RU2793861C1 - Thrust control device for the propulsion systems of the soyuz-2 and angara space rockets, based on the assessment of the current values of thrust during flight according to telemetric information for falling separable parts into a given area - Google Patents

Abstract

FIELD: rocket engineering.

SUBSTANCE: devices for analyzing the flight performance of space rockets (SR) and controlling the power supply system for space rocket propulsion systems during flight. The thrust control device for the propulsion systems (PS) of the Soyuz-2 and Angara space rockets, based on the assessment of the current values of thrust during flight according to telemetric information (TMI) for falling separable parts (SP) into a given area, consists of a filtering unit and rejection of TMI and information storage unit, the outputs of which are connected to the input of an arithmetic logic unit (ALU), the output of which is connected to a converter into command signals, which directly transmits control signals to the executive bodies of the apparent speed control system in order to control the PS thrust. The ALU is configured to provide calculation of the values of changes in the propulsion characteristics of the PS and the thrust coefficient of the propulsion system based on the TMI parameters at the pace of flight and the data coming from the onboard computer (OBC) and the information storage unit.

EFFECT: increased accuracy of hitting SP in a given dispersion ellipse.

1 cl, 1 dwg

Description

The alleged invention relates to the field of rocket technology, in particular to devices for controlling the thrust of propulsion systems (PS) in flight and analyzing the performance characteristics of space rockets (RKN).

At present, the thrust value of the rocket launcher on a real-time scale is not determined on board throughout the entire flight segment of the stage, which makes it impossible to objectively evaluate the dynamics of changes in the thrust value over the flight time and, accordingly, provide accurate control with small realizations of the thrust values of the rocket launcher (ultra-small forcing or throttling DU). This will ensure that they fall into the specified area of the dispersion ellipse in the last seconds of the flight (5-7 seconds before the separation of the SP). This became a prerequisite for the development of an innovative approach to calculating the thrust of ILV propulsion systems.

The relevance of this work is confirmed by the need to control the value of thrust, as the main indicator characterizing the design features of the engine and the pneumo-hydraulic system of the PS, as well as to control the throttle devices for supplying propellant components to the PS for precise control of the thrust of the PS, ensuring that the OS LV hits the specified area.

The proposed algorithms for estimating the thrust values make it possible to determine and control their values with high reliability at each moment of time during the flight and improve the quality of the assessment of the actual power characteristics of the ILV.

In the event of an emergency (emergency) situation, the use of the proposed algorithms makes it possible to determine the probable causes of the accident, if they are the result of incorrect operation of the remote control and the pneumatic-hydraulic system, and issue recommendations for their parry. Evaluation of the thrust limit values in the process of regulating the parameters of liquid-propellant rocket engines makes it possible to significantly reduce the size of the actual dispersion ellipses.

The thrust control device for ILV propulsion systems based on the assessment of the current values of thrust in flight according to telemetric information was developed to control the thrust of the propulsion system based on the calculation of the propulsion parameters of the propulsion system according to the TMI data, as well as to assess the flight performance of the ILV based on the launch results, namely, determining remote control thrust in the void according to the data of materials for processing telemetric information (TMI).

отделения ОЧ, обеспечивающего наиболее точное попадание ОЧ в заданный эллипс рассеивания, где началом интервала служит значение времени

которое является определяющим для начала решения задачи формирования команды на выключение ДУ, а его окончание - момент выключения двигателя

This device is designed to determine the values of PS thrust at the required flight time intervals and can be used to determine the optimal time interval

separation of the SP, providing the most accurate hit of the SP in a given dispersion ellipse, where the beginning of the interval is the time value

which is decisive for starting the solution of the problem of generating a command to turn off the remote control, and its end is the moment of turning off the engine

Qualitative and quantitative indicators of constructive perfection and optimality of the flow of working processes of rocket engines are specific indicators. One of the most important specific indicators of propulsion systems is the specific thrust impulse.

The specific thrust impulse is usually called the force impulse per unit mass of the working fluid (fuel) [6]. A significant influence of the specific impulse on the characteristics of aircraft explains one of the main trends in modern rocket engine building - an increase in the specific impulse [2].

In the calculations, only the value of thrust in the void is considered. The specific impulse is expressed from the Tsiolkovsky formula [1], [6].

Where

V is the characteristic speed of the aircraft, m/s;

I - specific impulse of the rocket engine, kgf⋅s/kg;

m ₁ - initial mass of the ILV (payload + "dry" mass of the launch vehicle + fuel), kg;

m ₂ - final mass of the launch vehicle (payload + “dry” mass of the launch vehicle), kg.

The "dry" mass should be understood as the mass of the launch vehicle structure (without fuel).

From formula (1), the thrust of the remote control is determined by the formula:

Where

Δt - launch vehicle flight time;

- массовый расход компонентов топлива через ДУ РН

- mass flow rate of fuel components through the remote control launcher

The calculation of the thrust of the engines of the ILV stages in the void is carried out according to the formula 3

Where

- for launch vehicle stages equipped with DSI (flow meters), the mass flow rate of fuel components through the launch vehicle control system is determined by formula 4

- for launch vehicle stages, the design of which does not provide for the installation of DSI, the mass flow rate of fuel components through the launch vehicle control system is determined using the values of volumes according to the level of passage of the SURT points according to formula 5

ΔW _x1 - the difference in the projections of the apparent velocity of the center of mass of the product on the longitudinal axis at the beginning t ₀ and the end t _k of the selected time interval (according to TMI) W _XI ), m/s;

g ₀ - acceleration of gravity at the earth's surface, m/s ² ;

- массовый расход компонентов топлива через ДУ РН;

- mass flow rate of fuel components through the RS LV;

m(t ₀ ), m(t _k ) - ILV mass at the beginning t ₀ and end t _k of the selected time interval, respectively, kg;

m(t _i ), m(t _i-1 ) - mass of propellant components at the beginning t _i-1 and end t _i of the selected time interval, respectively, kg;

i - serial number of the SURT point, i=32÷1;

(определяющего начало формирования команды на выключение ДУ), а конечный момент времени t_k максимально приближен к времени срабатывания нижней точки СУРТ и является максимально близким к значению времени на момент выключения двигателя

t _i-1 , t _i - beginning and end of the selected time interval according to TMI, s. For calculations, a time interval is used, where the initial time t ₀ corresponds to the response time of the upper point of the SURT, and the final t _k of the response time of the lower point of the SURT. The time interval for calculations is chosen in such a way that the initial time t ₀ corresponds to the value as close as possible to the time of operation of the upper point of the SURT and is as close as possible to the time value

(determining the beginning of the formation of the command to turn off the remote control), and the final time t _k is as close as possible to the time of operation of the lower point of the SURT and is as close as possible to the time value at the time of turning off the engine

To calculate the mass of the oxidizer and fuel m(t ₀ ), m(t _k ) at the boundaries of the selected time interval, it is necessary to first determine the volumes and densities of the corresponding components, depending on the temperature of the propellant components (RFC).

The values of the nominal densities of the oxidizer and fuel for calculating m(t ₀ ), m(t _k ) are taken based on the results of physical and chemical analysis from the passports for the components and are entered into the information storage unit. The values of the actual CRT temperatures for calculating m(t ₀ ), m(t _k ) are taken according to the TMI data on the ILV.

для расчета массы ступеней РН (оснащенных ДСИ (расходомерами)) на границах выбранного временного интервала m(t₀), m(t_k) определяются с использованием значений частот датчиков скорости истечения окислителя (горючего), полученных согласно данным ТМИ и значения тарировочного коэффициента датчика расхода. При этом для вычислений выбирается временной интервал, где начальный момент времени t₀ соответствует значению, максимально приближенному к времени срабатывания верхней точки СУРТ и является максимально близким к значению времени

(определяющего начало формирования команды на выключение ДУ), а конечный момент времени t_k максимально приближен к времени срабатывания нижней точки СУРТ и является максимально близким к значению времени на момент выключения двигателя

I. Volume values

to calculate the mass of the launch vehicle stages (equipped with DSI (flow meters)) at the boundaries of the selected time interval m(t ₀ ), m(t _k ) are determined using the frequencies of the oxidizer (fuel) outflow rate sensors obtained according to TMI data and the value of the calibration coefficient of the sensor consumption. In this case, a time interval is selected for calculations, where the initial time t ₀ corresponds to a value as close as possible to the time of operation of the upper point of the SURT and is as close as possible to the time value

(determining the beginning of the formation of the command to turn off the remote control), and the final time t _k is as close as possible to the time of operation of the lower point of the SURT and is as close as possible to the time value at the time of turning off the engine

The second volume of SRT is determined, i.e. the volume of the fuel component passing through the flow meter per unit of time, which will be required for further calculation of the SRT mass flow rate within the boundaries of the selected time interval.

Where

- объем горючего, поступающего в ТНА ДУ, м³;

- the volume of fuel entering the TNA DU, m ³ ;

- частота датчика скорости истечения окислителя (горючего), Гц;

- frequency of the oxidizer (fuel) outflow rate sensor, Hz;

In _SR - calibration coefficient of the flow sensor;

f _O(G) - parameter of the sensor of the outflow rate from TMI (parameter n _A-D );

t _BTsVK \u003d 0.06 s - the duration of the BTsVK cycle.

The mass flow rate of the SRT is calculated on a single time interval within the boundaries of the selected time range

Where

t _i , t _i-1 - values of a single time interval, s;

- плотность КРТ в зависимости от времени полета, кг/м³.

- SRT density depending on the flight time, kg/m ³ .

Further, the mass flow rate at unit time intervals is integrated in the selected time range to determine the mass of SRT consumed in this time interval.

Where

- масса израсходованных КРТ, кг;

- mass of spent SRT, kg;

- массовый расход КРТ на единичном интервале времени, кг;

- mass consumption of SRT on a single time interval, kg;

The total mass flow rate of the CRT through the PS is determined.

Where

- суммарный массовый расход КРТ, кг;

- total mass flow rate of CRT, kg;

- масса израсходованного окислителя, кг;

- mass of the spent oxidizer, kg;

- масса израсходованного горючего, кг.

- mass of fuel consumed, kg.

The total mass of the ILV stage at the end of the selected time interval is determined.

Where

m _dry - weight of dry product, kg;

- массу топлива, израсходованного через ДУ, кг;

- mass of fuel consumed through the remote control, kg;

Δm _Σ - mass of pressurization gases and gases evaporating in flight, kg.

на выбранные моменты времени полета

определяется по уровню прохождения топливом точек СУРТ. При этом для вычислений выбирается временной интервал, где время срабатывания верхней точки СУРТ максимально близко к значению времени

(определяющего начало формирования команды на выключение ДУ), а момент времени срабатывания нижней точки СУРТ и является максимально близок к значению времени на момент выключения двигателя

II. The values of the volumes of fuel components for launch vehicle stages (the design of which does not provide for the installation of DSI

for selected flight times

is determined by the level of passage of fuel through the points of the SURT. In this case, a time interval is selected for calculations, where the response time of the upper point of the SURT is as close as possible to the time value

(determining the beginning of the formation of the command to turn off the remote control), and the time of operation of the lower point of the SURT and is as close as possible to the value of the time at the time of turning off the engine

The mass of propellant components is determined at the beginning of t _i-1 and the end of the selected time interval:

выбираются по данным материалов обработки ТМИ, и соответствуют временам прохождения соответствующих точек СУРТ.Values

are selected according to the data of TMI processing materials, and correspond to the times of passage of the corresponding points of the SURT.

Where

- плотность компонента топлива в зависимости от времени полета, кг/м³;

- density of the fuel component depending on the flight time, kg/m ³ ;

- объем какого-либо компонента топлива на время прохождения точки СУРТ, м³.

- the volume of any component of the fuel at the time of passing the SURT point, m ³ .

Note

Since the time of passage of the i-th point of the SURT is different for the oxidizer and fuel, the mass of the SRT must be calculated isochronously, i.e. at the time of early passage of the i-th point of the SURT by one of the components. Then the SRT mass is calculated as follows:

Where

- масса компонента, срабатывание i-ой точки СУРТ которого произошло позже, кг;

- mass of the component, the operation of the i-th point of the SURT of which occurred later, kg;

- плотность компонента топлива в зависимости от времени полета, кг/м³;

- density of the fuel component depending on the flight time, kg/m ³ ;

- объем какого-либо компонента топлива на время прохождения точки СУРТ, м;

- the volume of any fuel component for the time of passing the SURT point, m;

- масса компонента топлива, израсходованная за промежуток времени между более ранним и более поздним прохождением i-ой точки СУРТ одним из компонентов (выбирается по данным ТМИ).

- the mass of the fuel component consumed during the time interval between the earlier and later passage of the i-th point of the SURT by one of the components (selected according to the TMI data).

The calculation of the mass of the fuel component consumed during the time interval between the earlier and later passage of the i-th point of the SURT is performed as follows:

Where

t _i is the time of the later passage of the i-th point of the SURT by one of the components (selected according to the TMI data).

t _j is the time of the later passage of the i-th point of the SURT by one of the components (selected according to the TMI data).

- массовый расход КРТ за промежуток времени между более ранним и более поздним прохождением i-ой точки СУРТ одним из компонентов, кг;

- mass consumption of SRT for the time interval between the earlier and later passage of the i-th point of the SURT by one of the components, kg;

The mass flow rate of SRT for the time interval between the earlier and later passage of the i-th point of the SURT by one of the components, in turn, is determined by the formula:

Where

- объем КРТ, расходуемый за интервал времени между более ранним и более поздним прохождением точки СУРТ; м³;

- SRT volume consumed during the time interval between the earlier and later passage of the SURT point; m ³ ;

- объем какого-либо компонента топлива на более раннее время прохождения точки СУРТ, м³;

- the volume of any component of the fuel at an earlier time of passing the SURT point, m ³ ;

- объем какого-либо компонента топлива на более позднее время прохождения точки СУРТ, м³.

- the volume of any component of the fuel at a later time of passing the SURT point, m ³ .

The mass of the SRT is determined at the beginning t _i-1 and the end t _i of the selected time interval, taking into account the time desynchronization of the passage of the SURT points by the corresponding components.

и

соответствуют значениям, используемым в формуле 5.Obtained values

And

correspond to the values used in formula 5.

For the Angara ILV, the calculation of the mass of oxidizer and fuel at the boundaries of the selected time interval must be carried out taking into account the peculiarities of the operation of the pneumohydraulic supply system (PGSP), which maintains a constant pressure of the gas cushion using continuous monitoring by functional pressure sensors (FDD) (sensor interrogation discreteness BTsVK cycle 0 ,032768 p.). In this case, to determine the actual density of the oxidizer and fuel, it is necessary to use the average value of the temperature sensors installed in the fuel tanks.

Thrust is calculated using the Tsiolkovsky formula

The disadvantages of the above procedure for determining the thrust of the remote control are that:

1. The thrust value can be determined only after receiving telemetric information from the launch vehicle during post-launch analysis (i.e. not operationally) and cannot be tracked during the ILV flight.

2. The value of the specific impulse is determined as the average interval over the entire stage flight segment, which does not make it possible to objectively assess the dynamics of changes in the thrust value over the flight time.

The advantage of the device is the ability to determine the value of the thrust of the remote control by controlling which it is possible to control the thrust of the remote control in real time by calculating such a value of the change in the thrust characteristics of the remote control ΔР and the corresponding mass flow rate of the components at a given time interval, which will allow timely generation of a command to turn off the remote control launcher to provide the necessary and sufficient conditions for separation of the SP and, accordingly, a decrease in the dispersion of the fall of the SPRN in range (the major axis of the scatter ellipse runs in the direction of range change).

DU thrust control (boosting / throttling) is carried out by acting on the drive of the impulse speed controller (PIRS), which regulates the rotational speed of the turbopump unit (TPU), which allows you to change the volumetric flow rate of the fuel components entering the combustion chamber of the DU or throttle SURT (for DU 14D23 ).

It is necessary to determine the correction (the so-called relative thrust coefficient of the propulsion system) η to the last setpoint of the RCS program speed using the most relevant information from the SURT, CCP systems (or the built-in apparent acceleration meter) and promptly work out the impact on the impulse speed controller drive, taking into account this correction through standard governing bodies.

The thrust coefficient of the propulsion system - determined by the formulas:

The regular control circuit of the RCS system (SURT) provides, in accordance with the algorithms embedded in the BASU, depending on the sign of the calculated correction η, to generate a command for forcing or throttling the PS (or for opening or closing the flow section of the SURT throttle).

Further, the command signal is introduced into the standard drive control circuit of the RCS (SURT), which leads to the rotation of the PIRS shaft by an equivalent angle. At the same time, the speed of the THA changes and, accordingly, the consumption of the CRT changes. The thrust of the remote control increases or decreases. In the case of using the SURT circuit (DU 14D23), only the flow rate for one of the components changes, but the result is equivalent.

которое далее сравнивается с прогнозируемым значением

According to certain navigation parameters of the system of equations of motion of the ILV on the active part of the trajectory, we obtain the actual values of the projection of the apparent velocity

which is then compared with the predicted value

The difference between these values generates an error signal for the RCS system, which is processed by this system and reduced to zero. For the RCS system, the regulatory body is a body capable of changing the amount of fuel supplied to the engine, i.e. change the second flow rate and thereby change the engine thrust. The control chain turns out to be quite complex and is described by rather complex control equations. However, in the end, this equation in the first approximation can be represented in a simplified form

Where

- коэффициенты управления системы РКС по скорости и перемещению соответственно.

- coefficients of control of the RCS system for speed and displacement, respectively.

This change in per second fuel consumption will result in a corresponding change in rocket mass

and, accordingly, the change in thrust

This thrust control scheme of the launch vehicle engine will allow, by calculating the value of changes in the propulsion characteristics of the propulsion system and the relative thrust coefficient of the propulsion system, with a minimum refinement of the regular launch vehicle controls, to provide such thrust control of the propulsion system, which ensures the maximum probability of hitting the OS PH in the calculated actual dispersion ellipse depending on the month launch.

The use of a thrust control device for RKN propulsion systems makes it possible to exert a control effect on fuel consumption in the power system of the propulsion system. During the flight of the ILV, TMI data enters the TMI parameters filtering and processing unit, where the required temperature parameters are selected and anomalous values are rejected.

At the same time (at the pace of summer), navigation parameters from a three-axis gyrostabilizer, an angular velocity sensor unit, and consumer navigation equipment are fed into the on-board digital computer (OBCM) and the actual values of the projection of the apparent velocity of the center of mass on the longitudinal axis of the launch vehicle (W) are calculated. Further, these values are compared with the nominal values stored in the information storage unit, and the resulting deviations (ΔW) are transferred to the arithmetic logic unit (ALU).

Based on the selected and processed TMI data and the deviations (ΔW) obtained from the onboard computer, the ALU calculates in real time the values of changes in the propulsion characteristics of the propulsion system (ΔР) and the thrust coefficient of the propulsion system (η). These parameters are fed to the transducer, which generates and transmits command signals to the executive bodies of the apparent velocity control system. The drive of the pulse speed controller (PIRS) acts as an executive body, which is directly responsible for the flow (increase/decrease) of the CRT. Regulation of the position of the PIRS leads to a change in the amount of SRT entering the PS and, accordingly, a change in the thrust characteristics of the PS. This change is recorded by certain information sensors, from which, in the general flow of TMI, it enters the block for filtering and rejecting information, thereby providing feedback from the implemented impact on the remote control.

The objective of the invention is to develop a device for estimating the actual values of the thrust of the PS, as the main parameter characterizing the design features of the engine and the power supply system and control of the thrust of the PS, which makes it possible to calculate the values of ΔP, η based on the determination of the propulsion characteristics of the PS and the deviations of the projection of the apparent speed for getting the OS PH into the given scattering ellipse.

A thrust control device for propulsion systems of space rockets "Soyuz-2", "Angara" is claimed based on the assessment of the current values of thrust in flight according to telemetric information (TMI) for getting separable parts (SP) into a given area (block 1) containing a block filtering and rejection of TMI information (block 3) and an information storage unit (block 2), the outputs of which are connected to the input of an arithmetic logic unit (ALU) (block 4), the output of which is connected to a converter into command signals (block 5), directly transmitting control signals to the executive bodies of the apparent speed control system in order to control the propulsion thrust, which differs from the known ones in that the ALU (block 4) is configured to provide the calculation of the values of changes in the propulsion characteristics of the propulsion system and the thrust coefficient of the propulsion system based on the TMI parameters at the pace of summer and data , coming from the onboard digital computer (OCVM) and the information storage unit (block 2) in order to ensure that the SP falls into the given dispersion ellipse shown in Fig. 1

A digital signal processor can act as an arithmetic logic unit (ALU). Switching equipment and a telemetric matching device can be used as a block for filtering and processing TMI parameters. Read-only memory (ROM) with a storage capacity of up to 50 GB can act as an information storage unit.

A standard electrical signal converter is used as a converter to command signals.

The PIRS acts as a block of the executive bodies of the apparent velocity control system, which regulates the change in the SRT flow rate entering the PS.

The technical result of the invention is a device that provides autonomous control of the thrust of the remote control in the last seconds of the flight of the ILV before the separation of the SP to ensure that they fall into a given dispersion ellipse, implemented by using the TMI parameters, navigation parameters calculated by the onboard computer, nominal data stored in the ROM, which allows accurate thrust control of the propulsion system in order to ensure that the SP falls into a given dispersion ellipse without involving the power of the BACS (which does not provide sufficient speed for calculating the values of changes in the traction characteristics of the propulsion system (ΔР) and the thrust coefficient of the propulsion system 5-7 seconds before the separation of the SP), which in general significantly increases the efficiency and efficiency of search operations on the ground in the area of impact.

The resulting beneficial effect is achieved by:

- in the ALU, simple operational algorithms for calculating the traction characteristics of the PS are implemented;

- the values of the actual change in the traction characteristics of the PS are transmitted to the TMI stream entering the information filtering and rejection unit, thereby providing feedback from the implemented impact on the PS.

Thus, the positive effect of the introduction of this device is:

- in the operational determination of the propulsion thrust in real time;

- in providing the ability to control the propulsion thrust at short time intervals with high speed in various sections of the ILV flight;

- in ensuring control of maintaining the specified operating modes of the remote control;

- in increasing the efficiency and efficiency of search operations on the ground in the area of the fall of the OCh;

- in the low cost of the proposed invention.

Information sources

1. D. Sutton. Rocket engines./ - Moscow, 1952. - 314 p.

2. V.I. Fedoseev, G.B. Sinyarev. Introduction to rocketry./ - Moscow, 1960. - 501 p.

3. N.F. Averkiev, S.A. Bogachev, S.A. Vaskov, S.A. Vlasov, A.V. Kulvits, I.Yu. Kubasov, P.A. Mamon, D.A. Mosin, V.V. Salov. Fundamentals of the theory of flight of aircraft. / - St. Petersburg, 2013. - 242 p.

4. Product 14A127. Instructions for filling (draining) fuel components. 14A127 IE23 h. 4 Determination of volumetric doses and flight levels of refueling KT./ 2014. - 29 p.

5. Product 14A15. Instructions for evaluating the operation of on-board systems. Part three. Evaluation of the on-board systems in flight. Book four. Assessment of energy characteristics 14A15 IE 20 hours 3 books. 4/ 2012. - 26 p.

6. Product 14A14. Instructions for evaluating the operation of on-board systems. Part three. Evaluation of the on-board systems in flight. Book four. Evaluation of energy characteristics during flight tests 14A14 IE 20 hours 3 books. 4/ 2002. - 40 p.

Claims (1)

Thrust control device for propulsion systems (PS) of space rockets "Soyuz-2", "Angara" based on the assessment of the current values of thrust in flight according to telemetric information (TMI) for falling separable parts (SP) into a given area, consisting of a filtering unit and rejection of TMI information and information storage unit, the outputs of which are connected to the input of an arithmetic logic unit (ALU), the output of which is connected to a converter into command signals, which directly transmits control signals to the executive bodies of the apparent speed control system in order to control the thrust of the remote control, which differs from known in that the ALU is configured to provide calculation of the values of changes in the propulsion characteristics of the propulsion system and the thrust coefficient of the propulsion system based on the parameters of the TMI at the pace of summer and the data coming from the onboard digital computer (OCCM) and the information storage unit, in order to ensure that the OC enters the specified scattering ellipse.

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