 301-a motor assembly cavity; 302-a transmission cavity; 31-a housing; 311-a first lug; 32-an electric motor; 321-an output shaft; 33-a transmission rod; 34-a moving member; 35-a sliding rod; 351-second lugs; 352-slideway; 353-a fixed block; 354-fitting groove; 36-an anti-rotation element; 37-sensor; 38-a slide rail; 39-external connector.
Detailed Description
The following detailed description of preferred embodiments of the invention is made in connection with the accompanying drawings, which form a part hereof, and together with the description of the embodiments of the invention, are used to explain the principles of the invention and are not intended to limit the scope of the invention.
In describing embodiments of the present invention, it should be noted that, unless explicitly stated and limited otherwise, the term "coupled" should be interpreted broadly, for example, as being fixedly coupled, as being detachably coupled, as being integrally coupled, as being mechanically coupled, as being electrically coupled, as being directly coupled, as being indirectly coupled via an intermediate medium. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
The terms "top," "bottom," "above … …," "below," and "on … …" are used throughout the description to refer to the relative positions of components of the device, such as the relative positions of the top and bottom substrates inside the device. It will be appreciated that the devices are versatile, irrespective of their orientation in space.
The working surface of the invention can be a plane or a curved surface, and can be inclined or horizontal. For convenience of explanation, the embodiments of the present invention are placed on a horizontal plane and used on the horizontal plane, and thus "up and down" and "up and down" are defined.
The method comprises the steps of adjusting the flying attitude of a rocket through aerodynamic force by an air rudder on a rocket body, and controlling the attitude of the rocket through controlling and adjusting the thrust direction of an engine by a thrust vector of a rocket engine. The air rudder has lower efficiency in a low-speed section and a high-altitude rudder, the initial attitude adjustment efficiency is also lower, and the thrust vector control mode can meet the control requirement of the full-flight mission section.
The thrust vector control device of the solid rocket engine is mainly realized by adding a fuel gas bias flow device to a movable spray pipe and a fixed spray pipe.
The large solid rocket engine is generally controlled by adopting a thrust vector control mode of a movable spray pipe due to the constraints of high-altitude flight conditions, installation space, rocket value and the like, while the small solid rocket engine is generally controlled by adopting a fixed spray pipe due to the limitations of the installation space and adopting two vector control modes of secondary injection and a mechanical guide plate.
The thrust vector control method of the secondary injection fluid needs to increase a storage tank for storing the fluid, and simultaneously increases structures such as a valve pipeline for secondary flow injection, and the like, so that the thrust vector control method has larger volume and is less used in thrust vector control of a small solid rocket engine.
The common thrust vector control mode of the small solid rocket engine is a control mode of a gas rudder, a bias ring and a guide vane, and the most used control mode is the control mode of the gas rudder, mainly because the small solid rocket engine adopts a single-jet-pipe engine, and the guide vane needs to be matched with a plurality of jet pipes to realize effective attitude control. The gas rudder has a plurality of defects that the control moment generated by the gas rudder is small due to the small rudder surface, the resistance of the gas rudder can cause the axial thrust of an engine to generate larger loss, and gas residues are easy to block a gas circuit and the like. Because the bias flow ring is positioned in the gas flow field after full expansion work and has the functions of converging and directionally releasing the gas, the mode can realize a larger thrust deflection angle and has less thrust loss. However, the mode can only swing uniaxially, so that the three-axis control of the projectile and the rocket is realized by matching with a plurality of spray pipes.
The invention provides a jet pipe thrust vector control device of a low-cost high-precision small solid engine, which controls the swinging of a jet pipe expansion section through more than three groups of telescopic components so as to realize the control of the direction of a medium ejected by a rocket, further realize the control of the thrust vector of the rocket, and has the advantages of high control precision, good dynamic response, small engine thrust loss, small actuating mechanism power and the like. In addition, the invention can realize the full-circle swing of the expansion section of the spray pipe, further realize the triaxial control of the rocket flight, and can effectively improve the control efficiency of a flight control system, improve the control precision of the system, improve the dynamic response of the system and reduce the thrust loss of the engine by applying the invention to the thrust vector control of a small solid engine.
In one embodiment of the present invention, a thrust vectoring nozzle control device (hereinafter referred to as a control device) is disclosed, as shown in fig. 1 to 8, comprising:
the nozzle 1, at least the engine nozzle which can be configured as a rocket, i.e. the control device of the invention can be used at least as a thrust vectoring mechanism for a rocket;
a nozzle expansion section 2 flexibly connected with the nozzle 1, wherein the nozzle expansion section 2 is configured to receive a medium (such as fuel gas) ejected by the nozzle 1 so as to control a rocket thrust vector by controlling the swing of the nozzle expansion section 2; preferably, the nozzle expansion section 2 is arranged on the outer side of the nozzle 1 in a surrounding manner, so that all media ejected by the nozzle 1 are guided out through the nozzle expansion section 2, and control of a rocket thrust vector is realized by controlling the swing angle and the swing center of the nozzle expansion section 2;
n groups of telescopic components 3, wherein N is more than or equal to 3 (N is an integer), and the N groups of telescopic components are arranged on the outer sides of the spray pipe 1 or/and the spray pipe expansion section 2 in a surrounding manner; one end of the telescopic component 3 is connected with the spray pipe 1, the other end of the telescopic component 3 is connected with the spray pipe expansion section 2, and the length of the telescopic component 3 is adjustable so as to adjust the swing (the swing at least comprises a swing angle and a swing center) of the spray pipe expansion section 2 by adjusting the length of at least part of the telescopic component 1.
According to the thrust vector control device for the spray pipe, more than three groups of telescopic assemblies 3 are used for controlling the swing of the expansion section 2 of the spray pipe, so that the direction of a medium ejected by a rocket is controlled, the thrust vector of the rocket is controlled, and the thrust vector control device for the spray pipe has the advantages of high control precision, good dynamic response, small engine thrust loss, small actuating mechanism power and the like.
For conveniently controlling the swing of the spray pipe expanding section 2, two ends of the telescopic component 3 are respectively connected with the spray pipe 1 and the spray pipe expanding section 2 in a rotating way, and illustratively, two ends of the telescopic component 3 are respectively hinged with the spray pipe 1 and the spray pipe expanding section 2. Preferably, the plurality of groups of telescopic components 3 are uniformly distributed on the outer sides of the spray pipe 1 and/or the spray pipe expansion section 2, so that the swing of the spray pipe expansion section is more stable and reliable, and the swing of the spray pipe expansion section is convenient to finely control.
According to a preferred embodiment of the present invention, the thrust vectoring device for a nozzle comprises three groups of telescopic assemblies 3, and the three groups of telescopic assemblies 3 are uniformly arranged around the outer side of the nozzle 1. By the arrangement, the swinging control of the spray pipe expansion section 2 can be realized more conveniently and rapidly besides the stable swinging control of the spray pipe expansion section 2, so that the calculation cost, the control cost and the time cost are saved.
According to one embodiment of the present invention, the nozzle 1 is provided with a fixing seat 11, the fixing seat 11 is provided with N first connecting pieces 111 (i.e. the number of the first connecting pieces 111 is the same as the number of the telescopic assemblies 3), the first connecting pieces 111 are in one-to-one correspondence with and rotationally connected to one end of the telescopic assemblies 3, and the first connecting pieces 111 are illustratively in one-to-one correspondence with and hinged to one end of the telescopic assemblies 3. Preferably, the fixing seat 11 is fixedly connected with the outer wall of the rocket engine.
The nozzle expansion section 2 is provided with a swinging seat 21, the swinging seat 21 is arranged in parallel with the fixed seat 11, and the central lines of the swinging seat 21 and the fixed seat 11 are coincident (namely, the central lines of the swinging seat and the fixed seat are both A-A). The swinging of the swinging seat 21 swings synchronously, and the closer the swinging seat 21 is to the head end of the nozzle expanding section 2, the larger the swinging range of the nozzle expanding section 2 is.
The swing seat 21 is provided with second connecting pieces 211 at positions corresponding to the first connecting pieces 111 of the fixed seat 11, that is, the swing seat 21 is provided with N second connecting pieces 211, the second connecting pieces 211 are arranged in one-to-one correspondence with the first connecting pieces 111, and the number of the second connecting pieces 211, the first connecting pieces 111 and the telescopic components 3 is equal. The second connectors 211 are in one-to-one correspondence and rotationally connected with the other ends of the telescopic assemblies 3, and the second connectors 211 are in one-to-one correspondence and hinged with the other ends of the telescopic assemblies 3.
The swinging seat 21 swings relative to the fixed seat 11 under the action of the telescopic assembly 3, so as to control the swinging of the spray pipe expansion section 2.
Therefore, the telescopic assembly 3 is located between the first connecting member 111 and the second connecting member 211, that is, one end of the telescopic assembly 3 is rotatably connected to the first connecting member 111, and the other end of the telescopic assembly 3 is rotatably connected to the second connecting member 211.
Preferably, one end of the telescopic assembly 3 is connected with the head end of the spray pipe 1, and the other end of the telescopic assembly 3 is connected with the head end of the spray pipe expansion section 2. That is, the fixing seat 11 is located at the head end of the nozzle 1, and the swing seat 21 is located at the head end of the nozzle expansion section 2.
In order to ensure the thrust vector control force of the control device, the swinging seat 21 is arranged on the outer side of the spray pipe 2 in a surrounding manner, and on one hand, all media sprayed by the spray pipe are ensured to enter the spray pipe expansion section; on the other hand, the control intensity of the thrust vector is ensured when the swinging seat swings.
The head ends of the spray pipe and the spray pipe expansion section refer to the end through which the sprayed medium passes first, and the end through which the sprayed medium passes after the sprayed medium passes is the tail end.
Preferably, the head end of the nozzle expansion section is flexibly connected with the tail end of the nozzle so as to control the swinging of the nozzle expansion section more conveniently.
According to one embodiment of the invention, the nozzle 1 is provided with a first channel 101 for the passage of the injection medium, the first channel 101 being provided with a first inlet 102 and a first outlet 103, the first channel 101 extending from the first inlet 102 to the first outlet 103. Preferably, the first channel 101 extends from the head end of the nozzle 1 to the tail end of the nozzle 1, i.e. the first inlet 102 is located at the head end of the nozzle and the first outlet 103 is located at the tail end of the nozzle.
The fixing seat 11 is surrounded on the outer side of the first channel 101, that is, a hole through which the first channel 101 passes is formed in the center of the fixing seat 11 (that is, the shape of the fixing seat 11 is circular or non-circular), preferably, the fixing seat 11 is surrounded on the outer side of the first inlet 102, the shape of the fixing seat 11 is matched with the shape of the first inlet 102, and at this time, the first inlet 102 is the hole of the fixing seat 11.
The nozzle expansion section 2 is provided with a second channel 201 for the passage of the injection medium, the second channel 201 being provided with a second inlet 202 and a second outlet 203, the second channel 201 extending from the second inlet 202 to the second outlet 203. Preferably, the second channel 201 extends from the head end of the nozzle expansion section 2 to the tail end of the nozzle expansion section 2, i.e. the second inlet 202 is located at the head end of the nozzle expansion section 2 and the second outlet 203 is located at the tail end of the nozzle expansion section 2.
The swinging seat 21 is disposed around the outer side of the second channel 201, that is, a hole through which the second channel 201 passes is formed in the center of the swinging seat 21 (that is, the swinging seat 21 is in a circular ring shape or a non-circular ring shape), preferably, the swinging seat 21 is disposed above the second inlet 202, and the hole side wall of the swinging seat 21 is flush with the mouth wall of the second inlet 202.
In order to ensure that the injection medium in the nozzle 1 is completely introduced into the nozzle expansion section 2, the first channel 101 extends at least partially into the second channel 201, i.e. the first outlet 103 is located in the second channel 201, and the nozzle expansion section 2 is at least able to enclose the end of the nozzle 1.
Preferably, the first channel 101 is provided with a constriction 12, the cross-sectional area of at least one part of the constriction 12 is smaller than the opening areas of the first inlet 102 and the first outlet 103 (the cross-sectional area of at least one part of the constriction 12 is smaller than the area of the first inlet 102 and the area of the first outlet 103 at the same time), i.e. the place where the cross-section of the first channel 11 is smallest is located in the constriction 12, so as to improve the injection speed of the injection medium and improve the thrust of the rocket.
The first channel 101 extends from the first inlet 102 to the constriction part 12, the sectional area is gradually reduced, then the constriction part 12 extends to the first outlet 103, and the sectional area is gradually increased, namely, the sectional area in the first channel is gradually reduced and then gradually increased along the direction of medium injection, and the place with the smallest sectional area is located in the constriction part 12, so that the stability of the first channel 101 can be ensured, and the overlarge impact force suffered by a certain place of the channel wall surface is avoided. Preferably, the mouth area of the first inlet 102 is equal to or larger than the mouth area of the first outlet 103 is equal to or larger than the smallest cross-sectional area at the constriction 12.
Preferably, the ratio of the mouth area of the first inlet 102 to the smallest cross-sectional area at the constriction 12 is not less than 4:1. In this embodiment, the ratio of the opening area of the first inlet 102 to the smallest cross-sectional area at the constriction 12 is 8:1.
Preferably, the constriction 12 is located in a central portion of the side wall of the spout.
The second channel 201 is a diverging channel, i.e. the cross-sectional area of the second channel 201 increases gradually along the extending direction thereof, i.e. the cross-sectional area of the second channel increases gradually from the second inlet 202 along the second channel 201 to the second outlet 203. The mouth area of the second inlet 202 < the mouth area of the second outlet 203.
Preferably, the ratio of the mouth area of the second inlet to the mouth area of the second outlet is not less than 1:6. In this embodiment, the ratio of the area of the second inlet to the area of the second outlet is 1:4.
In this embodiment, the side wall of the nozzle 1 is shaped like an hourglass, an hourglass-like channel (i.e., the first channel 101 is shaped like an hourglass channel) is defined by the side wall of the nozzle 1, and any cross section of the first channel is circular. The fixing seat 11 is an annular plate, the fixing seat 11 is arranged on the top end of the side wall of the spray pipe 1 in a surrounding mode, the inner diameter of the fixing seat 11 is equal to the caliber of the first inlet 102, the outer diameter of the fixing seat 11 is larger than the diameter of the top end of the side wall of the spray pipe 1, and the top wall of the fixing seat 11 is flush with the top end of the side wall of the spray pipe. The fixed seat 11 includes three first connecting pieces 111, where the first connecting pieces 111 are uniformly disposed on the bottom end surface of the annular plate, that is, toward the position where the swinging seat 21 is located, that is, an included angle formed by connecting the first connecting pieces 111 with the center of the fixed seat 11 is 120 °. The side wall of the nozzle expansion section 2 is in a horn shape, and a horn-shaped channel is surrounded on the side wall of the nozzle expansion section 2 (namely, the second channel 201 is a horn-shaped channel, and any cross section of the second channel is circular). The swinging seat 21 is an annular plate, the swinging seat 21 is positioned at the top end of the side wall of the spray pipe expansion section 2, and the inner diameter and the outer diameter of the swinging seat 21 are respectively not larger than the inner diameter and the outer diameter of any cross section of the side wall of the spray pipe expansion section 2. The swinging seat 21 comprises three second connecting pieces 211, wherein the second connecting pieces 211 are uniformly distributed on the top end surface of the swinging seat 21, namely, the position facing the fixing seat is located, that is, the included angle between the second connecting pieces 211 and the circle center connecting line of the swinging seat 21 is 120 degrees. The center lines of the first channel 101, the second channel 201, the spray pipe 1 and the spray pipe expansion section 2 are A-A.
It should be noted that, in this embodiment, the end of the nozzle 1 extends into the nozzle expansion section 2, and the outer side wall of the nozzle 1 is a certain distance from the inner side wall of the nozzle expansion section 2, and the flexible connection between the nozzle 1 and the nozzle expansion section 2 is realized by the connection of the telescopic assembly 3. I.e. the nozzle and the nozzle expansion section 2 are not in contact when the nozzle expansion section 2 is not swinging (i.e. the nozzle expansion section 2 is in place). In practical applications, in order to ensure that the injection matrix in the nozzle expansion section 2 is completely injected from the second outlet 203, a flexible sealing fold layer may be further disposed between the second inlet 202 and the outer sidewall of the nozzle 1, so as to ensure the tightness of the second inlet 202 without affecting the swing of the nozzle expansion section 2.
According to one embodiment of the invention, the telescopic assembly 3 comprises:
a housing 31 provided with a first lug 311, said first lug 311 being hinged to a first connection 111 of the spout 1;
a motor 32, located within the housing 31, for powering the extension and retraction of the retraction assembly 3;
a transmission rod 33 positioned in the housing 31; the transmission rod 33 is connected with an output shaft 321 of the motor 32 and synchronously rotates along with the output shaft 321;
a moving member 34 located within the housing 31; the moving part 34 is positioned on the transmission rod and moves on the transmission rod along with the rotation of the transmission rod;
a slide rod 35 connected to the moving member 34 and synchronously moving with the moving member 34 on the transmission rod 33; one end of the sliding rod 35 extends into the housing 31 to be connected with the moving member 34, a second support lug 351 is arranged at the other end of the sliding rod 35, and the second support lug 351 is hinged with the second connecting member 211 of the spray pipe expansion section 2.
Specifically, a first support lug 311 is disposed at one end of the housing 31, a through hole is disposed at the other end for the sliding rod 35 to pass through, and the sliding rod 35 is slidably connected with the housing 31. Illustratively, a sliding bearing is provided within the bore of the housing 31 for sliding connection with the sliding rod 35. Preferably, the first lugs 311 are disposed at two opposite ends of the housing 31 opposite to the through holes, i.e., the first lugs 311 and the second lugs 351 are disposed at two opposite ends of the housing 31.
In order to ensure the structural stability and the telescopic stability of the sliding assembly 3, the housing is provided with two assembling cavities, namely a motor assembling cavity 301 and a transmission cavity 302, the motor is installed in the motor assembling cavity 301, and the transmission rod 33, the moving member 34 and the sliding rod 35 are partially installed in the transmission cavity 302.
The shape of the motor assembly cavity 301 is matched with the shape of the motor 32, so as to avoid shaking of the motor 32 and ensure the transmission stability in the telescopic assembly.
One end of the transmission rod 33 penetrates into the motor assembly cavity 301 to be in transmission connection with the output shaft 321, so that the transmission rod can synchronously rotate along with the output shaft 321. The transmission rod 33 is illustratively a transmission screw, i.e. transmission threads are provided on the side wall of the transmission rod 33. The moving member 34 is sleeved on the transmission rod 33, and moves linearly on the transmission rod 33 along with the rotation of the transmission rod 33. Preferably, the moving member 34 is slidably connected to the transmission rod 33 via balls, so that on one hand sliding friction between the moving member 34 and the transmission rod 33 is reduced, and on the other hand positioning accuracy of the moving member 34 on the transmission rod 33 is improved.
The sliding rod 35 is provided with a slideway 352, and the other end (the end opposite to the end connected with the output shaft 321) of the transmission rod 33 passes through the moving member 34 and extends into the slideway 351, i.e. the sliding rod 35 is partially sleeved on the transmission rod 33. Preferably, the length of the slideway 352 is not less than the length of the transmission rod 33.
In order to ensure the synchronous movement and the stability of the movement of the sliding rod 35 and the moving member 34, a fixed block 353 is disposed at one end of the sliding rod 35, the moving member 34 is at least partially embedded in the fixed block 353, specifically, the fixed block 353 is provided with an assembling groove 354 penetrating the slideway 352, and the moving member 34 is detachably fixed in the assembling groove 354. Preferably, the depth of the assembly groove 354 is at least 1/2 of the length of the moving member 34 (the length of the moving member 34 refers to the length along the extension direction of the transmission rod), that is, the moving member 34 is mostly positioned in the fixed block 353, so as to ensure the stability of the movement of the sliding rod 35.
The fixed block 353 is always located in the transmission chamber 302. The fixed block and the second lugs are positioned at two opposite ends of the sliding rod, and the second lugs are always positioned at the outer side of the shell 31.
The central axes of the output shaft 321, the transmission rod 33, the moving member 34, and the slide rod 35 are collinear.
According to a preferred embodiment of the invention, the telescopic assembly 3 further comprises an anti-rotation element 36 and a sensor 37. The anti-rotation element 36 is connected to an end of the sliding rod 35 remote from the second support 351, that is, the anti-rotation element 36 is connected to the fixed block 353, so as to prevent the sliding rod 35 from rotating. The sensor 37 is configured to detect at least the displacement of the slide rod 35 so that the control means controls the length of the telescopic assembly and thus the oscillation of the spout expansion section 2. The sensor 37 is connected to the fixed block 353 via the anti-rotation member 36, so that the sensor 37 moves synchronously with the slide rod 35.
In order to ensure the detection stability of the sensor 37, a sliding groove or a sliding rail 38 which is matched with the sensor 37 is arranged in the housing 32, and the extending direction of the sliding groove is consistent with the extending direction of the transmission rod 33. The length of the chute or rail 38 is equal to the length of the drive rod 33.
In addition, the telescopic assembly 3 further comprises an external connector 39, and the external connector 39 is connected with the motor 32 and the sensor 37 so as to transmit a control command to the motor 32 and transmit a signal detected by the sensor 37. The external connector 39 may be a wireless connector or a wired connector. In the present embodiment, a wireless connector is used for the external connector 39.
In order to conveniently control the multiple groups of telescopic assemblies 3 to perform a synergistic action so as to finally control the swing gesture of the spray pipe expansion section 2, the control device further comprises a master controller (not shown in the figure), and the master controller is connected with the telescopic assemblies through an external connector 39 so as to control the telescopic length of each group of telescopic assemblies, and further control the swing of the spray pipe expansion section 2.
The main controller is connected with a console of the rocket, the main console transmits the flying gesture of the rocket or the swinging gesture of the nozzle expansion section 2 calculated according to the flying gesture to the main controller, the main controller calculates the corresponding length of each group of telescopic components according to the flying gesture of the rocket or the swinging gesture of the nozzle expansion section 2, transmits corresponding control instructions to each group of telescopic components, assists in detecting data returned by a sensor, accurately controls the telescopic components to extend or shorten to the corresponding length, realizes the control of the swinging gesture of the nozzle expansion section 2, and further realizes the control of the flying gesture of the rocket.
Specifically, the main controller is used for receiving instructions of the rocket control console, resolving the instructions into motion parameters which can be executed by the telescopic assembly, sending corresponding execution instructions to a motor of the telescopic assembly, and restricting the direction of the expansion section of the spray pipe through the transmission of the motor, the power transmission rod, the moving part and the sliding rod, so that the thrust vector control of the small solid rocket engine is finally realized.
The thrust vector control device of the spray pipe is particularly suitable for vector control of a low-cost high-precision small-sized rocket, has at least three degrees of freedom, can realize rolling on two axes of X, Y, and can realize translational motion in the Z direction.
In practical application, the fixing seat can be replaced by an installation interface on the inner wall of the rocket tail end or the engine rear sealing flange. When the control device comprises three groups of telescopic assemblies, the three groups of telescopic assemblies are uniformly distributed in the circumferential direction of the engine at an angle of 120 degrees. The master controller may be disposed between two electromechanical actuators on the interior wall of the rocket pod. According to the rocket engine, the swing center can be controlled to be motionless, and the plane of the swing seat rotates around the swing center, so that the swing control of the expansion section of the engine spray pipe is realized.
According to the invention, the expansion section of the spray pipe can be controlled through the three groups of telescopic components, the swing angle and the swing center of the expansion section of the spray pipe can be accurately and rapidly controlled, the directivity of the fuel gas flow is good, the structural resonance of the spray pipe can be reduced, and the control precision of thrust vectors is improved. According to the invention, the expansion section of the spray pipe is controlled by the three groups of telescopic components, so that the response frequency of the control device can be effectively improved by the driving capability and the control algorithm of the telescopic components after combination, and the maneuverability of rocket flying can be improved. The expansion section of the spray pipe is controlled by the three groups of telescopic assemblies, the vector control stress is more uniform, meanwhile, the power of each group of telescopic assemblies is relatively smaller, the volume is smaller, and the small solid engine spray pipe has more advantages for a narrow space of the small solid engine spray pipe.
The invention can also carry out miniaturized design on the motor, the speed reducing mechanism, the sensor and the like, realize modularized function, reduce processing difficulty, shorten production period and reduce production cost. Preferably, the motor adopts a direct current brushless motor scheme, the high power density is used for meeting the requirements of installation space and light weight, and the rotating speed and torque characteristics are required to be adapted to the requirements of engine load force and dynamic characteristics so as to meet the requirements of overall performance and parameter matching; meanwhile, the motor design needs to give consideration to the problems of environmental temperature, working reliability and the like. The speed reducing mechanism and the output mechanism need to consider that the transmission and the output of the moment are completed in a limited space, and the influence of transmission clearance and transmission efficiency on a system needs to be considered, so that the system achieves the optimal performance, and the use requirement of high-precision control is met. Meanwhile, the problem of low cost is also considered during design, and the most direct and most economical design method is used for obtaining the optimized design result based on project index requirements. The controller needs to meet the layout requirement of the small-size projectile and the miniaturized design is needed to meet the layout requirement of the projectile with different sizes, and the driving control of the telescopic assembly is realized by adopting a control driving circuit with high specific power. And meanwhile, a low-cost domestic control driver scheme is realized.
The prior art generally uses a driver to swing the whole engine for vector control of a rocket engine spray pipe, so the rocket engine spray pipe has the characteristics of large volume, large inertia and large weight, requires larger output power of the driver, and meanwhile, the swing center of the engine is usually in direct contact with parts to form a friction pair, positive pressure is applied to the swing center after the engine is ignited, so that the swing center friction force is larger, and certain power loss is caused when vector control is performed. The invention cancels the actual swing center, uses three groups of telescopic components to control a plane (namely a swing seat), takes the plane and the circular center point of the section of the rocket engine spray pipe as the swing center, realizes vector control by swinging the spray pipe expansion section, and has small moving part volume and small inertia, thus the required power is also small, and the volume of the corresponding telescopic component is small.
According to the invention, three groups of small telescopic assemblies are uniformly distributed in the circumferential direction of the rocket engine at 120 degrees, so that the controlled degree of freedom is more, the control is more sensitive and accurate, and the accurate vector control of the engine can be realized. In addition, the method has the characteristics of high electric energy utilization rate, quick dynamic response, easiness in digitization and the like, and has good robustness. The high-efficiency control strategy can realize high-speed response and flexible control of rocket engine vector control.
The present invention is not limited to the above-mentioned embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present invention are intended to be included in the scope of the present invention.

Claims (10)

1. A nozzle thrust vectoring device, comprising:
a nozzle, at least an engine nozzle capable of being configured as a rocket;
the spray pipe expanding section is flexibly connected with the spray pipe; the spray pipe expanding section is configured to receive the medium sprayed by the spray pipe so as to control the thrust vector of the rocket by controlling the swing of the spray pipe expanding section;
the N groups of telescopic components are arranged on the outer sides of the spray pipes or/and the spray pipe expansion sections in a surrounding manner, wherein N is more than or equal to 3; one end of the telescopic component is connected with the spray pipe, the other end of the telescopic component is connected with the spray pipe expansion section, and the length of the telescopic component is adjustable so as to adjust the swing angle of the spray pipe expansion section by adjusting the length of at least part of the telescopic component.
2. The spout thrust vectoring device of claim 1 comprising three sets of telescopic assemblies uniformly surrounding the outside of the spout.
3. The spout thrust vectoring device of claim 1, wherein the spout is provided with a fixed seat provided with N first connectors, the first connectors being rotatably connected to the telescopic assembly.
4. A nozzle thrust vectoring device according to claim 3 wherein the nozzle expansion section is provided with a wobble seat;
the swinging seat is arranged in parallel with the fixed seat, and the central lines of the swinging seat and the fixed seat are coincident;
the swing seat is provided with a second connecting piece at a position corresponding to the first connecting piece of the fixed seat, and the second connecting piece is rotationally connected with the telescopic component.
5. The thrust vectoring nozzle of claim 4, wherein the fixed seat is located at the head end of the nozzle;
the swing seat is positioned at the head end of the spray pipe expansion section and is arranged on the outer side of the spray pipe in a surrounding manner;
the telescoping assembly is located between the first connector and the second connector.
6. The thrust vectoring nozzle of claim 5, wherein the nozzle is provided with a first channel extending from a head end to a tail end of the nozzle, the first channel being provided with a constriction, the cross-section of at least one of the constrictions being configured to be smaller than the mouth area of the inlet and outlet of the first channel;
the spray pipe expansion section is provided with a second channel, the second channel extends from the head end to the tail end of the spray pipe expansion section, and the second channel is a gradually-expanding channel;
the first channel extends at least partially into the second channel.
7. The lance thrust vectoring device of any one of claims 1 to 6, wherein the telescopic assembly comprises:
the shell is provided with a first support lug which is hinged with a first connecting piece of the spray pipe;
a motor located within the housing;
the transmission rod is positioned in the shell; the transmission rod is connected with the output shaft of the motor and synchronously rotates along with the output shaft of the motor;
the moving piece is positioned in the shell; the moving part is positioned on the transmission rod and moves on the transmission rod along with the rotation of the transmission rod;
the sliding rod is connected with the moving part and synchronously moves on the transmission rod along with the moving part; one end of the sliding rod extends into the shell and is connected with the moving part, and the other end of the sliding rod is provided with a second supporting lug which is hinged with a second connecting part of the spray pipe expansion section.
8. The spout thrust vectoring device of claim 7, wherein the telescopic assembly further comprises an anti-rotation element and a sensor;
the sensor is connected with one end of the sliding rod far away from the second support lug through the anti-rotation element, and synchronously moves along with the sliding rod so as to be used for detecting the displacement of the sliding rod;
the shell is internally provided with a slide way matched with the sensor, and the extending direction of the slide way is consistent with that of the transmission rod.
9. The spout thrust vectoring device of claim 8, wherein the telescopic assembly further comprises an external connector connected to the motor, sensor for transmitting control instructions to the motor and signals detected by the sensor.
10. The spout thrust vectoring device of claim 9, further comprising a master controller connected to the telescopic assemblies via the external connectors for controlling the telescopic length of each set of telescopic assemblies and thus the oscillation of the spout expansion section.
CN202311562015.2A 2023-11-22 2023-11-22 Thrust vector control device for spray pipe Pending CN117489491A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202311562015.2A CN117489491A (en) 2023-11-22 2023-11-22 Thrust vector control device for spray pipe

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202311562015.2A CN117489491A (en) 2023-11-22 2023-11-22 Thrust vector control device for spray pipe

Publications (1)

Publication Number Publication Date
CN117489491A true CN117489491A (en) 2024-02-02

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202311562015.2A Pending CN117489491A (en) 2023-11-22 2023-11-22 Thrust vector control device for spray pipe

Country Status (1)

Country Link
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