CN114320668B - Solid-liquid variable thrust engine controller based on double actuating mechanisms and control method - Google Patents
Solid-liquid variable thrust engine controller based on double actuating mechanisms and control method Download PDFInfo
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Abstract
The invention provides a solid-liquid variable thrust engine controller based on double actuating mechanisms and a control method, wherein the solid-liquid variable thrust engine controller comprises: an electric pump control circuit and a valve control circuit; the electric pump control circuit is used for determining a first control quantity of the electric pump based on the expected thrust and the thrust error of the solid-liquid variable thrust engine and controlling the flow of the liquid oxidant in the electric pump control circuit to be a first flow based on the first control quantity; the valve control loop is used for determining a second control quantity of the adjustable valve based on the thrust error and the opening degree of the adjustable valve of the variable venturi, and controlling the flow of the liquid oxidant in the valve control loop to be a second flow based on the second control quantity; and the sum of the first flow and the second flow is the flow of the liquid oxidant required by the solid-liquid variable thrust engine under the expected thrust. The invention solves the technical problem that the variable thrust control range is limited because the electric pump and the adjustable valve cannot be simultaneously matched for control in the prior art.
Description
Technical Field
The invention relates to the technical field of rocket engine controller design, in particular to a solid-liquid variable thrust engine controller based on double actuating mechanisms and a control method.
Background
Compared with the traditional propulsion technology (solid and liquid), the solid-liquid hybrid rocket engine is simple, safe, reliable and environment-friendly in development and operation and lower in cost.
A general solid-liquid hybrid rocket engine generates thrust by using a chemical reaction between a solid fuel and a liquid oxidant. The solid fuel is poured in the combustion chamber in a specific configuration, the liquid oxidant is pressurized in an extrusion mode or a pumping mode, is conveyed into the combustion chamber through a liquid path conveying system, and generates a chemical reaction with the solid fuel to generate high-temperature and high-pressure gas, and the high-temperature and high-pressure gas is accelerated through the spray pipe to form high-speed and low-temperature gas which is sprayed out backwards, so that forward reaction force is generated.
The solid-liquid mixed variable thrust rocket engine has the function of regulating and controlling the thrust of the engine according to the requirement as the inheritance and the development of the solid-liquid mixed variable thrust rocket engine, and the regulation of the flow of the liquid oxidant is realized by generally regulating the opening of a valve in a liquid path conveying system or the power of an electric pump in real time, so that the chemical reaction process is influenced, the energy released by the reaction is controlled, and the function of controlling the thrust of the engine is finally realized.
The current solid-liquid variable thrust rocket engine control technology has the following defects: the liquid path conveying system controls the flow by a valve, because the actual opening of the valve is limited, the liquid path conveying system cannot stably work due to too large or too small opening, and the liquid path conveying system controls the flow by an electric pump, because the flow is sensitive to the power of the electric pump, the flow changes nonlinearly, and the change of the thrust is also nonlinear; therefore, the technical problem that the variable thrust control range is limited exists in the prior art because the electric pump and the adjustable valve cannot be cooperatively controlled at the same time.
Disclosure of Invention
In view of the above, the present invention provides a dual-actuator-based solid-liquid variable thrust engine controller and a control method thereof, so as to alleviate the technical problem in the prior art that the variable thrust control range is limited due to the fact that an electric pump and an adjustable valve cannot be simultaneously controlled in a coordinated manner.
In a first aspect, an embodiment of the present invention provides a dual-actuator based solid-liquid variable thrust engine controller, including: an electric pump control circuit and a valve control circuit; the electric pump control loop is used for determining a first control quantity of the electric pump based on the expected thrust and the thrust error of the solid-liquid variable thrust engine, and controlling the flow of the liquid oxidant in the electric pump control loop to be a first flow based on the first control quantity; the thrust error is an error between the actual thrust and the expected thrust of the solid-liquid variable thrust engine; the valve control loop is used for determining a second control quantity of the adjustable valve based on the thrust error and the opening degree of the adjustable valve of the variable venturi, and controlling the flow of the liquid oxidant in the valve control loop to be a second flow based on the second control quantity; wherein a sum of the first flow rate and the second flow rate is a liquid oxidant flow rate required by the solid-liquid variable thrust engine at the desired thrust.
Further, the electric pump control circuit includes: a fuzzy PID controller and an electric pump; the fuzzy PID controller is used for determining a first control quantity of the electric pump by taking the expected thrust and the thrust error as input quantities based on a preset fuzzy rule base; the electric pump is used for controlling the flow of the liquid oxidant in the electric pump control loop.
Further, the valve control circuit includes: a PID controller and a variable venturi; the PID controller is used for obtaining an initial control quantity of the variable venturi by taking the thrust error as an input quantity; and the valve control loop is also used for taking the difference value between the initial control quantity and the opening degree of the adjustable valve as the second control quantity.
Further, the device further comprises a measuring module used for obtaining the actual thrust of the engine and the opening degree of the adjustable valve.
In a second aspect, the embodiment of the invention further provides a solid-liquid variable thrust engine control method based on the double actuating mechanisms, which is applied to a solid-liquid variable thrust engine controller based on the double actuating mechanisms; the controller includes: an electric pump control circuit and a valve control circuit; the method comprises the following steps: determining a first control quantity of an electric pump based on the expected thrust and the thrust error of the solid-liquid variable thrust engine, and controlling the flow rate of a liquid oxidant in the electric pump control loop to be a first flow rate based on the first control quantity; the thrust error is an error between the actual thrust and the expected thrust of the solid-liquid variable thrust engine; determining a second control quantity of an adjustable valve of the variable venturi based on the thrust error and an opening of the adjustable valve, and controlling a flow rate of the liquid oxidant in the valve control loop to a second flow rate based on the second control quantity; wherein a sum of the first flow rate and the second flow rate is a liquid oxidant flow rate required by the solid-liquid variable thrust engine at the desired thrust.
Further, determining a first control amount of the electric pump based on the desired thrust and the thrust error of the solid-liquid variable thrust engine includes: and determining a first control quantity of the electric pump by taking the expected thrust and the thrust error as input quantities based on a preset fuzzy rule base.
Further, the valve control circuit includes: a PID controller and a variable venturi; determining a second control quantity of an adjustable valve of a variable venturi based on the thrust error and an opening of the adjustable valve, comprising: taking the thrust error as the input quantity of the PID controller to obtain the initial control quantity of the variable venturi; and determining the difference value between the initial control quantity and the opening degree of the adjustable valve as the second control quantity.
Further, still include: and acquiring the actual thrust of the engine and the opening degree of the adjustable valve.
In a third aspect, an embodiment of the present invention further provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of the method according to the second aspect when executing the computer program.
In a fourth aspect, the present invention further provides a computer-readable medium having a non-volatile program code executable by a processor, where the program code causes the processor to execute the method of the second aspect.
The invention provides a solid-liquid variable thrust engine controller based on double execution mechanisms and a control method, wherein the solid-liquid mixed variable thrust engine is controlled through mutual coordination of the double execution mechanisms, so that the thrust adjusting capacity range is enlarged, the task section is enlarged, the controller can be adapted to various flight tasks, and the technical problem of limited variable thrust control range caused by the fact that an electric pump and an adjustable valve cannot be simultaneously matched for control in the prior art is solved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic diagram of a solid-liquid variable thrust engine controller based on a dual actuator according to an embodiment of the present invention;
fig. 2 is a flowchart of a solid-liquid variable thrust engine control method based on a dual actuator according to an embodiment of the present invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The first embodiment is as follows:
fig. 1 is a schematic diagram of a dual-actuator-based solid-liquid variable thrust engine controller according to an embodiment of the invention. The controller is applied to a solid-liquid variable thrust engine. As shown in fig. 1, the controller includes: an electric pump control circuit 10 and a valve control circuit 20.
Specifically, the electric pump control circuit 10 is configured to determine a first control amount u1 of the electric pump based on a desired thrust Tr and a thrust error e of the solid-liquid variable thrust engine, and control a flow rate of the liquid oxidant in the electric pump control circuit to a first flow rate w1 based on the first control amount u 1; the thrust error e is an error between the actual thrust Tc and the desired thrust Tr of the solid-liquid variable thrust engine.
A valve control loop 20 for determining a second control quantity of the adjustable valve based on the thrust error e and the opening delta of the adjustable valve of the variable venturi, and controlling the flow of the liquid oxidant in the valve control loop to a second flow w2 based on the second control quantity; wherein the sum of the first flow rate w1 and the second flow rate w2 is the flow rate w of the liquid oxidant required by the solid-liquid variable thrust engine under the expected thrust Tr.
The invention provides a solid-liquid variable thrust engine controller based on double execution mechanisms, which can enlarge the thrust adjusting capacity range by controlling a solid-liquid mixed variable thrust engine through mutual coordination of the double execution mechanisms, thereby enlarging the task section, being capable of adapting to various flight tasks and relieving the technical problem of limited variable thrust control range caused by the fact that an electric pump and an adjustable valve cannot be simultaneously matched for control in the prior art.
As shown in fig. 1, an electric pump control circuit 10 according to an embodiment of the present invention includes: a fuzzy PID controller 11 and an electric pump 12.
Specifically, the fuzzy PID controller 11 is configured to determine a first control quantity u1 of the electric pump based on a preset fuzzy rule base and with a desired thrust Tr and a thrust error e as input quantities;
an electric pump 12 for controlling the flow of liquid oxidant in the electric pump control circuit.
In the embodiment of the invention, a fuzzy control method is adopted for the electric pump control circuit. Specifically, the fuzzy PID controller has two input quantities, namely a desired thrust Tr and a thrust error e, and then generates a control command u1 of the electric pump according to the two quantities, and then obtains a liquid oxidant flow rate w1 of the electric pump control loop.
Further explaining the fuzzy control working principle in the electric pump control circuit provided by the embodiment of the invention:
(1) input quantity of the selected fuzzy PID controller:
the magnitude of the power of the electric pump is related to the desired thrust and the thrust error, so these two quantities are taken as input quantities to the controller.
(2) Establishing a fuzzy rule base:
the following desired thrust limits are established with a certain thrust gradient: t is1、T2、…、Tn；
Then, the following error is established with a certain error gradient：e1、e2、…、en。
Then the following fuzzy rule base is established:
| （e1，e2） | （e2，e3） | … | （en-1，en） | |
| （T1，T2） | u11 | u12 | … | u1(n-1) |
| （T2，T3） | u21 | u22 | … | u2(n-1) |
| … | … | … | … | … |
| （Tn-1，Tn） | u(n-1)1 | u(n-1)1 | … | u(n-1) (n-1) |
(3) and (4) table lookup:
and (4) outputting a control command of the electric pump (namely the power of the electric pump) according to the table look-up of the expected thrust magnitude and the thrust error magnitude.
As shown in fig. 1, a valve control circuit 20 according to an embodiment of the present invention includes: a PID controller 21 and a variable venturi 22.
Specifically, the PID controller 21 is configured to obtain an initial control amount u2 of the variable venturi 22 by using the thrust error e as an input amount;
the valve control circuit 20 is further configured to use a difference between the initial control amount u2 and the opening δ of the adjustable valve as the second control amount.
In the embodiment of the invention, for a loop (namely a valve control loop) where the variable venturi is located, a thrust error e generated by an expected thrust Tr and an actual thrust Tc is used as an input quantity of a PID controller, then a control command u2 of the variable venturi is generated, and is subtracted from an actually measured opening delta of an adjustable valve to obtain an actual control quantity of the variable venturi, and finally a liquid oxidant flow w2 of the loop where the variable venturi is located is obtained.
And finally, obtaining the total flow w = w1+ w2 of the liquid oxidant in the two-part loop, and reacting the total flow w = w1+ w2 with the solid fuel in the solid-liquid variable thrust engine to generate thrust.
Optionally, the controller provided by the embodiment of the invention further includes a measurement module, configured to obtain an actual thrust of the engine and an opening degree of the adjustable valve. Optionally, the measuring module is further configured to measure and calculate engine thrust, line pressure, electric pump rotation speed, and opening degree of the adjustable valve. Optionally, the controller provided by the embodiment of the invention is further configured to calculate the control quantity for distributing the rotation speed of the electric pump and the opening degree of the valve according to the measurement results such as the actual thrust of the solid-liquid variable thrust engine, and perform feedback compensation by observing the thrust deviation to perform real-time accurate control on the thrust of the engine.
Therefore, according to the solid-liquid variable thrust engine controller based on the double execution mechanisms, the solid-liquid mixed variable thrust engine is controlled through mutual coordination of the double execution mechanisms, the thrust adjusting capacity range is enlarged, the mission section is enlarged, the controller can adapt to various flight missions, the flow rate is linearly changed, the output thrust is linearly changed, and the stability of the system is improved. And the power change of the pump is controlled by adopting fuzzy control, so that the power change times of the pump are reduced, and the service life of the pump is prolonged.
Example two:
FIG. 2 is a flow chart of a dual-actuator based solid-liquid variable thrust engine control method applied to a dual-actuator based solid-liquid variable thrust engine controller according to an embodiment of the invention; wherein, the controller includes: an electric pump control circuit and a valve control circuit. As shown in fig. 2, the method provided in the embodiment of the present invention specifically includes the following steps:
step S202, determining a first control quantity of the electric pump based on the expected thrust and the thrust error of the solid-liquid variable thrust engine, and controlling the flow of the liquid oxidant in the electric pump control loop to be a first flow based on the first control quantity; the thrust error is an error between the actual thrust and the expected thrust of the solid-liquid variable thrust engine.
Alternatively, the first control amount of the electric pump is determined based on a preset fuzzy rule base with the desired thrust and the thrust error as input amounts.
Step S204, determining a second control quantity of the adjustable valve based on the thrust error and the opening degree of the adjustable valve of the variable venturi, and controlling the flow of the liquid oxidant in the valve control loop to be a second flow based on the second control quantity; and the sum of the first flow and the second flow is the flow of the liquid oxidant required by the solid-liquid variable thrust engine under the expected thrust.
The invention provides a solid-liquid variable thrust engine control method based on double execution mechanisms, which can enlarge the thrust adjusting capacity range by controlling a solid-liquid mixed variable thrust engine through mutual coordination of the double execution mechanisms, thereby enlarging the task section, being capable of adapting to various flight tasks and relieving the technical problem of limited variable thrust control range caused by the fact that an electric pump and an adjustable valve cannot be simultaneously matched for control in the prior art.
Optionally, the valve control loop comprises: a PID controller and a variable venturi; step S204 further includes the steps of:
step S2041, taking the thrust error as the input quantity of a PID controller to obtain the initial control quantity of the variable venturi;
step S2042, determining a difference between the initial control amount and the opening degree of the adjustable valve as a second control amount.
Optionally, the method provided in the embodiment of the present invention further includes the following steps: and acquiring the actual thrust of the engine and the opening of the adjustable valve.
The embodiment of the present invention further provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and capable of running on the processor, and when the processor executes the computer program, the steps of the method provided in the embodiment of the present invention are implemented.
Embodiments of the present invention also provide a computer readable medium having non-volatile program code executable by a processor, where the program code causes the processor to execute the method provided by the embodiments of the present invention.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (6)
1. A solid-liquid variable thrust engine controller based on double execution mechanisms is characterized by comprising the following components: an electric pump control circuit and a valve control circuit;
the electric pump control loop is used for determining a first control quantity of the electric pump based on the expected thrust and the thrust error of the solid-liquid variable thrust engine, and controlling the flow of the liquid oxidant in the electric pump control loop to be a first flow based on the first control quantity; the thrust error is an error between the actual thrust and the expected thrust of the solid-liquid variable thrust engine;
the valve control loop is used for determining a second control quantity of the adjustable valve based on the thrust error and the opening degree of the adjustable valve of the variable venturi, and controlling the flow of the liquid oxidant in the valve control loop to be a second flow based on the second control quantity; wherein the sum of the first flow and the second flow is a liquid oxidant flow required by the solid-liquid variable thrust engine at the desired thrust;
the electric pump control circuit includes: a fuzzy PID controller and an electric pump;
the fuzzy PID controller is used for determining a first control quantity of the electric pump by taking the expected thrust and the thrust error as input quantities based on a preset fuzzy rule base;
the electric pump is used for controlling the flow of the liquid oxidant in the electric pump control loop;
the valve control circuit includes: a PID controller and a variable venturi;
the PID controller is used for obtaining an initial control quantity of the variable venturi by taking the thrust error as an input quantity;
and the valve control loop is also used for taking the difference value between the initial control quantity and the opening degree of the adjustable valve as the second control quantity.
2. The controller of claim 1, further comprising a measurement module configured to obtain an actual thrust of the engine and an opening of the adjustable valve.
3. A solid-liquid variable thrust engine control method based on double actuators is characterized by being applied to a solid-liquid variable thrust engine controller based on double actuators; the controller includes: an electric pump control circuit and a valve control circuit; the method comprises the following steps:
determining a first control quantity of an electric pump based on the expected thrust and the thrust error of the solid-liquid variable thrust engine, and controlling the flow rate of a liquid oxidant in the electric pump control loop to be a first flow rate based on the first control quantity; the thrust error is an error between the actual thrust and the expected thrust of the solid-liquid variable thrust engine;
determining a second control quantity of an adjustable valve of the variable venturi based on the thrust error and an opening of the adjustable valve, and controlling a flow rate of the liquid oxidant in the valve control loop to a second flow rate based on the second control quantity; wherein the sum of the first flow and the second flow is a liquid oxidant flow required by the solid-liquid variable thrust engine at the desired thrust;
determining a first control amount of the electric pump based on the desired thrust and the thrust error of the solid-liquid variable thrust engine, including:
determining a first control quantity of the electric pump by taking the expected thrust and the thrust error as input quantities based on a preset fuzzy rule base;
the valve control circuit includes: a PID controller and a variable venturi; determining a second control quantity of an adjustable valve of a variable venturi based on the thrust error and an opening of the adjustable valve, comprising:
taking the thrust error as the input quantity of the PID controller to obtain the initial control quantity of the variable venturi;
and determining the difference value between the initial control quantity and the opening degree of the adjustable valve as the second control quantity.
4. The method of claim 3, further comprising: and acquiring the actual thrust of the engine and the opening degree of the adjustable valve.
5. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the steps of the method of any of the preceding claims 3 to 4 are implemented when the computer program is executed by the processor.
6. A computer-readable medium having non-volatile program code executable by a processor, wherein the program code causes the processor to perform the method of any of claims 3-4.
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