CN113191097A - On-orbit application method of solid cold air micro-propulsion module - Google Patents

On-orbit application method of solid cold air micro-propulsion module Download PDF

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CN113191097A
CN113191097A CN202110448726.1A CN202110448726A CN113191097A CN 113191097 A CN113191097 A CN 113191097A CN 202110448726 A CN202110448726 A CN 202110448726A CN 113191097 A CN113191097 A CN 113191097A
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thrust
cold air
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CN113191097B (en
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刘旭辉
张伟
龙军
王平
蒋庆华
官长斌
高晨光
何英姿
付拓取
夏继霞
苏高世
赵春阳
苏龙斐
宋新河
张良
李恒建
赵立伟
张志伟
王焕春
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Beijing Institute of Control Engineering
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Abstract

An on-orbit application method of a solid cold air micro-propulsion module belongs to the technical field of space propulsion. The method conventionally adopts the problem of linear average thrust to calculate the rail control time, determines a thrust output model of a module through an on-rail calibration model, and calculates and obtains the accurate time required by rail control through a nonlinear programming optimization method; the method can be widely applied to high-precision rail motor control and on-rail calibration of the solid cold air micro-propulsion module.

Description

On-orbit application method of solid cold air micro-propulsion module
Technical Field
The invention relates to an on-orbit application method of a solid cold air micro-propulsion module, belonging to the technical field of space propulsion.
Background
The solid cold air micro-propulsion module technology is an important direction for the development of the micro-propulsion module technology due to the advantages of safety, long-term storage, shelf type and the like. Three units, namely netheradns organization for Applied Scientific Research, TU (Delft University of technology), UTwente (University of literature) jointly initiate T3 μ PS (TNO, TU Delft, UTwente Micro progress System) Research, and related technologies such as cold air generators are successfully mastered. The solid cold air generator system can effectively save the volume and the mass of a propulsion system, does not need a high-pressure air storage structure and a pressure adjusting device, has long storage time, no leakage, does not need a high-pressure device, is modularized and easy to integrate, and can integrate different quantities of cold air generators according to different requirements. But the on-orbit application method is not inquired from the published documents at home and abroad. The high-precision orbit control task is completed only by a solid cold air micro-propulsion module adopted by Beijing control engineering research institute internationally.
The solid cold air micro-propulsion module is used as a power device, and when the track control is carried out, the calculation of the time required by the track control is an important parameter, and the track control precision is directly influenced. The thrust change of the single-element propulsion system at the present stage is small in a certain time, when the single-element micro-propulsion system performs orbit control, the current thrust is obtained through a fitting curve of pressure and thrust, the pressure after the orbit control is calculated according to the required propellant, the thrust after the orbit control is further obtained, and the required time is calculated through the average thrust before and after the orbit control. The existing on-orbit calibration method carries out prediction according to the average thrust, is not suitable for the characteristic that the transient change of the pressure in an air chamber of a solid cold air micro-propulsion module is large, the thrust is changed in real time, and the method can accurately obtain the thrust output time required by on-orbit.
The solid cold air micro-propulsion module works in a pressure drop mode on the rail, the transient characteristic of pressure change is high during working, the thrust is greatly changed in real time, the module can be reduced from 1.3-2 MPa to about 0.1MPa every time the generator works, the thrust is changed in real time during working of the thruster, the pressure change is nonlinear, and accurate rail control time cannot be effectively obtained by calculating the required time through the average thrust.
Disclosure of Invention
The technical problem solved by the invention is as follows: the method solves the problem of conventional on-orbit calculation of the orbit control time by adopting linearized average thrust, determines a thrust output model of the module through an on-orbit calibration model, and calculates and obtains the accurate time required by the orbit control through a nonlinear programming optimization method; the method can be widely applied to high-precision rail motor control and on-rail calibration of the solid cold air micro-propulsion module.
The technical solution of the invention is as follows: an on-orbit application method of a solid cold air micro-propulsion module comprises the following steps:
high-purity nitrogen is introduced through the ground to calibrate the thrust output characteristic, so that a thrust model of the thruster is obtained;
when the whole satellite is applied, the impulse required is calculated according to the current orbit control height;
determining the quality of gas in the gas chamber in the current state according to the telemetered pressure and temperature;
and solving the rail control working time according to the required impulse and the gas mass in the gas chamber in the current state as the input of the thrust model.
Further, the method for calibrating the thrust output characteristic by introducing high-purity nitrogen to the ground comprises the following steps:
determining the current gas quality in the gas chamber according to the telemetering pressure and temperature;
according to the requirement of track change, the speed increment required to be provided is determined, and the impulse I is determinedcal；
Measuring the calibrated pressure PfTemperature TfDetermining the mass of the gas left in the current gas chamber, thereby determining the mass of the consumed gas;
according to impulse IcalDetermining the calibrated average specific impulse by using the mass of the consumed gas;
determining characteristic speed according to the telemetering average temperature, solving a thrust integral model by adopting a nonlinear programming optimization algorithm according to the average specific impulse and working time and impulse, and correcting the thrust model;
determining a thrust model correction coefficient;
and solving the correction coefficient by adopting a nonlinear programming minimization function to determine a thrust model.
Further, the thrust model is
Figure BDA0003037951220000031
Wherein, FtIn order to provide the thrust force,
Figure BDA0003037951220000032
is a thrust model correction coefficient, Cf is a thrust coefficient, AtIs the throat area of the thruster, PcThe working pressure of the solid cold air micro-propulsion module is adopted.
Further, the method for determining the current gas quality in the gas chamber according to the telemetered pressure and temperature comprises the following steps: from PcVc＝nRTcCalculating the mass n of the gas in the current gas chamber; wherein, VcThe volume of the solid cold air micro-propulsion module is taken as R is a gas constant, and T is 8.31cThe temperature of the gas in the solid cold gas micro-propulsion module is obtained.
Further, the mass of the gas consumed is
Figure BDA0003037951220000033
Wherein, P0For the pressure, P, in the solid cold air micro-propulsion module before orbital transferfIs the pressure in the solid cold air micro-propulsion module after orbit change, T0For solid cold air micro-propulsion module temperature, MN2Is the molar mass of nitrogen, 28 g/mol.
Further, the calibrated average specific impulse is
Figure BDA0003037951220000034
Wherein, Δ mcalThe gas quality consumed is controlled in an orbit.
Further, the nonlinear programming minimization function is
Figure BDA0003037951220000035
Figure BDA0003037951220000036
Wherein tf is the track control end time, PtThe pressure in the solid cold air micro-propulsion module.
An in-orbit application system of a solid cold gas micro-propulsion module, comprising:
the first module is used for calibrating the thrust output characteristic by introducing high-purity nitrogen to the ground so as to obtain a thrust model of the thruster;
the second module is used for calculating the required impulse according to the orbit control height when the whole satellite is applied;
the third module is used for determining the gas quality in the gas chamber in the current state according to the telemetered pressure and temperature;
and the fourth module is used for solving the orbit control working time according to the required impulse and the gas mass in the gas chamber in the current state as the input of the thrust model.
Further, the method for calibrating the thrust output characteristic by introducing high-purity nitrogen to the ground comprises the following steps:
determining the current gas quality in the gas chamber according to the telemetering pressure and temperature;
according to the requirement of track change, the speed increment required to be provided is determined, and the impulse I is determinedcal；
Measuring the calibrated pressure PfTemperature TfDetermining the mass of the gas left in the current gas chamber, thereby determining the mass of the consumed gas;
according to impulse IcalDetermining the calibrated average specific impulse by using the mass of the consumed gas;
determining characteristic speed according to the telemetering average temperature, solving a thrust integral model by adopting a nonlinear programming optimization algorithm according to the average specific impulse and working time and impulse, and correcting the thrust model;
determining a thrust model correction coefficient;
solving the correction coefficient by adopting a nonlinear programming minimization function, and determining a thrust model;
the thrust model is
Figure BDA0003037951220000041
Wherein, FtIn order to provide the thrust force,
Figure BDA0003037951220000042
is a thrust model correction coefficient, Cf is a thrust coefficient, AtIs the throat area of the thruster, PcThe working pressure of the solid cold air micro-propulsion module is set;
the method for determining the current gas quality in the gas chamber according to the telemetering pressure and temperature comprises the following steps: from PcVc＝nRTcCalculating the mass n of the gas in the current gas chamber; wherein, VcThe volume of the solid cold air micro-propulsion module is taken as R is a gas constant, and T is 8.31cThe temperature of the gas in the solid cold gas micro-propulsion module is measured;
the mass of the gas consumed is
Figure BDA0003037951220000043
Wherein, P0For the pressure, P, in the solid cold air micro-propulsion module before orbital transferfIs the pressure in the solid cold air micro-propulsion module after orbit change, T0For solid cold air micro-propulsion module temperature, MN2Is the molar mass of nitrogen, 28 g/mol;
the calibrated average specific impulse is
Figure BDA0003037951220000044
Wherein, Δ mcalControlling the consumed gas quality for the rail;
the nonlinear programming minimization function is
Figure BDA0003037951220000045
Wherein tf is the track control end time, PtThe pressure in the solid cold air micro-propulsion module.
A computer-readable storage medium, storing a computer program which, when executed by a processor, implements the steps of the method for in-orbit application of the solid state cold gas micro-propulsion module.
Compared with the prior art, the invention has the advantages that:
(1) an accurate model of the thrust output of the solid cold air micro-propulsion module is established. Based on the cold air thruster and the flow calculation dynamic model of the solid cold air micro-propulsion module, a thrust output model of the solid cold air micro-propulsion module can be established, and the thrust output by the module air chamber in real time can be accurately obtained.
(2) An on-orbit calibration method and a flow based on a solid cold air micro-propulsion module are established, and high-purity nitrogen is introduced to the ground to calibrate the thrust output characteristic, so that the performance parameters of the thruster are obtained. And determining an on-orbit thrust model correction coefficient by a nonlinear optimization method according to the track change condition and the telemetering pressure temperature.
(3) An accurate calculation method for the original value of the on-orbit output time of the solid cold air micro-propulsion module is established. The solid cold air micro-propulsion module thruster works by adopting a pressure drop mode. According to the ideal gas state equation and the relevant calculation model of the thruster, a thrust time curve of a module of the thruster in the working process can be calculated, and impulse in a certain time period can be obtained by integrating thrust in the certain time period.
(4) The invention considers a plurality of physical variables such as gas production, temperature, pressure, module structure parameters and the like of a gas generator coupled with the working of the thruster, and can establish an accurate thrust model. By the method, the thrust time required by the rail can be accurately calculated, the consumed gas mass can be saved, and the control precision of the rail is improved.
Drawings
FIG. 1 is a flow chart of the method of the present invention.
Detailed Description
The invention is further explained and illustrated in the following figures and detailed description of the specification.
As shown in FIG. 1, the on-orbit application method of the solid cold air micro-propulsion module mainly comprises an on-orbit calibration method and a calculation model, wherein the on-orbit calibration model is used for determining a thrust output model of the module, and the accurate time required by orbit control is calculated and obtained through a nonlinear optimization algorithm.
(1) On-orbit calibration model for establishing solid cold air micro-propulsion module
And introducing high-purity nitrogen to the ground to calibrate the thrust output characteristic, thereby obtaining the performance parameters of the thruster. And determining the on-orbit equivalent combined thrust related characteristics according to the track change condition and the telemetering pressure temperature. The solid cold air micro-propulsion module generates gas by a cold air generator, boosts the gas to a certain pressure, controls gas discharge by a cold air thruster, and establishes a module internal pressure model after the generator works, a thruster working process module internal pressure change model and a thruster working time calculation model.
(a) And determining the current gas quality in the gas chamber according to the telemetered pressure and temperature.
P0Vc＝nRT0 (1)
(b) According to the requirement of track change, the speed increment required to be provided is determined, and the impulse I is determinedcal。
(c) Then measuring the calibrated pressure PfTemperature TfDetermining the mass of gas remaining in the current gas cell and thus the mass of gas consumed Δ mcal。
Figure BDA0003037951220000061
(d) And determining the calibrated average specific impulse according to the impulse and the mass of the consumed gas.
Figure BDA0003037951220000062
(e) And determining the characteristic speed according to the telemetering average temperature, solving a thrust integral model by adopting a nonlinear programming optimization algorithm according to the average specific impulse and working time and impulse, and correcting the thrust model. Determining thrust model correction coefficients
Figure BDA0003037951220000063
And setting the track control time on the track, carrying out track control, and correcting the thrust coefficient according to the measured and calculated track control height.
Figure BDA0003037951220000064
Figure BDA0003037951220000065
Figure BDA0003037951220000066
The solution was performed using the nonlinear programming Min function with Matlab.
Figure BDA0003037951220000067
(f) Correction of positive coefficients from solution
Figure BDA0003037951220000068
Determining a thrust model:
Figure BDA0003037951220000069
(g) obtaining a thrust-time fitting curve
The relation model of thrust and time and the relation model of pressure and time can be calculated according to the formulas
F(t)＝f(t) (9)
P(t)＝g(t) (10)
n is the molar mass of the gas, M is the mass of the gas in the gas chamber, M isN2Is a molecular weight of 28, n ═ M/M for nitrogenN2。AtIs the area of the throat of the nozzle. P0Initial pressure in the chamber, P, for calibrationfIn order to calibrate the pressure in the rear air chamber,
Figure BDA0003037951220000071
is the flow rate of the thruster and is,
Figure BDA0003037951220000072
is a thrust force correction coefficient. R is a gas constant, and Cf is a thrust coefficient. PtThe pressure in the gas chamber during the thrust output process, t0To calibrate the starting time, tfIs the calibration end time.
(2) An accurate model for outputting thrust and impulse of the solid cold air micro-propulsion module is established
Based on the cold air thruster and the flow calculation dynamic model of the solid cold air micro-propulsion module, a thrust output model of the solid cold air micro-propulsion module can be established according to formulas (4) to (6), and the thrust output by the module air chamber in real time can be accurately obtained. The solid cold air micro-propulsion module thruster works by adopting a pressure drop mode. According to the ideal gas state equation and the relevant calculation model of the thruster, a thrust time curve of a module of the generator in the working process can be calculated, and impulse in a certain time period can be obtained by integrating thrust in the certain time period.
(3) Establishes a method for accurately calculating the original value of the on-orbit output time of the solid cold air micro-propulsion module
The solid cold air micro-propulsion module thruster works by adopting a pressure drop mode. According to the ideal gas state equation and the relevant calculation model of the thruster, a thrust time curve of a module of the thruster in the working process can be calculated, and impulse in a certain time period can be obtained by integrating thrust in the certain time period.
(a) When the method is applied to the whole satellite, the required impulse I is calculated according to the current orbit control heightre；
(b) Pressure P from telemetrycAnd temperature TcDetermining the gas quality in the gas chamber in the current state;
PcVc＝nRTc (15)
(c) and (4) solving a thrust time integral equation according to the formula (7) to determine the working time tf.
Based on the same inventive concept as that of fig. 1, the invention also provides an on-orbit application system of the solid cold air micro-propulsion module, which comprises:
the first module is used for calibrating the thrust output characteristic by introducing high-purity nitrogen to the ground so as to obtain a thrust model of the thruster;
the second module is used for calculating the required impulse according to the orbit control height when the whole satellite is applied;
the third module is used for determining the gas quality in the gas chamber in the current state according to the telemetered pressure and temperature;
and the fourth module is used for solving the orbit control working time according to the required impulse and the gas mass in the gas chamber in the current state as the input of the thrust model.
Further, the method for calibrating the thrust output characteristic by introducing high-purity nitrogen to the ground comprises the following steps:
determining the current gas quality in the gas chamber according to the telemetering pressure and temperature;
according to the requirement of track change, the speed increment required to be provided is determined, and the impulse I is determinedcal；
Measuring the calibrated pressure PfTemperature TfDetermining the mass of the gas left in the current gas chamber, thereby determining the mass of the consumed gas;
according to impulse IcalDetermining the calibrated average specific impulse by using the mass of the consumed gas;
determining characteristic speed according to the telemetering average temperature, solving a thrust integral model by adopting a nonlinear programming optimization algorithm according to the average specific impulse and working time and impulse, and correcting the thrust model;
determining a thrust model correction coefficient;
solving the correction coefficient by adopting a nonlinear programming minimization function, and determining a thrust model;
further, the thrust model is
Figure BDA0003037951220000081
Wherein, FtIn order to provide the thrust force,
Figure BDA0003037951220000082
is a thrust model correction coefficient, Cf is a thrust coefficient, AtIs the throat area of the thruster, PcMicro-propelling module for solid cold airApplying pressure;
in one possible implementation, the method for determining the current gas quality in the gas chamber according to the telemetered pressure and temperature is as follows: from PcVc＝nRTcCalculating the mass n of the gas in the current gas chamber; wherein, VcThe volume of the solid cold air micro-propulsion module is taken as R is a gas constant, and T is 8.31cThe temperature of the gas in the solid cold gas micro-propulsion module is measured;
in one possible implementation, the mass of gas consumed is
Figure BDA0003037951220000083
Figure BDA0003037951220000084
Wherein, P0For the pressure, P, in the solid cold air micro-propulsion module before orbital transferfIs the pressure in the solid cold air micro-propulsion module after orbit change, T0For solid cold air micro-propulsion module temperature, MN2Is the molar mass of nitrogen, 28 g/mol;
in one possible implementation, the calibrated average specific impulse is
Figure BDA0003037951220000085
Wherein, Δ mcalControlling the consumed gas quality for the rail;
in one possible implementation, the non-linear programming minimization function is
Figure BDA0003037951220000086
Figure BDA0003037951220000091
Wherein tf is the track control end time, PtThe pressure in the solid cold air micro-propulsion module.
Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.

Claims (10)

1. An on-orbit application method of a solid cold air micro-propulsion module is characterized by comprising the following steps:
high-purity nitrogen is introduced through the ground to calibrate the thrust output characteristic, so that a thrust model of the thruster is obtained;
when the whole satellite is applied, the impulse required is calculated according to the current orbit control height;
determining the quality of gas in the gas chamber in the current state according to the telemetered pressure and temperature;
and solving the rail control working time according to the required impulse and the gas mass in the gas chamber in the current state as the input of the thrust model.
2. The on-orbit application method of the solid cold gas micro-propulsion module as claimed in claim 1, wherein the method for calibrating the thrust output characteristics by introducing high-purity nitrogen at the ground comprises the following steps:
determining the current gas quality in the gas chamber according to the telemetering pressure and temperature;
according to the requirement of track change, the speed increment required to be provided is determined, and the impulse I is determinedcal；
Measuring the calibrated pressure PfTemperature TfDetermining the mass of the gas left in the current gas chamber, thereby determining the mass of the consumed gas;
according to impulse IcalDetermining the calibrated average specific impulse by using the mass of the consumed gas;
determining characteristic speed according to the telemetering average temperature, solving a thrust integral model by adopting a nonlinear programming optimization algorithm according to the average specific impulse and working time and impulse, and correcting the thrust model;
determining a thrust model correction coefficient;
and solving the correction coefficient by adopting a nonlinear programming minimization function to determine a thrust model.
3. The on-track application method of a solid cold air micro-propulsion module of claim 2, wherein: the thrust model is
Figure FDA0003037951210000011
Wherein, FtIn order to provide the thrust force,
Figure FDA0003037951210000012
is a thrust model correction coefficient, Cf is a thrust coefficient, AtIs the throat area of the thruster, PcThe working pressure of the solid cold air micro-propulsion module is adopted.
4. The on-track application method of a solid cold air micro-propulsion module of claim 2, wherein: the method for determining the current gas quality in the gas chamber according to the telemetering pressure and temperature comprises the following steps: from PcVc＝nRTcCalculating the mass n of the gas in the current gas chamber; wherein, VcThe volume of the solid cold air micro-propulsion module is taken as R is a gas constant, and T is 8.31cThe temperature of the gas in the solid cold gas micro-propulsion module is obtained.
5. The on-track application method of a solid cold air micro-propulsion module of claim 2, wherein: the mass of the gas consumed is
Figure FDA0003037951210000021
Wherein, P0For the pressure, P, in the solid cold air micro-propulsion module before orbital transferfIs the pressure in the solid cold air micro-propulsion module after orbit change, T0For solid cold air micro-propulsion module temperature, MN2Is the molar mass of nitrogen, 28 g/mol.
6. The on-track application method of a solid cold air micro-propulsion module of claim 2, wherein: the calibrated average specific impulse is
Figure FDA0003037951210000022
Wherein, Δ mcalThe gas quality consumed is controlled in an orbit.
7. The on-track solid state cold gas micro-propulsion module of claim 2The method is characterized in that: the nonlinear programming minimization function is
Figure FDA0003037951210000023
Wherein tf is the track control end time, PtThe pressure in the solid cold air micro-propulsion module.
8. An in-orbit application system of a solid cold air micro-propulsion module, which is characterized by comprising:
the first module is used for calibrating the thrust output characteristic by introducing high-purity nitrogen to the ground so as to obtain a thrust model of the thruster;
the second module is used for calculating the required impulse according to the orbit control height when the whole satellite is applied;
the third module is used for determining the gas quality in the gas chamber in the current state according to the telemetered pressure and temperature;
and the fourth module is used for solving the orbit control working time according to the required impulse and the gas mass in the gas chamber in the current state as the input of the thrust model.
9. The system of claim 8, wherein the method for calibrating thrust output characteristics by surface injection of high purity nitrogen comprises the steps of:
determining the current gas quality in the gas chamber according to the telemetering pressure and temperature;
according to the requirement of track change, the speed increment required to be provided is determined, and the impulse I is determinedcal；
Measuring the calibrated pressure PfTemperature TfDetermining the mass of the gas left in the current gas chamber, thereby determining the mass of the consumed gas;
according to impulse IcalDetermining the calibrated average specific impulse by using the mass of the consumed gas;
determining characteristic speed according to the telemetering average temperature, solving a thrust integral model by adopting a nonlinear programming optimization algorithm according to the average specific impulse and working time and impulse, and correcting the thrust model;
determining a thrust model correction coefficient;
solving the correction coefficient by adopting a nonlinear programming minimization function, and determining a thrust model;
the thrust model is
Figure FDA0003037951210000031
Wherein, FtIn order to provide the thrust force,
Figure FDA0003037951210000032
is a thrust model correction coefficient, Cf is a thrust coefficient, AtIs the throat area of the thruster, PcThe working pressure of the solid cold air micro-propulsion module is set;
the method for determining the current gas quality in the gas chamber according to the telemetering pressure and temperature comprises the following steps: from PcVc＝nRTcCalculating the mass n of the gas in the current gas chamber; wherein, VcThe volume of the solid cold air micro-propulsion module is taken as R is a gas constant, and T is 8.31cThe temperature of the gas in the solid cold gas micro-propulsion module is measured;
the mass of the gas consumed is
Figure FDA0003037951210000033
Wherein, P0For the pressure, P, in the solid cold air micro-propulsion module before orbital transferfIs the pressure in the solid cold air micro-propulsion module after orbit change, T0For solid cold air micro-propulsion module temperature, MN2Is the molar mass of nitrogen, 28 g/mol;
the calibrated average specific impulse is
Figure FDA0003037951210000034
Wherein, Δ mcalControlling the consumed gas quality for the rail;
the nonlinear programming minimization function is
Figure FDA0003037951210000035
Wherein tf is the track control end time, PtThe pressure in the solid cold air micro-propulsion module.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.
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