CN106368852B - A kind of miniature liquid/solid-rocket vector spray servo-control system and method - Google Patents
A kind of miniature liquid/solid-rocket vector spray servo-control system and method Download PDFInfo
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- CN106368852B CN106368852B CN201610896962.9A CN201610896962A CN106368852B CN 106368852 B CN106368852 B CN 106368852B CN 201610896962 A CN201610896962 A CN 201610896962A CN 106368852 B CN106368852 B CN 106368852B
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- angular encoder
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- 239000007921 spray Substances 0.000 title claims abstract description 21
- 239000007788 liquid Substances 0.000 title claims abstract description 15
- 238000000034 method Methods 0.000 title claims abstract description 14
- 230000007246 mechanism Effects 0.000 claims abstract description 29
- 239000013078 crystal Substances 0.000 claims description 6
- 238000005259 measurement Methods 0.000 claims description 6
- 230000009471 action Effects 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 3
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 238000001514 detection method Methods 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims description 3
- 230000008569 process Effects 0.000 claims description 2
- 230000002093 peripheral effect Effects 0.000 abstract description 2
- 230000004044 response Effects 0.000 abstract description 2
- 230000006870 function Effects 0.000 description 12
- 230000005540 biological transmission Effects 0.000 description 4
- 238000002955 isolation Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 239000000567 combustion gas Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 230000035939 shock Effects 0.000 description 2
- 238000004904 shortening Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 239000007789 gas Substances 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
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
- F02K9/72—Rocket-engine plants, i.e. plants carrying both fuel and oxidant therefor; Control thereof using liquid and solid propellants, i.e. hybrid rocket-engine plants
-
- 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
- F02K9/88—Rocket-engine plants, i.e. plants carrying both fuel and oxidant therefor; Control thereof characterised by thrust or thrust vector control using auxiliary rocket nozzles
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Toys (AREA)
- Control Of Position Or Direction (AREA)
Abstract
The invention discloses a kind of miniature liquid/solid-rocket vector spray servo-control systems, including servo mechanism and servo controller；Servo mechanism includes two servo actuators, cross universal mechanism, angular encoder and travel switch；Two servo actuators are respectively arranged in X-axis face and the Y-axis face of jet pipe；Travel switch is installed on the centre position of servo actuator push rod；Angular encoder is installed on the shaft end of orthogonal two axis of cross universal mechanism；Servo controller includes core board and interface expansion board；Core board uses the soft cores of fpga chip rapid build CPU.Control system and method for the present invention improve the reliability of servo mechanism due to by the way of electric-machine directly-driven lead screw, greatly reducing the volume and weight of servo mechanism；Using the form of core board and peripheral interface expansion board based on FPGA, real-time is good, computational efficiency is high, autgmentability is strong；Integrate servo mechanism and servo controller, integrated level is high, dynamic response is fast, control accuracy is high.
Description
Technical field
The invention belongs to rocket control technology field, specifically a kind of miniature liquid/solid-rocket vector spray servo control
System and method processed.
Background technology
In the entire flight course of rocket, mainly operate in atmosphere.Since atmosphere environment is complicated, by weather
It is affected, so general rocket launching will select ideal weather conditions.Adaptation to the adverse circumstances for improving rocket
Ability, it is necessary to improve the maneuver autopilot ability of rocket, wherein thruster vector control is a kind of effective measures.
Rocket engine thrust direction is adjusted by manipulating servo mechanism, and engine is made to change thrust side by control instruction
To generate the torque of control rocket posture.Thrust direction regulative mode mainly has：（1）Swing sustainer：Manipulate main hair
Motivation is waved around the axle center of gimbal mount assembly.（2）Swing upper-stage engine：Usually around the sustainer of fixed installation, symmetrically
4 low thrust upper-stage engines are installed, its thrust chamber is manipulated and waves.（3）Gimbaled nozzle：Thrust chamber jet pipe is by fixed and movable
Two parts composition.It is known as liquid bearing nozzle with what liquid-bearing connected between them, is known as flexible joint nozzle with what flexible piece connected,
The movable part of control nozzle is swung.（4）Secondary injection：A kind of fluid is sprayed into from the side of jet pipe diffuser, makes supersonic speed master
Oblique shock wave is generated in combustion gas stream, Some gases flow through shock wave post deflection, to generate lateral control force.（5）Swing jet vane：It will
Rudder made of heat proof material is mounted in pairs in thrust chamber outside nozzle, and when machine manipulates rudder kick, combustion gas stream is produced on rudder
Raw control force.Multiple thrust chambers or jet pipe are mounted in the battle array of space appropriate in addition, also having, start on demand and are closed are corresponding
Thrust chamber or jet pipe, wobble turbine exhaust pipe, spoiler, bias current ring and the rotation regulative modes such as canted nozzle.
Above-mentioned major way is carried out to go deep into comparison, it can be found that the mode of gimbaled nozzle is easiest to realize thrust vectoring side
To adjusting.But currently without corresponding control system and control method.
Invention content
The technical problem to be solved in the present invention is to provide a kind of miniature liquid/solid-rocket vector spray servo-control systems
And method, the servo-control system and control method realize the maneuver autopilot to rocket direction by controlling gimbaled nozzle.
For achieving the above object, a kind of miniature liquid of the invention/solid-rocket vector spray servo-control system,
Including servo mechanism and servo controller.The servo mechanism includes two servo actuators, cross universal mechanism, angular coding
Device and travel switch.Described two servo actuators are respectively arranged in X-axis face and the Y-axis face of jet pipe.Described two servos are made
Dynamic device is connect by flake bearing with rocket engine rack and jet pipe.Jet pipe passes through cross universal mechanism and entablature
Connection.Servo actuator drives ball screw that the fortune that is in line is converted in the rotation of DC servo motor by DC servo motor
It is dynamic, the elongation and shortening of servo actuator push rod are controlled, to realize the weave control of jet pipe.The travel switch, which is installed on, to be watched
The centre position of actuator push rod is taken, major function is the initial school zero for angle of cant.Angular encoder is installed on cross
The shaft end of orthogonal two axis of omnidirectional mechanism, major function are accurate measurement angles of cant.The servo controller includes
Core board and interface expansion board.The core board uses the soft cores of fpga chip rapid build CPU, and major function is gathered data
Processing, task scheduling and operation control algolithm.Interface expansion board major function be realize with sensor data transmission and electrically
The security isolation of matching, on-off model acquisition and strong and weak electricity electric signal.
Further, the servo actuator includes servo motor, shaft coupling, ball screw and push rod.
Further, the fpga chip, which includes SDRAM, EPROM, source crystal oscillator, Flash.The SDRAM and EPROM points
The soft core softwares of CPU and configuration software Yong Yu not stored；State the clock signal that crystal oscillator provides CPU；Flash was calculated for storing
Ephemeral data etc. in journey.Core board major function is processing, task scheduling and the operation control algolithm of gathered data.
Further, the interface expansion board includes DC/DC modules, RS422 and RS232 interface, switch measurement interface
And motor driving interface, major function be realize with sensor data transmission and electrically match, on-off model acquire with
And the security isolation of strong and weak electricity electric signal.The RS422 interfaces are connect with angular encoder, are surveyed for receiving angle encoder
The real-time pivot angle of vector spray of amount.The RS232 is connect with instruction control terminal, the instruction letter assigned for receiving control terminal
Number.The switch measurement interface receives the travel switch signal of servo actuator push rod by isolated switch acquisition chip.
External dc voltage is converted into the operating voltage that internal each component needs by the DC/DC modules.
It is a kind of that servo-controlled method is carried out to rocket using above-mentioned servo-control system, include the following steps：
Step 1：Assemble compact liquid/solid rocket vector spray servo-control system, and by travel switch, motor, watch
Clothes action device, angular encoder interface corresponding with servo controller connect, and ensure to connect errorless；
Step 2：It is powered up to servo controller, detection travel switch, motor, electric machine controller, angular encoder communication are
It is no normal；
Step 3：Rocket nozzle initial level inclination angle is measured by miniature high-precision inclinometer, control servo mechanism makes rocket
The central shaft and horizontal plane of jet pipe, at this time encoder to count clearing；
Step 4：Initial calibration signal is sent, control motor makes it rotate at a slow speed, servo actuator push rod length is made to shorten.
When detecting travel switch signal respectively, corresponding motor is stopped, and records respective shaft encoder output value, this value will
For needing back to zero control to use during every secondary control；
Step 5：Send control instruction, control jet pipe to specified direction.
Miniature liquid/solid-rocket vector spray the servo-control system and method for the present invention, has the advantages that：
（1）The vector spray servo-control system of the present invention is greatly reduced and is watched by the way of electric-machine directly-driven lead screw
The volume and weight for taking mechanism improves the reliability of servo mechanism.
（2）The vector spray servo-control system of the present invention, using core board and peripheral interface expansion board based on FPGA
Form, real-time is good, computational efficiency is high, autgmentability is strong.
（3）The vector spray servo-control system of the present invention, integrates servo mechanism and servo controller, integrated level
Height, dynamic response is fast, control accuracy is high.
Description of the drawings
Fig. 1 is the vector spray servo-control system composition and closed-loop control block diagram of the present invention；
Fig. 2 is the structural schematic diagram of the servo mechanism of the present invention；
Fig. 3 is the functional block diagram of the servo controller of the present invention.
Specific implementation mode
Below in conjunction with the accompanying drawings, to a kind of miniature liquid/solid-rocket vector spray servo-control system proposed by the present invention
It is described in detail with method.
As shown in Figure 1, a kind of miniature liquid/solid-rocket vector spray servo-control system of the present invention, including servo
Mechanism and servo controller two large divisions.As shown in Fig. 2, servo mechanism includes two servo actuators, cross universal mechanism, angle
Spend encoder and travel switch.Servo actuator includes servo motor, shaft coupling, ball screw and push rod.Two servos
Actuator is respectively arranged in X-axis face and the Y-axis face of jet pipe.Two servo actuators pass through flake bearing and rocket engine rack
And jet pipe connection.Jet pipe is connect by cross universal mechanism with entablature.Servo controller is according to the survey of vector spray
Measure information（Including the information such as pivot angle, motor speed and travel switch）It instructs with angle of cant, is watched by content algorithms control
The rotating speed of motor and the angle of rotation are taken, the elongation or shortening of servo actuator push rod are further controlled, realizes vector spray
Swinging angle control.Travel switch is installed on the centre position of servo actuator push rod, and major function is for the first of angle of cant
Beginning school zero.Angular encoder is installed on the shaft end of orthogonal two axis of cross universal mechanism, and major function is accurately to measure
Angle of cant.
As shown in figure 3, servo controller includes core board and interface expansion board.Core board uses fpga chip rapid build
The soft cores of CPU, major function are processing, task scheduling and the operation control algolithm of gathered data.Interface expansion board major function
It is that realization is matched with sensor data transmission and electrically, on-off model acquires and the security isolation of strong and weak electricity electric signal.
Fpga chip, which includes SDRAM, EPROM, source crystal oscillator, Flash.SDRAM and EPROM be respectively used to the soft core softwares of storage CPU and
Configuration software；State the clock signal that crystal oscillator provides CPU；Flash is used for the ephemeral data etc. in storage computation process.Core board master
It is processing, task scheduling and the operation control algolithm of gathered data to want function.
Further, interface expansion board include DC/DC modules, RS422 and RS232 interface, switch measurement interface and
Motor driving interface, major function are that realization is matched with sensor data transmission and electrically, on-off model acquires and strong
The security isolation of light current electric signal.RS422 interfaces are connect with angular encoder, the vector measured for receiving angle encoder
The real-time pivot angle of jet pipe.RS232 is connect with instruction control terminal, the command signal assigned for receiving control terminal.Switch measures
Measure the travel switch signal that interface receives servo actuator push rod by isolated switch acquisition chip.DC/DC modules will be external
DC voltage is converted into the operating voltage that internal each component needs.
It is a kind of that servo-controlled method is carried out to rocket using above-mentioned servo-control system, include the following steps：
Step 1：Assemble compact liquid/solid rocket vector spray servo-control system, and by travel switch, motor, watch
Clothes action device electric machine controller, angular encoder interface corresponding with servo controller connect, and ensure to connect errorless；
Step 2：It is powered up to servo controller, detection travel switch, motor, electric machine controller, angular encoder communication are
It is no normal；
Step 3：Rocket nozzle initial level inclination angle is measured by miniature high-precision inclinometer, control servo mechanism makes rocket
The central shaft and horizontal plane of jet pipe, at this time encoder to count clearing；
Step 4：Initial calibration signal is sent, control motor makes it rotate at a slow speed, servo actuator push rod length is made to shorten.
When detecting travel switch signal respectively, corresponding motor is stopped, and records respective shaft encoder output value, this value will
For needing back to zero control to use during every secondary control；
Step 5：Send control instruction, control jet pipe to specified direction.
Based on description of the preferred embodiment of the present invention, it should be apparent that the sheet being defined by the appended claims
Invention is not limited only to the specific detail that is illustrated in specification above, without departing from present inventive concept or range to this hair
Bright many obviously change equally possible reaches the purpose of the present invention.
Claims (2)
1. a kind of miniature liquid/solid-rocket vector spray servo-control system, which is characterized in that including servo mechanism and servo
Controller；The servo mechanism includes two servo actuators, cross universal mechanism, angular encoder and travel switch；Institute
State X-axis face and Y-axis face that two servo actuators are respectively arranged in jet pipe；Described two servo actuators by flake bearing with
Rocket engine rack and jet pipe connection；The travel switch is installed on the centre position of servo actuator push rod；The angle
Degree encoder is installed on the shaft end of orthogonal two axis of cross universal mechanism；The servo controller includes core board and connects
Mouth expansion board；The core board uses the soft cores of fpga chip rapid build CPU；
The servo actuator includes servo motor, shaft coupling, ball screw and push rod；
The fpga chip includes SDRAM, EPROM, has source crystal oscillator, Flash；The SDRAM and EPROM is respectively used to store
The soft core softwares of CPU and configuration software, the clock signal for thering is source crystal oscillator to provide CPU；Flash is used in storage computation process
Ephemeral data；
The interface expansion board includes that DC/DC modules, RS422 and RS232 interface, switch measurement interface and motor driving connect
Mouthful；
The RS422 interfaces are connect with angular encoder, the real-time pivot angle of vector spray measured for receiving angle encoder；Institute
It states RS232 to connect with instruction control terminal, the command signal assigned for receiving control terminal；The switch measurement interface is logical
Cross the travel switch signal that isolated switch acquisition chip receives servo actuator push rod；The DC/DC modules are by external dc
Voltage is converted into the operating voltage that internal each component needs.
2. a kind of carrying out servo-controlled method, including following step using servo-control system described in claim 1 to rocket
Suddenly：
Step 1：Assemble compact liquid/solid rocket vector spray servo-control system, and by travel switch, servo motor, watch
Clothes action device, electric machine controller, angular encoder interface corresponding with servo controller connect, and ensure to connect errorless；
Step 2：It is powered up to servo controller, detection travel switch, servo motor, electric machine controller, angular encoder communication are
It is no normal；
Step 3：Rocket nozzle initial level inclination angle is measured by miniature high-precision inclinometer, control servo mechanism makes rocket nozzle
Central shaft and horizontal plane, at this time angular encoder count reset；
Step 4：Initial calibration signal is sent, control servomotor makes it rotate at a slow speed, servo actuator push rod length is made to shorten；
When detecting travel switch signal respectively, corresponding servo motor is stopped, and records the output of respective shaft angular encoder
Value, this value will be used to need back to zero control to use during every secondary control；
Step 5：Send control instruction, control jet pipe to specified direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201610896962.9A CN106368852B (en) | 2016-10-14 | 2016-10-14 | A kind of miniature liquid/solid-rocket vector spray servo-control system and method |
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| CN201610896962.9A CN106368852B (en) | 2016-10-14 | 2016-10-14 | A kind of miniature liquid/solid-rocket vector spray servo-control system and method |
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| CN106368852A CN106368852A (en) | 2017-02-01 |
| CN106368852B true CN106368852B (en) | 2018-08-03 |
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| CN107829843B (en) * | 2017-09-20 | 2019-05-10 | 大连理工大学 | A kind of rotation standardization for the calibration of rocket engine thrust vectoring |
| CN108332929B (en) * | 2018-03-02 | 2021-01-05 | 北京强度环境研究所 | Frequency characteristic measuring system and method for flexible nozzle |
| CN108489702B (en) * | 2018-03-05 | 2021-02-12 | 北京航空航天大学 | Double-channel aerodynamic loading test device of double-pendulum thrust vectoring nozzle |
| CN108661823B (en) | 2018-04-28 | 2020-06-09 | 西安航天动力研究所 | Liquid rocket engine thrust and mixing ratio adjusting redundancy electromechanical servo system |
| CN111121703B (en) * | 2019-12-11 | 2021-08-13 | 西安航天发动机有限公司 | Swing interference detection system for liquid rocket engine |
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| CN111412083B (en) * | 2020-04-03 | 2021-09-14 | 北京中科宇航技术有限公司 | Method for determining length change of servo actuator |
| CN113252353B (en) * | 2021-04-06 | 2023-09-22 | 浙江蓝箭航天空间科技有限公司 | Carrier rocket electromechanical servo mechanism horizontal test method and computer storage medium |
| CN113217228B (en) * | 2021-06-18 | 2022-04-08 | 西北工业大学 | Magnetic control type thrust vector control device for solid rocket engine |
| CN114460951B (en) * | 2021-08-06 | 2023-10-31 | 北京天兵科技有限公司 | Control method and system for servo mechanism of liquid rocket single engine |
| CN115214907B (en) * | 2022-07-27 | 2024-04-05 | 南京航空航天大学 | Variable thrust driving device for lifting-head-up of secondary aircraft |
| CN115559831B (en) * | 2022-12-05 | 2023-03-24 | 东方空间(西安)宇航技术有限公司 | Pre-deflection angle adjusting system and method for flexible spray pipe of rocket engine |
| CN117662327B (en) * | 2024-01-31 | 2024-04-16 | 中国人民解放军战略支援部队航天工程大学 | Variable thrust vector liquid rocket engine |
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