CN113847166B - Bionic intelligent structure servo system of carrier rocket engine - Google Patents
Bionic intelligent structure servo system of carrier rocket engine Download PDFInfo
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- CN113847166B CN113847166B CN202110997429.2A CN202110997429A CN113847166B CN 113847166 B CN113847166 B CN 113847166B CN 202110997429 A CN202110997429 A CN 202110997429A CN 113847166 B CN113847166 B CN 113847166B
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- rocket engine
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- 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
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- 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
Abstract
A bionic intelligent structure servo system of a carrier rocket engine comprises a bionic intelligent servo mechanism, a rocket engine spray pipe and a rocket bulkhead; the bionic intelligent servo mechanism comprises a first intelligent structure unit, a second intelligent structure unit, a third intelligent structure unit, a fourth intelligent structure unit and an actuator which are sequentially connected, wherein the four intelligent structure units are connected into an annular structure; the annular inner edge and the annular outer edge of the annular structure are respectively connected to the outer side of the rocket engine nozzle and the inner side of the rocket bulkhead; and the actuator controls the cooperative deformation of each intelligent structural unit according to the swinging instruction of the rocket engine spray pipe, so that the full-angle vector swinging of the rocket engine spray pipe is realized.
Description
Technical Field
The invention relates to a servo system, in particular to a servo system with a bionic intelligent structure for a carrier rocket engine.
Background
The change of the injection direction of the carrier rocket engine is usually promoted by a rigid and linear servo mechanism, the servo mechanism is arranged between a cabin wall and the engine, and two or four actuators are adopted to complete 360-degree vector swing control of the whole circumference, and the main types of the servo mechanism are a gas hydraulic servo mechanism, an electro-static pressure servo mechanism and an electromechanical servo mechanism.
Along with the technical development, the installation space between the bulkhead and the engine is smaller and smaller, the engine faces the characteristics of thermal deformation, thermal coupling and variable rigidity in the working process, the fixed conventional rigidity servo mechanism is difficult to flexibly adapt to the characteristics of multiple working conditions and variable loads of the engine, and the installation form cannot meet the application requirements.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the electromechanical actuator is characterized in that no matter jamming or clamping stagnation occurs, fault isolation can be conducted forcibly, and safety after fault is achieved on the basis that the volume and weight of the electromechanical actuator are not increased.
The technical solution of the invention is as follows:
a bionic intelligent structure servo system of a carrier rocket engine comprises: the bionic intelligent servo mechanism (1), the rocket engine nozzle (2) and the rocket bulkhead (5);
the bionic intelligent servo mechanism (1) comprises a first intelligent structure unit (1 a), a second intelligent structure unit (1 b), a third intelligent structure unit (1 c), a fourth intelligent structure unit (1 d) and an actuator which are sequentially connected, wherein the four intelligent structure units are connected into an annular structure; the annular inner edge and the annular outer edge of the annular structure are respectively connected to the outer side of the rocket engine nozzle (2) and the inner side of the rocket bulkhead (5); the actuator controls the cooperative deformation of each intelligent structure unit according to the swinging instruction of the rocket engine spray pipe (2), so that the full-angle vector swinging of the rocket engine spray pipe is realized.
Furthermore, the annular inner edge and the annular outer edge of the bionic intelligent servo mechanism (1) are provided with hinge points of a plurality of intelligent structure units, the annular inner edge is a fourth intelligent structure unit (1 d), and the annular outer edge is a first intelligent structure unit (1 a); the number of hinge points on the annular inner edge and the annular outer edge is the same as that of hinge points on the outer side of the rocket engine nozzle (2) and that of hinge points on the inner side of the rocket bulkhead (5), and the hinge points are correspondingly installed and fixed to form rotation restraint.
Furthermore, the bionic intelligent servo mechanism (1) is formed by connecting four intelligent structure units through unit hinge points, an annular structure is formed in a series connection or parallel connection mode, the first intelligent structure unit (1 a) is located on the outermost edge of the bionic intelligent servo mechanism (1), the fourth intelligent structure unit (1 d) is located on the innermost edge of the outermost edge of the bionic intelligent servo mechanism (1), and the first intelligent structure unit (1 a), the second intelligent structure unit (1 b), the third intelligent structure unit (1 c) and the fourth intelligent structure unit (1 d) are sequentially arranged.
Further, the device also comprises a first engine swing bracket (3), a second engine swing bracket (4), a fuel storage tank (6) and a rocket fairing (7); the rocket engine nozzle (2) extends out of the rotating shaft and is connected with the U-shaped bearing seat hole of the first engine swing bracket (3) to form rotational motion with one degree of freedom;
a rotating shaft of the first engine swing bracket (3) is connected with a U-shaped bearing seat hole of the second engine swing bracket (4) to form rotary motion with a second degree of freedom;
the rocket engine nozzle (2), the first engine swing bracket (3) and the second engine swing bracket (4) are jointly arranged below the rack of the fuel storage tank (6); the rocket bulkhead (5) is arranged at the lowest part of the fuel storage tank (6); the rocket fairing (7) is arranged at the uppermost part of the fuel storage tank 6.
Furthermore, the first intelligent structure unit (1 a), the second intelligent structure unit (1 b), the third intelligent structure unit (1 c) and the fourth intelligent structure unit (1 d) are all composed of a plurality of basic units, each basic unit is provided with a plurality of hinge points, and adjacent basic units are connected in series or in parallel through the hinge points to form a ring-shaped structure; the basic unit is a triangular structure, a quadrilateral structure, a space triangular structure or a space tetragonal structure.
Further, the actuator is a piezoelectric ceramic actuator, a fiber composite actuator, a plasma actuator or a shape memory alloy actuator; the actuator is arranged on each basic unit and used for receiving the control command and controlling the basic units to deform correspondingly.
Furthermore, when the basic unit of the intelligent structural unit swings to one side, the annular structure generates wave-like change and is close to the swing direction side, the whole intelligent structural unit is in a compression state and is far away from the swing direction side, the whole intelligent structural unit is in an extension state, the intelligent structural unit is perpendicular to the swing direction side, and the whole intelligent structural unit is transited from the compression state to the extension state.
Furthermore, the telescopic motion can be realized by independently controlling the hinge points among the four intelligent structure units, the load can be borne among the hinge points, and the intelligent structure units have multiple degrees of freedom integrally and can correspondingly execute actions according to swing instructions.
Furthermore, flexible heat-proof cloth covers the surfaces of the inner side and the outer side of the annular structure of the bionic intelligent servo mechanism (1), so that heat of an engine jet pipe is isolated, and the bionic intelligent servo mechanism is waterproof and dustproof.
Compared with the prior art, the invention has the beneficial effects that:
(1) The invention is based on the movement principle of invertebrates, utilizes multi-cooperative control and linkage of cells to realize the bionic principle of 'creeping' advancing, considers the heavy load working condition of an aerospace engine, considers the combination mode of series connection and parallel connection of intelligent structural units, forms a space curved surface 'wave type' installation structure between an engine nozzle and an rocket body bulkhead, integrates the characteristics of structure, mechanism, driving and control of the intelligent structural units, can realize multipoint and multi-degree-of-freedom deformation of basic units, and solves the installation space problem and the load self-adaption problem of the rocket engine.
(2) The technical scheme of the bionic intelligent structure servo system of the carrier rocket engine provided by the invention can be widely applied to occasions needing omnidirectional vector swing, such as carrier rocket liquid engines, solid engines and the like.
(3) The technical scheme of the bionic intelligent structure servo system of the carrier rocket engine provided by the invention can be widely applied to the airfoil deformation control of an aircraft and realize multi-degree-of-freedom continuous deformation of the airfoil.
(4) The technical scheme of the bionic intelligent structure servo system of the carrier rocket engine provided by the invention is installed by utilizing a narrow installation space, so that the volume and the weight of a servo mechanism are obviously reduced.
(5) The technical scheme of the bionic intelligent structural servo system of the carrier rocket engine can adapt to the characteristics of thermal deformation, thermal coupling and variable rigidity of the engine, improve the adaptability to different working conditions of the engine and improve the intelligent level of the servo system.
Drawings
FIG. 1 is a diagram of an assembly of a servo system of a bionic intelligent structure and a carrier rocket according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a servo system of a bionic intelligent structure of a wave-type swing engine provided by the embodiment of the invention;
FIG. 3 is a schematic diagram of the installation of a bionic intelligent structure servo system, an engine and a bracket provided by the embodiment of the invention;
FIG. 4 is a schematic diagram of the hinge of each unit of the servo system of the bionic intelligent structure provided by the embodiment of the invention;
fig. 5 is a deformed state of the intelligent structural units 1a, 1b, 1c, 1d provided by the embodiment of the present invention;
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings.
As shown in fig. 1, the present invention provides a servo system of a bionic intelligent structure for a launch vehicle engine, comprising: the system comprises a bionic intelligent servo mechanism 1, a rocket engine spray pipe 2, a swing bracket 3, a second engine swing bracket 4, a rocket bulkhead 5, a fuel storage tank 6 and a rocket fairing 7;
the bionic intelligent servo mechanism 1 comprises a first intelligent structure unit 1a, a second intelligent structure unit 1b, a third intelligent structure unit 1c, a fourth intelligent structure unit 1d and an actuator which are connected in sequence, wherein the four intelligent structure units are connected into an annular structure; the annular inner edge and the annular outer edge of the annular structure are respectively connected with the outer side of the rocket engine nozzle 2 and the inner side of the rocket bulkhead 5; the actuator controls the cooperative deformation of each intelligent structural unit according to the swing instruction of the rocket engine spray pipe 2, and the full-angle vector swing of the rocket engine spray pipe is realized.
The rocket engine nozzle 2 extends out of the rotating shaft and is connected with a U-shaped bearing seat hole of the first engine swing bracket 3 to form rotational motion with one degree of freedom;
the rotating shaft of the first engine swing bracket 3 is connected with the U-shaped bearing seat hole of the second engine swing bracket 4 to form rotary motion with a second degree of freedom;
the rocket engine nozzle 2, the first engine swing bracket 3 and the second engine swing bracket 4 are jointly arranged below the frame of the fuel storage tank 6; the rocket bulkhead 5 is arranged at the lowest part of the fuel storage tank 6; the rocket cowling 7 is mounted on the uppermost portion of the fuel tank 6.
The annular inner edge and the annular outer edge of the bionic intelligent servo mechanism 1 are provided with hinge points of a plurality of intelligent structure units, the annular inner edge is the fourth intelligent structure unit 1d, and the annular outer edge is the first intelligent structure unit 1a; the number of hinge points on the annular inner edge and the annular outer edge is the same as that of hinge points on the outer side of the rocket engine nozzle 2 and that of hinge points on the inner side of the rocket bulkhead 5, and the hinge points are correspondingly installed and fixed to form rotation restraint.
Bionic intelligent servo mechanism 1 utilizes unit pin joint interconnect by four intelligent constitutional units, constitutes the loop configuration through the mode of establishing ties or parallelly connected, first intelligent constitutional unit 1a is located bionic intelligent servo mechanism 1's outermost edge, fourth intelligent constitutional unit 1d is located bionic intelligent servo mechanism 1's innermost edge of outermost edge, first intelligent constitutional unit 1a, second intelligent constitutional unit 1b, third intelligent constitutional unit 1c and fourth intelligent constitutional unit 1d are arranged in proper order. As shown in fig. 3 and 4, the whole bionic intelligent servo mechanism composed of four intelligent structure units is similar to a bowl shape.
The first intelligent structure unit 1a, the second intelligent structure unit 1b, the third intelligent structure unit 1c and the fourth intelligent structure unit 1d are all composed of a plurality of basic units, each basic unit is provided with a plurality of hinge points, and adjacent basic units form a ring-shaped structure in a mode of serial connection or parallel connection of the hinge points; the basic unit is a triangular structure, a quadrilateral structure, a space triangular structure or a space tetragonal structure. If a triangular structure form is adopted, E, F, G, H and I deformation states exist, and other structures are analogized; as shown in fig. 5.
The actuator is a piezoelectric ceramic actuator, a fiber composite actuator, a plasma actuator or a shape memory alloy actuator; the actuator is arranged on each basic unit and used for receiving the control command and controlling the basic units to deform correspondingly.
As shown in fig. 2, when the basic unit of the intelligent structure unit swings to one side, the annular structure changes in a wave manner, and is close to the swing direction side, the whole intelligent structure unit is in a compression state, is far away from the swing direction side, the whole intelligent structure unit is in an extension state, and is perpendicular to the swing direction side, and the whole intelligent structure unit is transited from the compression state to the extension state.
But independent control realizes concertina movement between each pin joint among the four intelligent constitutional units, can bear load between the pin joint, and intelligent constitutional unit wholly possesses a plurality of degrees of freedom, can be according to the corresponding execution action of swing instruction.
The inner side surface and the outer side surface of the annular structure of the bionic intelligent servo mechanism 1 are covered with flexible heat-proof cloth, heat of an engine jet pipe is isolated, and the flexible heat-proof cloth is used for water proofing and dust proofing.
The working principle is as follows:
the actuator controls the basic units of the intelligent structure units 1a, 1b, 1c and 1d according to the control command input from the outside, so that the actuation response occurs among the hinge points, and the swing control of the engine is completed.
The invention is based on the movement principle of invertebrates, utilizes multi-cooperative control and linkage of cells to realize the bionic principle of 'creeping' advancing, considers the heavy load working condition of an aerospace engine, considers the combination mode of series connection and parallel connection of intelligent structural units, forms a space curved surface 'wave type' installation structure between an engine nozzle and an rocket body bulkhead, integrates the characteristics of structure, mechanism, driving and control of the intelligent structural units, can realize multipoint and multi-degree-of-freedom deformation of basic units, and solves the installation space problem and the load self-adaption problem of the rocket engine.
The invention is not described in detail and is within the knowledge of a person skilled in the art.
Claims (7)
1. A bionic intelligent structure servo system of a carrier rocket engine is characterized by comprising: the bionic intelligent servo mechanism (1), the rocket engine nozzle (2) and the rocket bulkhead (5);
the bionic intelligent servo mechanism (1) comprises a first intelligent structure unit (1 a), a second intelligent structure unit (1 b), a third intelligent structure unit (1 c), a fourth intelligent structure unit (1 d) and an actuator which are sequentially connected, wherein the four intelligent structure units are connected into an annular structure; the annular inner edge and the annular outer edge of the annular structure are respectively connected to the outer side of the rocket engine nozzle (2) and the inner side of the rocket bulkhead (5); the actuator controls the cooperative deformation of each intelligent structural unit according to the swinging instruction of the rocket engine spray pipe (2) to realize the full-angle vector swinging of the rocket engine spray pipe;
the annular inner edge and the annular outer edge of the bionic intelligent servo mechanism (1) are provided with hinged points of a plurality of intelligent structure units, the annular inner edge is a fourth intelligent structure unit (1 d), and the annular outer edge is a first intelligent structure unit (1 a); the number of hinge points on the annular inner edge and the annular outer edge is the same as that of hinge points on the outer side of the rocket engine nozzle (2) and that of hinge points on the inner side of the rocket bulkhead (5), and the hinge points are correspondingly installed and fixed to form rotation constraint;
bionic intelligent servo mechanism (1) utilizes unit pin joint interconnect by four intelligent constitutional units, constitute the loop configuration through the mode of establishing ties or parallelly connected, first intelligent constitutional unit (1 a) is located the most outer fringe of bionic intelligent servo mechanism (1), fourth intelligent constitutional unit (1 d) is located the most inner fringe of the most outer fringe of bionic intelligent servo mechanism 1, first intelligent constitutional unit (1 a), second intelligent constitutional unit (1 b), third intelligent constitutional unit (1 c) and fourth intelligent constitutional unit (1 d) are arranged in proper order.
2. The servo system of bionic intelligent structure of carrier rocket engine as claimed in claim 1, characterized in that: the device also comprises a first engine swing bracket (3), a second engine swing bracket (4), a fuel storage tank (6) and a rocket fairing (7); the rocket engine nozzle (2) extends out of the rotating shaft and is connected with the U-shaped bearing seat hole of the first engine swing bracket (3) to form rotational motion with one degree of freedom;
a rotating shaft of the first engine swing bracket (3) is connected with a U-shaped bearing seat hole of the second engine swing bracket (4) to form rotary motion with a second degree of freedom;
the rocket engine nozzle (2), the first engine swing bracket (3) and the second engine swing bracket (4) are jointly arranged below the frame of the fuel storage tank (6); the rocket bulkhead (5) is arranged at the lowest part of the fuel storage tank (6); the rocket fairing (7) is arranged at the uppermost part of the fuel storage tank 6.
3. A servo system of a bionic intelligent structure of a carrier rocket engine according to claim 1 or 2, characterized in that: the intelligent structure comprises a first intelligent structure unit (1 a), a second intelligent structure unit (1 b), a third intelligent structure unit (1 c) and a fourth intelligent structure unit (1 d), wherein the first intelligent structure unit, the second intelligent structure unit, the third intelligent structure unit and the fourth intelligent structure unit (1 d) are all composed of a plurality of basic units, each basic unit is provided with a plurality of hinge points, and adjacent basic units are connected in series or in parallel through the hinge points to form a ring structure; the basic unit is a triangular structure, a quadrilateral structure, a space triangular structure or a space tetragonal structure.
4. The bionic intelligent structural servo system of the carrier rocket engine according to claim 3, characterized in that: the actuator is a piezoelectric ceramic actuator, a fiber composite actuator, a plasma actuator or a shape memory alloy actuator; the actuator is arranged on each basic unit and used for receiving the control command and controlling the basic units to deform correspondingly.
5. The bionic intelligent structural servo system of the carrier rocket engine according to claim 3, characterized in that: the annular structure takes place the wavy change when intelligence constitutional unit's basic unit swings to one side, is close to swing direction side, and intelligence constitutional unit is whole to be compression state, keeps away from swing direction side, and intelligence constitutional unit is whole to be the state of extending, and perpendicular to swing direction side, the whole transition of extending state by compression state to of intelligence constitutional unit.
6. The servo system of bionic intelligent structure of carrier rocket engine as claimed in claim 4, wherein: but independent control realizes concertina movement between each pin joint among four intelligent constitutional units, can bear load between the pin joint, and intelligent constitutional unit wholly possesses a plurality of degrees of freedom, can be according to the corresponding execution action of swing instruction.
7. The bionic intelligent structural servo system of the carrier rocket engine as claimed in claim 4, wherein: the inner side surface and the outer side surface of the ring-shaped structure of the bionic intelligent servo mechanism (1) are covered with flexible heat-proof cloth, so that heat of an engine spray pipe is isolated, and the bionic intelligent servo mechanism is waterproof and dustproof.
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| CN202110997429.2A CN113847166B (en) | 2021-08-27 | 2021-08-27 | Bionic intelligent structure servo system of carrier rocket engine |
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| CN202110997429.2A CN113847166B (en) | 2021-08-27 | 2021-08-27 | Bionic intelligent structure servo system of carrier rocket engine |
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| 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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| CN111516909A (en) * | 2020-04-30 | 2020-08-11 | 北京星际荣耀空间科技有限公司 | Rocket attitude control system |
| CN111906811A (en) * | 2020-08-10 | 2020-11-10 | 安徽大学 | Full-flexible pneumatic actuator |
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2021
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Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3727843A (en) * | 1969-07-16 | 1973-04-17 | A Parilla | Duct-forming assemblies and vector control |
| US4579299A (en) * | 1982-04-22 | 1986-04-01 | Morton Thiokol, Inc. | Quick turn, 90 degree omniaxial nozzle thrust control system |
| WO2003107523A1 (en) * | 2002-03-05 | 2003-12-24 | Sri International | Electroactive polymer devices for controlling fluid flow |
| CN103867341A (en) * | 2012-12-14 | 2014-06-18 | 上海新力动力设备研究所 | Space vector torsion resistant device of ball socket wobble nozzle of small solid rocket engine |
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